A method for communication between at least two vehicles traveling in succession and a vehicle having at least one communication device.

Abstract

A method is proposed for communication and / or motion determination of at least two vehicles 2a, 2b, 2c traveling in succession using a communication arrangement 4, wherein the communication arrangement 4 has at least one first communication device 3a disposed on a first vehicle 2a and at least one second communication device 3b disposed on a second vehicle 2b, wherein signals are transmitted through a transmission path between the communication devices 3a, 3b, 3c, wherein the main transmission line H of the transmission path extends at least below the first vehicle and / or the second vehicle 2a, 2b, and / or wherein the motion determination is performed based on propagation time and / or propagation time difference. A vehicle having at least one communication device is also proposed.

Description

Technical Field

[0001] This invention relates to a method for communication between at least two vehicles traveling in succession. The invention also relates to a vehicle having at least one communication device. Background Technology

[0002] Consider a driver assistance system used to support or automate the driving functions of a vehicle. For example, a driver assistance system can maintain a pre-given speed for the vehicle, and at this speed, maintain a minimum pre-given distance from the vehicle ahead. To enable data exchange between vehicles, so-called vehicle-to-vehicle (V2V) communication devices are used to coordinate driving behaviors.

[0003] Document DE 10024739 A1 discloses a convoy driving control device that allows convoy driving of a vehicle having a guide vehicle and at least one following vehicle that automatically follows the guide vehicle. The vehicle has a device to send a request to the guide vehicle for separating from or joining the convoy. The guide vehicle has a device to allow or deny the request from the vehicle, wherein if the guide vehicle allows the request, the vehicle switches between automatic driving and manual driving performed by the driver via a mode switching device, in which the following vehicle automatically follows the guide vehicle. Summary of the Invention

[0004] This invention relates to a method for communication between at least two vehicles traveling in succession, the method being carried out by means of a communication arrangement having at least one first communication device disposed on a first vehicle and at least one second communication device disposed on a second vehicle, wherein signals are transmitted through transmission paths between these communication devices, and wherein the main transmission lines of these transmission paths extend at least below the first and / or second vehicles. Furthermore, the method is configured to determine the motion of these vehicles, particularly the distance between them or its temporal variation. Furthermore, the method is configured to combine communication and motion determination. This invention is particularly useful for achieving predetermined motion behaviors and, in particular, the distance between vehicles. Furthermore, the present invention relates to a vehicle having communication equipment, the vehicle having at least one communication device for communicating with at least one vehicle traveling ahead and / or following behind and / or for motion determination of at least one vehicle traveling ahead and / or following behind, wherein the communication device is configured to transmit signals to other vehicles and / or receive signals from other vehicles via a transmission path, wherein the communication device is arranged on the underside of the vehicle such that the main transmission line of the transmission path extends under the vehicle, and the communication device is also capable of being used for motion determination, wherein motion determination is based on propagation time and / or propagation time difference. Other advantages, functions, and configurations will become apparent from the following description.

[0005] Within the scope of this invention, a method for communication between at least two vehicles traveling in succession is proposed, which can be implemented by means of a communication arrangement having at least two communication devices. This communication arrangement is particularly configured as a convoy driving control system, wherein one of the vehicles forms a guiding vehicle, and at least one vehicle automatically following the guiding vehicle forms a following vehicle. The communication arrangement preferably includes a separate communication device for each vehicle in the convoy. Preferably, these communication devices are configured as so-called vehicle-to-vehicle communication devices.

[0006] Here, at least one first communication device is arranged and / or can be arranged on the first vehicle, and a second communication device is arranged and / or can be arranged on the second vehicle. Optionally, any number of other vehicles may each be equipped with at least one additional communication device. These communication devices are respectively configured to transmit at least one or exactly one vehicle parameter of the vehicle to the following vehicles and / or receive vehicle parameters from the vehicles ahead. The vehicles in the convoy preferably each have a control device, particularly a vehicle-to-vehicle control device, configured to control the respective vehicle based on at least one received vehicle parameter. At least one vehicle parameter can be wirelessly transmitted between the communication devices, in particular, via at least one signal. Preferably, at least one signal is transmitted electrically and / or magnetically and / or optically and / or acoustically between the communication devices.

