Patent application EP17177686A (EP), filed 2017-06-23
Publication number: EP3418844A1
Title: APPARATUSES, METHODS AND COMPUTER PROGRAMS FOR A LOCAL PLATOONING CONTROLLER AND A GLOBAL PLATOONING CONTROLLER, PLATOONING SYSTEM
Abstract: Embodiments relate to apparatuses, methods and computer programs for a local platooning controller and a global platooning controller, and a platooning system. The apparatus (10) for a local platooning controller (100) of a vehicle comprises a transceiver module (12) configured to receive information related to a control command from a global platooning controller (200), and to transmit feedback information to the global platooning controller (200). The apparatus comprises a control module (14) configured to control the transceiver module (12). The control module (14) is configured to determine information related to a deviation between control information received with information related to the control command from the global platooning controller (200) and an actual state of the vehicle, and to effect transmission of feedback information based on the information related to the deviation.
IPC codes: G05D   1/    02            A I
G08G   1/    00            A I
Claims: number: 1
text: An apparatus (10) for a local platooning controller (100) of a vehicle, the apparatus (10) comprising
number: 2
text: The apparatus (10) of claim 1, wherein the control module (14) is configured to compare the information related to the deviation to a feedback threshold and to effect transmission of the feedback information if the information related to the deviation indicates a deviation, which exceeds the feedback threshold.
number: 3
text: The apparatus (10) of one of the claims 1 or 2, wherein the control module (14) is configured to determine a feedback information transmission rate based on the information related to the deviation, and/or wherein the information related to the control command comprises information related to at least one of a speed, acceleration, steering or a target inter-vehicle distance command.
number: 4
text: The apparatus (10) of one of the claims 1 or 2, wherein the control module (14) is configured to determine a feedback information transmission rate based on the information related to the deviation and wherein the control module (14) is configured to set the feedback information transmission rate to a first lower rate if the information related to the deviation indicates a first lower deviation, and wherein the control module (14) is configured to set the feedback information transmission rate to a second higher rate if the information related to the deviation indicates a second higher deviation.
number: 5
text: The apparatus (10) of claim 4, wherein the control module (14) is configured to receive information related to a relation between the feedback information transmission rate and deviations from the global platooning controller (200).
number: 6
text: The apparatus (10) of claim 5, wherein the information related to the relation between the feedback information transmission rate and the deviations from the global platooning controller (200) comprises multiple thresholds for multiple feedback information transmission rates.
number: 7
text: An apparatus (20) for a global platooning controller (200) of a vehicle, the apparatus (20) comprising
number: 8
text: The apparatus of claim 7, wherein the feedback information comprises information related to a local threshold exceedance of a deviation from a control parameter of the one or more local platooning controllers (100) from the one or more local platooning controllers (10) and wherein the control module (24) is configured to determine the information related to the control commands for the one or more local platooning controllers (100) based on the information related to the local threshold exceedance.
number: 9
text: The apparatus (20) of one of the claims 7 or 8, wherein the control module (24) is configured to provide information related to a relation between a feedback information transmission rate and deviations between control information provided with the information related to the control commands and an actual state of a local platooning controller (100) to the one or more local platooning controllers (100), and/or wherein the information related to the control command comprises information related to at least one of a speed, acceleration, steering or a target inter-vehicle distance command.
number: 10
text: The apparatus (20) of claim 9, wherein the control module (24) is configured to set the feedback information transmission rate to first lower rate for a first lower deviation, and wherein the control module (24) is configured to set the feedback information transmission rate to second higher rate for a second higher deviation, and/or wherein the information related to the relation between the feedback information transmission rate and the deviations from the global platooning controller (200) comprises multiple thresholds for multiple feedback information transmission rates.
number: 11
text: The apparatus (20) of one of the claims 7 to 10, wherein the control module (24) is configured to adapt the transmission of the information related to the control commands to the overall signalling load and to the feedback information.
number: 12
text: A platooning system (300) comprising at least one apparatus (10) of one of the claims 1 to 6 and at least one apparatus (20) of one of the claims 7 to 11.
number: 13
text: A method for a local platooning controller (100) of a vehicle, the method comprising
number: 14
text: A method for a global platooning controller (200) of a vehicle, the method comprising
number: 15
text: A computer program having a program code for performing the method of at least one of the claims 13 or 14, when the computer program is executed on a computer, a processor, or a programmable hardware component.
Office action: search_report, dated 2018-12-26
Prior art cited: ref_id: - LLATSER ET AL.: "Simulation of Cooperative Automated Driving by Bidirectional Coupling of Vehicle and Network Simulators", IEEE INTELLIGENT VEHICLES SYMPOSIUM, 2017
ref_type: npl
severity: background
ref_id: US2014180501A1
ref_type: patent
severity: background
ref_id: EP1569183A2
ref_type: patent
severity: background
ref_id: DE102008026686A1
ref_type: patent
severity: background
ref_id: EP1569183
ref_type: patent
severity: background
ref_id: DE102008026686
ref_type: patent
severity: background
ref_id: US2014180501
ref_type: patent
severity: background
Final disposition: pending (2018-12-26)