[0007] Within the scope of this invention, signals are transmitted via a transmission path between a first communication device and a second communication device, wherein the main transmission line of the transmission path extends beneath the first vehicle and / or the second vehicle. Specifically, the main transmission line is defined such that signal transmission between the communication devices is carried out substantially and / or uninterruptedly via the main transmission line. In particular, the first communication device and / or the second communication device are arranged on the underside of the respective vehicles, such that the main transmission line between adjacent communication devices extends substantially or only beneath the vehicles. The transmission path may include multiple transmission lines, particularly a main transmission line and one or more secondary transmission lines. It is conceivable that when a signal is transmitted along the main transmission line from the first vehicle to the second vehicle, there is no signal reflection, or signal reflection occurs only on the first vehicle and / or the second vehicle and / or on the road surface. It is also conceivable that when a signal is transmitted along a secondary transmission line from the first vehicle to the second vehicle, signal reflection also occurs on at least one vehicle different from the first vehicle and the second vehicle and / or in areas of the surrounding environment of the first vehicle and / or the second vehicle that are different from the road surface.

[0008] The advantage of this invention lies in providing a method characterized by reliable signal transmission and thus improved vehicle-to-vehicle communication. In particular, it allows for the advantageous use of a free cavity formed beneath the vehicle to transmit signals based on the principle of a hollow conductor (Hohleiter) known from high-frequency technology. Furthermore, it proposes a transmission path characterized by interference-free or at least reduced interference signal transmission.

[0009] According to the present invention, as a result of so-called autonomous driving, a relatively very large minimum distance must be maintained from adjacent traffic participants, because autonomy (Greek: Autonomous vehicles possess, at most, preliminary knowledge of the future motion of adjacent road users. To compensate for this lack of information, autonomous vehicles must maintain a significant safe distance from adjacent road users to compensate for the uncertainty of their future motion by maintaining sufficient free space to remeasure the driving behavior of adjacent vehicles.

[0010] Conversely, in coordinated driving, the vehicle to be controlled should know the future behavior of its neighboring traffic participants before the behavior of those participants can be measured. The closer the coordination, the more accurately the predetermined minimum distance can be maintained in coordinated driving. As the distance between following vehicles becomes smaller, not only is vehicle energy consumption reduced and traffic space is utilized more efficiently, but the probability of other vehicles entering the space between coordinated driving vehicles also decreases. The aim here is for vehicles coordinated with each other electronically to behave as much as possible as if there were mechanical tow bars between them; hence, this type of driving is also called "electronic tow bars." With the help of electronic tow bars, the distance between vehicles should always be safely kept constant, for example, less than 20 meters at a speed of 80 km / h, and particularly significantly less than 10 meters.

[0011] Therefore, on the one hand, it is especially essential to transmit information about the motion behavior of at least one vehicle ahead to the following vehicle with extremely high reliability and negligible delay; on the other hand, the following vehicle should always be able to remeasure with extremely high accuracy whether the driving vehicle is actually moving according to the exchanged information about its corresponding motion behavior. The more accurately the motion behavior is identified and corrected for each other with minimal fluctuations or deviations, the more precisely the distance between vehicles can be maintained. Ideally, in this way, the "length" of the electronic tow bar can be shortened to 5 meters or less, for example, at 80 km / h.

[0012] First, according to road traffic regulations, the motion information of the vehicle directly in front is crucial for vehicles following behind. However, to avoid the drawback of a domino effect (https: / / de.wikipedia.org / wiki / Dominoeffekt) caused by information processing in the vehicle in front, it is also desirable that at least some information from at least one vehicle traveling before the vehicle in front is also received directly with lower reliability if necessary.

[0013] Alternatively, a vehicle situated therein may receive information on one side and retransmit it on the other side in its unaltered form and / or after processing, such that at least one vehicle situated therein appears to be transparent or permeable to the information to be transmitted.

[0014] On the other hand, the motion information of the following vehicles should also be made available to the vehicles in front as much as possible, for example, so that the distance between vehicles fluctuates as little as possible during such a rapid joint braking configuration.

[0015] In one specific configuration of the invention, first and second communication devices have transmission areas in which signals are transmitted and / or received. Here, at least or exactly 50% of the transmission areas of the first and / or second communication devices are arranged under the vehicle to which they belong. Preferably, more than 60%, more preferably more than 80%, and particularly more than 95% of the transmission areas of the first and / or second communication devices are arranged under the vehicle to which they belong. In particular, the transmission areas of the first and / or second communication devices have directional characteristics, with their main direction oriented under the vehicle and / or longitudinally along the vehicle. Therefore, a communication arrangement is proposed that improves signal strength and / or transmission quality between the vehicles.

[0016] In another specific embodiment, the main transmission line extends at least substantially in the longitudinal direction of the first and / or second vehicle. Specifically, the communication equipment is arranged on the respective vehicles such that the main transmission line between two vehicles traveling in succession extends substantially in the longitudinal direction of the vehicles. Preferably, the main transmission line extends substantially under the vehicles in the longitudinal direction from one vehicle to another. Thus, a transmission path is proposed that enables direct signal transmission between vehicles in the longitudinal direction or the direction of travel.

[0017] In another implementation, the signal is reflected along the main transmission line in the y-direction about the vehicle coordinate system by the wheels of the first and / or second vehicles on both sides. Specifically, the vehicles are configured as motor vehicles with at least two axles, wherein on each axle, two vehicle wheels are rotatably mounted on the ends of the axle. In particular, the inner side of the vehicle wheels, especially their metal hubs, thus serves as reflectors for the signal. Since steering is mostly only slightly deflected at higher speeds, steering often even benefits signal propagation, as the signal is also deflected due to the steering of the vehicle wheels. And then the direction changed.

[0018] Alternatively or optionally, the signal is reflected along the main transmission line in the z-direction with respect to the vehicle coordinate system by the road surface, particularly the driving lane, and by the underside of the vehicle. Particularly advantageously, the main transmission line extends in the x-direction with respect to the vehicle coordinate system below the axle and / or between the vehicle wheels. The x-direction of the vehicle coordinate system is defined, in particular, by the longitudinal direction of the vehicle, where the x, y, and z directions are defined as three mutually perpendicular direction vectors. Therefore, the signal can be reflected from the mostly smooth road surface, the underside of the vehicle, and the inside of the wheel hubs, based on the principle of a hollow conductor, thereby significantly reducing signal attenuation depending on the medium, signal form, and information content.

[0019] In another specific embodiment, at least one or more of the communication devices includes an ambient environment detection module that detects objects and / or road surfaces in the vehicle's surrounding environment based on signals. Specifically, the ambient environment detection module is configured to scan the vehicle's surrounding environment based on signals received from vehicles ahead and / or signals sent to following vehicles. In particular, objects and / or road surfaces are identified by analyzing signals reflected from them. Preferably, the ambient environment detection module is connected to the vehicle's control equipment in a signal technology manner, wherein the control equipment is configured to determine a driving strategy for the vehicle based on the detected ambient environment. For example, the ambient environment detection module can identify vehicles, people, animals, or obstacles appearing in front of or behind the vehicle based on signals. For example, the ambient environment detection module can identify the surface and / or road surface conditions in the surrounding environment, particularly in front of the vehicle, based on signals. Here, the vehicle's surrounding environment can be defined as an area of ​​5m or more, preferably 10m or more, and particularly 50m or more around the vehicle. Therefore, a communication device is proposed that features the additional function of ambient environment detection.

[0020] In an alternative or optional supplementary extension, at least one or exactly one of the communication devices has a bottom detection module that detects objects and / or road surfaces in the underside region of the vehicle based on signals. Specifically, the bottom detection module is configured to scan the underside region of the vehicle based on signals received from vehicles traveling ahead and / or signals transmitted to following vehicles. Objects and / or road surfaces are identified, particularly based on signal changes caused by the presence of objects and / or changes in the road surface, through analysis of signals reflected from them. In addition to signal changes due to reflection, the bottom detection module also utilizes signal changes along the signal propagation path, from signal transmission to signal reception in a spatially separated location, including signal changes from present objects and / or changes in the road surface. Thus, for example, the presence of an object may cause signal attenuation and / or delay or changes in propagation time relative to a reference signal. Preferably, the bottom detection module is signal-technically connected to the vehicle's control equipment, which is configured to determine a driving strategy for the vehicle based on the detected underside region. For example, the undercarriage detection module can, particularly before the vehicle starts, identify people, animals, or obstacles located under the vehicle based on signals. For example, the undercarriage detection module can identify the surface and / or road surface conditions under the vehicle based on signals. Here, the undercarriage area can be defined as a region, particularly a cavity under the vehicle, which is completely or at least partially covered by the vehicle. Therefore, a communication device is proposed that features the additional function of undercarriage detection.

[0021] In another configuration, to improve communication reliability and / or to improve the reliability of motion behavior determination, at least the first communication device has first and second transmission modules. Specifically, the first transmission module is configured as a transmitter to transmit a first signal and optionally a second signal to the second communication device, and / or configured as a receiver to receive the first signal and optionally a second signal from the second communication device. Similarly, the second transmission module is configured as a transmitter to transmit the second signal and optionally a first signal to the second communication device, and / or configured as a receiver to receive the second signal and optionally a first signal from the second communication device. Here, the first signal is transmitted along the main transmission line between the first transmission module and the second communication device, and the second signal is transmitted along the main transmission line between the second transmission module and the second communication device. Furthermore, in a preferred embodiment, the transmission modules are optionally additionally capable of transmitting and / or receiving various other signals in a cross-transmission manner. In principle, the first and second signals can be transmitted through the same transmission path. However, alternatively, the first and second signals can also be transmitted via two separate and / or independent transmission paths, wherein the main transmission lines of the two transmission paths have the same (gleichen or identischen) extension. Specifically, the first and second transmission modules are arranged spaced apart from each other at a defined and / or known distance. In a preferred configuration, at least two transmission modules of the first communication device are spaced apart from each other to such an extent that the propagation time difference to the transmission module of the second communication device can be assumed to be a measurable magnitude in the basic scenario. Those skilled in the art will understand that, for this purpose, the distance between at least two transmission modules of the communication devices should be at least 20% of the minimum wavelength of the signal, but preferably greater than 50%, and especially greater than 100%. Due to the optional additional cross-transmission, other signal propagation paths are generated along the main transmission line, thereby resulting in redundancy, and thus reliability not only for communication between adjacent vehicles but also for motion determination. Specifically, the first and second signals are constructed to be distinguishable from each other. Particularly preferably, the second communication device has at least one additional transmission module, wherein this at least one additional transmission module is constructed to communicate with the first and / or second transmission modules.

[0022] In the first implementation, a first signal is transmitted to a second communication device at approximately the same time, particularly simultaneously, via a first transmission module and a second signal via a second transmission module. The first and second signals are distinguished from each other by a modulation method that allows them to be separated almost simultaneously upon arrival at the receiver. The first and second signals are transmitted in staggered intervals, particularly less than 10 ms, preferably less than 20 ms, and especially less than 1 ms. Specifically, the first and second transmission modules are configured as transmitters, and at least one additional transmission module is configured as a receiver. Specifically, the second communication device has a receiving transmission module for each transmitting transmission module.

[0023] In an alternative configuration, multiple transmission modules of the receiving communication device are configured to receive at least one signal from the transmitting transmission module, thereby improving the reliability of communication and / or motion behavior determination by means of redundancy.

[0024] In particular, the so-called Orthogonal Frequency Division Multiplexing (OFDM) method is used as the modulation method. For this purpose, the first and second signals are configured such that they can be separated from each other at the receiver side, particularly via a second communication device, using OFDM. Here, the first and / or second signals can transmit information, especially vehicle parameters, to the second communication device as different pulse durations and / or different sets of orthogonal frequencies and / or different pulse positions. Therefore, robust signal transmission of at least two different signals can be achieved.

[0025] Optionally, in the case of OFDM transmission, the frequency offset within the pulses modulated by OFDM symbols of the first and second signals is fixed, wherein the Doppler shift moves all frequencies of the first or second signal simultaneously, so that the second communication device obtains an accurate measure of the received transmitter time base from the fixed frequency relationship and can estimate the Doppler shift from the shift of all OFDM frequencies. For this purpose, preferably, the frequency offset is known to the second communication device, such that at least one transmission module of the second communication device can determine relative motion, and in particular relative speed, from the frequency shift of all frequencies of the received OFDM symbols, while inferring distance based on propagation time, and inferring the direction between vehicles based on the propagation time shift using trilateration, and inferring the information conveyed in the signal based on the frequency pattern of the transmitted OFDM symbols.

[0026] This configuration is based on the consideration that the receiver's ability to separate signal elements (e.g., OFDM pulses) received at least temporarily simultaneously is limited, and therefore these practical limitations are encountered, especially in the case of differences in signal dynamics. Therefore, in the second implementation, a first signal is transmitted via a first transmission module and a second signal via a second transmission module as pulsed signal elements, staggered from each other at a time interval. The second communication device distinguishes the first and second signals from each other based on the time interval of the pulsed signal elements, because these signals are configured such that, despite possible time shifts in the propagation time between the first and second signals, the pulsed signal elements do not overlap at the receiver side in at least one transmission module of the second communication device. Specifically, the first and second signals consist of a series of pulsed signal elements. The information to be conveyed is modulated onto the pulsed signal elements using modulation methods well known to those skilled in the art. Here, the first and / or second signals can transmit information to the second communication device as different pulse durations and / or different (orthogonal) frequency groups (e.g., also as linear frequency modulated pulses) and / or OFDM symbols and / or frequency curves and / or different pulse positions. The time interval for selecting pulsed signal elements during transmission depends on the transmission medium used and the propagation speed therein, and should be selected such that the first and second signals are received temporally staggered by at least one receiving transmission module within a separately defined angular range between the vehicles. Due to these boundary conditions during signal transmission, the receiver-side separation capability is reduced at the expense of the amount of information that can be transmitted and / or at the expense of the detection frequency or detection quality. Therefore, a communication arrangement is proposed in which the overhead of separating simultaneously received signal elements of its own system is eliminated. Furthermore, a communication device and / or apparatus for determining motion behavior is proposed in which the first and second signals can be definitively separated from each other by means of the pulse interval time in the event of signal changes.

[0027] In another specific implementation, the position and / or direction of travel of the first vehicle relative to the second communication device are determined based on the propagation time difference between the transmission and reception of the first and / or second signals. Specifically, the second communication device is configured to determine the direction of travel of the first vehicle based on the propagation time difference between the transmission and reception of the first and second signals (especially those known to the second communication device). Specifically, the second communication device is configured to determine the position of the first vehicle based on the received first and second signals and the known distance between the first and second transmission modules. The transmission and reception of the first or second signal are performed in real time, thereby enabling immediate matching to driving conditions via the control device of the corresponding vehicle. Specifically, the communication direction between the first and second communication devices can be temporarily reversed, allowing transmission via the second communication device and reception via the first communication device. For example, the position and / or direction of travel of the second vehicle relative to the first communication device can be determined by reversing the communication direction.

[0028] In another configuration, only one of the first or second signals can be transmitted from a single transmission module of one communication device and received by first and second transmission modules of another communication device spaced apart from each other. In this way, the relative position of one vehicle to another can also be determined by means of trilateration, as in communication by modulating the first or second signal with the information to be transmitted, although in this configuration only one transmission module transmits at a time.

[0029] In particular, in order to ensure that the relative angular positions of the vehicles to each other can be reliably determined by means of known propagation speed, propagation time difference, and trilateration, in a preferred configuration, at least one transmission module of one communication device and at least two transmission modules of another communication device use the same transmission medium, such as sound waves, electromagnetic waves, light, or flashes of light.

[0030] In another specific implementation, the first signal is transmitted via sound waves, and the second signal is transmitted via electromagnetic waves. The first signal is transmitted, in particular, via high-frequency sound waves or ultrasound. For this purpose, at least one of the first and second communication devices, especially the transmission module, can be configured as or include an ultrasonic sensor. Furthermore, at least one of the first and second communication devices, especially the transmission module, can be configured as or include a radar sensor (e.g., angle radar) for transmitting and receiving electromagnetic waves. Specifically, the transmission paths of the first and second signals (radio / acoustic) are arranged to be used approximately, particularly simultaneously.

[0031] In another extended scheme, the signals, especially the first and / or second signals, are configured as linear frequency modulated pulse signals or OFDM signals, etc.

[0032] In one extended embodiment, at least one signal is synchronized via another medium. For example, the first and / or second communication devices have interfaces for near-field communication, WLAN, mobile radio, etc., to synchronize signals. Therefore, a communication device is proposed, characterized by improved communication and / or improved motion relationship determination. For example, if the absolute propagation time between two transmission modules of one communication device and another communication device arranged at a known distance is not known, the angular position between vehicles can only be described by a distance-related curve based on possible propagation time differences. However, if the transmission time can be predetermined via another medium and / or the transmission time can be transferred from one communication device to another, the corresponding absolute propagation time can be determined by the time difference between transmission and reception, and the length of the transmission path can be determined by the known propagation speed. Furthermore, based on the propagation time difference or the distance of the transmission module of the other communication device combined with the transmission path difference, the distance and angle of the transmission modules can be determined by trilateration, and thus the distance and angle between vehicles can be determined.

[0033] In another configuration, a signal, on which information to be conveyed is optionally applied, is transmitted via a first communication device to a second communication device, and after a predetermined time, the signal is retransmitted from the second communication device to the first communication device in an unchanged or modified form, wherein the distance between the first and second communication devices is determined based on the total transmission time of the signal and the known propagation speed of the transmission medium. Specifically, the first transmission module is configured as a transmitter that at least temporarily transmits the signal to another receiver of the second communication device. Specifically, the second transmission module is configured as a receiver that receives the signal from another transmitter of the second communication device after a predetermined time. Preferably, one or more signals are transmitted via the transmitter of the first communication device to another receiver of the second communication device with a finite propagation time, wherein the other transmitter of the second communication device retransmits one or more signals to the receiver of the first communication device after a known, fixed time. Preferably, the communication arrangement, particularly the first communication device, has an analysis and processing device that analyzes and processes one or more received signals and determines the distance between the first and second communication devices or between the first and second vehicles based on the total transmission time. Compared to passive echo transmission, where a signal transmitted by one communication device is reflected off one surface of a vehicle with another communication device, interference (e.g., echo superposition) can be avoided by determining an appropriate time until retransmission begins. Lower signal strength is sufficient for distance determination, and / or a greater distance can also be determined in this way. Furthermore, the signal used to determine motion behavior also allows communication in both directions by applying corresponding information to the signal to be transmitted by the transmission module. In principle, communication can be conducted in both directions using the same medium (e.g., sound waves). However, alternatively, communication can be conducted in one direction using one medium (e.g., sound waves) and in the other direction using another medium (e.g., electromagnetic waves or light). Optionally, multiple transmissions, particularly so-called mehrfach-sing-Around, can be performed between the two communication devices before analysis and processing by the analysis and processing device. Thus, in a preferred embodiment, a signal for information transmission can be formed, which, after being received by the communication device through the transmission module, is always retransmitted after a known, predetermined time. This signal preferably includes other fixed information (e.g., identification of the participating communication device or transmission module) and variable information (e.g., a continuously counting loop counter for identifying the number of retransmissions). Therefore, a communication device is proposed, characterized by the additional function of distance measurement. The advantage of the described system and method is that it enables convoys of multiple vehicles to travel, in which very small distances can exist between the vehicles.

[0034] The proposed method, considering the high requirements for information transmission reliability and the ability to remeasure (check) the transmitted information in close proximity during coordinated driving over short distances, works by using exchanged signals to not only redundantly transmit information but also to determine the motion behavior of traffic participants, especially vehicles driving in coordination, in a variety of ways. Here, high reliability requirements are particularly addressed through redundancy in communication and / or motion monitoring. By arranging transmission modules at defined distances between communication devices, a dense network of paired transmission paths can be deployed along the main transmission line, thus making it extremely unlikely that external traffic participants or critically relevant objects could undetected reach the coordinated driving vehicles.

[0035] By focusing on the main transmission line, the medium critical to coordinated driving (i.e., the road surface) and areas under the vehicle are monitored to an appropriate extent.

[0036] Another aspect of the invention relates to a vehicle having at least one communication device as previously described. This communication device is particularly configured and / or adapted for performing the method. The vehicle can be configured, in particular, as a multi-lane motor vehicle, such as a truck, passenger car, bus, etc. Preferably, the vehicle is configured for automated or partially automated driving operations. Particularly preferably, the vehicle is configured for convoy driving. The communication device is arranged on the underside of the vehicle, particularly on the bottom and / or axle, such that the main transmission line of the transmission path extends below the vehicle, particularly below the axle. Therefore, the vehicle can communicate directly with vehicles traveling ahead and / or following in a simple manner. Attached Figure Description

[0037] Other advantages, effects, and configurations of the invention will become apparent from the accompanying drawings and their description. These are shown herein:

[0038] Figure 1 A schematic diagram of a vehicle fleet with multiple vehicles is shown as an embodiment of the present invention;

[0039] Figure 2 Show Figure 1 A schematic diagram of the vehicle;

[0040] Figure 3 Show Figure 2 A block diagram of the vehicle's communication equipment;

[0041] Figure 4 Showing has Figure 3 A schematic diagram of the communication arrangement of the communication equipment in the diagram;

[0042] Figure 5 Showing has Figure 3A schematic diagram of the alternative communication arrangement for the communication equipment in the diagram. Detailed Implementation

[0043] Figure 1 A schematic diagram illustrates a vehicle convoy 1 consisting of multiple vehicles 2a, 2b, and 2c. A first vehicle 2a forms a guide vehicle, and the other vehicles 2b and 2c following the first vehicle 2a form follower vehicles. The follower vehicles 2b and 2c automatically follow the guide vehicle 2a at a predetermined distance A1 and at the same speed. Ideally, the distance A1 between vehicles 2a, 2b, and 2c is less than or equal to 5 meters. The guide vehicle 2a has a pre-defined speed and route, and the following vehicles 2b and 2c match its behavior accordingly.

[0044] Not only the guide vehicle 2a, but also the following vehicles 2b and 2c are equipped with communication devices 3a, 3b, and 3c for vehicle-to-vehicle communication. The communication devices 3a, 3b, and 3c are interconnected or capable of being interconnected in signal technology to form a communication arrangement 4, enabling them to communicate with each other and exchange data (e.g., vehicle parameters). Preferably, communication takes place between directly adjacent vehicles, wherein the communication devices 3a, 3b, and 3c of the vehicle traveling ahead are configured to preferably send data to the vehicle directly following it, and the communication devices 3a, 3b, and 3c of the vehicle directly following it are also configured to receive data. Alternatively or supplementarily, data carrying information can also be transmitted from one vehicle to the next vehicle through which the other vehicle passes. In another alternative configuration, data carrying information is transmitted from a vehicle behind to a vehicle traveling ahead of it in the opposite direction of travel. For example, electromagnetic waves (radio), (ultrasonic) waves, (flash) waves, etc., can be used as the medium for transmitting at least one signal.

[0045] Furthermore, each of vehicles 2a, 2b, and 2c has a control device 5a, 5b, or 5c, configured to control driving information suggestions or automated driving operation for the corresponding vehicle 2a, 2b, or 2c based on received data from vehicles traveling ahead. For this purpose, at least one signal is transmitted along the transmission path between communication devices 3a, 3b, and 3c.

[0046] To achieve robust signal transmission, it is known to transmit information via multiple signals over at least three independent transmission paths and / or media. This allows for the detection of faults or interference in the transmission paths if the information exchanged on two other transmission paths is identical or different from the information transmitted via the interfered transmission path. For this purpose, communication devices 3a, 3b, and 3c are typically arranged in the driver's cab of a vehicle. In particular, in vehicles with containers or carriages mounted behind the driver's cab, the transmission paths and therefore signal transmission may be negatively affected. Furthermore, communication devices 3a, 3b, and 3c are susceptible to external interference in this arrangement.

[0047] Therefore, it is proposed that communication devices 3a, 3b, and 3c be arranged on the corresponding vehicles 2a, 2b, and 2c such that the main transmission line H of the transmission path extends below vehicles 2a, 2b, and 2c. Here, the communication devices 3a, 3b, and 3c are arranged on the underside of the corresponding vehicles 2a, 2b, and 2c such that at least 50% of the transmission area B of each communication device 3a, 3b, and 3c is located below its respective vehicle 2a, 2b, and 2c. The transmission area B should be understood here as the area in which the communication devices 3a, 3b, and 3c can transmit or receive signals. Here, the main transmission line H extends mostly and / or substantially in the longitudinal direction L of the corresponding vehicle. Therefore, the system-determined and almost always free cavities below vehicles 2a, 2b, and 2c can be used to achieve reliable signal transmission based on the known principles of hollow conductors.

[0048] The main advantage of this communication arrangement 3a, 3b, 3c is that it can effectively detect changes in the driving lane area and approaching objects through environmental detection. Due to gravity, each approaching object has contact with the road surface. If the signal according to the invention encounters such an approaching object with vehicles traveling in succession, a portion of the outwardly scattered signal is inevitably reflected by that object, and in a superimposed manner causes a change in the signal otherwise used for communication, which can then be identified from the receiver.

[0049] Figure 2One of vehicles 2a, 2b, and 2c, viewed from the rear in the longitudinal direction L, is shown—exemplarily represented here as vehicle 2a. Vehicle 2a has two vehicle wheels 7a and 7b at each axle 6, which are rotatably mounted on the axle 6. In the simplest embodiment, vehicles 2a, 2b, and 2c can be configured as two-axle vehicles. The main transmission line H extends below vehicle 2a as previously described, wherein the main transmission line H is oriented substantially in the x-direction defined by the longitudinal direction L with respect to the vehicle coordinate system. Here, the signal is reflected on both sides of the vehicle wheels 7a and 7b in the y-direction perpendicular to the x-direction, and in the z-direction perpendicular to both the x- and y-directions, reflected on one side by the road surface 8 and on the other side by the bottom 9 of vehicle 2a. For this purpose, a communication device 3a is arranged on the bottom 9 of vehicle 2a.

[0050] Specifically, for example, communication devices 3a, 3b, and 3c are arranged in the direction of travel, in front of at least two axles of the tractor-trailer, on the central axis of the vehicle, so as to communicate with the following vehicles 2b and 2c. This results in a certain degree of further focusing of the rearward-oriented radiation not only by the lateral dual axles but also by the lane 8 and upward by the semi-trailer body. In contrast, these components provide protection against unwanted incident radiation.

[0051] Furthermore, due to this arrangement of communication devices 3a, 3b, and 3c, communication can be conducted from the vehicle 2b located between them to the next or yet another vehicle 2c. Thus, for example, important information of interest to many vehicles can be transmitted within a relatively protected transmission space, and these signals are not readily perceived externally.

[0052] Specifically, for example, a vehicle 2a traveling ahead and especially guiding, according to the invention, transmits a relatively strongly focused light signal in the direction of following vehicles 2b and 2c at an opening angle of, for example, 2° to 10°, wherein, preferably, motion information is modulated onto the light signal such that, according to a prior agreement, following vehicles 2b and 2c switch to a safe state if these light signals are not received, particularly by the following vehicles braking sharply, however, taking into account the traffic behind them.

[0053] Another side effect of this communication using visible signals is that, based on light radiation from the main transmission line outward into the surrounding environment, coordinated driving is distinctive to other road users.

[0054] Figure 3A schematic block diagram illustrates a communication device 3a as an embodiment of the present invention. The communication device 3a has at least one transmission module 10 configured to receive signals from and / or transmit signals to adjacent communication devices.

[0055] The communication device 3a has an analysis and processing unit 11 configured to analyze and process signals and information received through the transmission module 10. The analysis and processing unit 11 can be connected to the control device 5a of the vehicle 2a, such as in… Figure 1 As shown in the figure, the analysis and processing device 11 transmits the received data for controlling the vehicle 2a to the control device 5a in real time, for example.

[0056] The communication device 3a has an ambient environment detection module 12, which is configured to detect objects and / or the state of the road surface 8 in the surrounding environment of the vehicle 2a based on received and / or transmitted signals. For example, the ambient environment detection module 12 is configured to identify the state of the vehicle and / or the road surface 8 during driving based on signal changes, such as rain, snow, ruts, road surface quality (anti-skid properties, etc.).

[0057] The communication device 3a also includes a bottom detection module 13, which is configured to detect the state of objects and / or the road surface 8 in the underside area of ​​its vehicle 2a based on received and / or transmitted signals. For example, the bottom detection module 13 is configured to check the underside area of ​​the vehicle 2a before starting based on signal changes to ensure that no objects and / or persons are under the vehicle 2a. Furthermore, the bottom detection module 13 may also be configured to measure the space in front of its own vehicle 2a.

[0058] Figure 4 A communication arrangement 4 is shown, having a first communication device 3a and a second communication device 3b, the first communication device being arranged on a first vehicle 2a and the second communication device being arranged on a second vehicle 2b. The two communication devices 3a and 3b each have first and second transmission modules 10a and 10b, respectively. The first and second transmission modules 10a and 10b of the first communication device 3a are configured as transmitters 14a and 14b, respectively, and the first and second transmission modules 10a and 10b of the second communication device 3b are configured as receivers 15a and 15b, respectively. The first transmitter 14a is configured to transmit a first signal to the first receiver 15a. The second transmitter 14b is configured to transmit a second signal to the second receiver 15b. Here, the two transmitters 14a and 14b are arranged at a known distance A2 from each other.

[0059] For example, the analysis and processing device 11 on the receiver side is configured to determine the position of the first vehicle 2a relative to the first and second receivers 15a and 15b based on the received signal. For example, the transmitters 14a and 14b and / or the receivers 15a and 15b can be configured as so-called corner radars. Here, the signal can be transmitted between the communication devices 3a and 3b using high-frequency acoustic signals or ultrasonic signals. For example, the communication direction between the transmitters 14a and 14b and the receivers 15a and 15b can be temporarily reversed, so that transmission is made through the receivers 15a and 15b and reception is made through the transmitters 14a and 14b. Furthermore, the communication arrangement 4 can be synchronized using another medium (e.g., WLAN, mobile radio, SMS).

[0060] In a first possible implementation, the two transmitters 14a and 14b are configured to transmit first and second signals to corresponding receivers 15a and 15b at close, particularly simultaneously. Here, the first and second signals are distinguishable from each other, wherein the first signal is transmitted, for example, by sound waves, and the second signal is transmitted, for example, by electromagnetic waves. Specifically, the first and second signals are configured such that they can be separated from each other by means of OFDM (Orthogonal Frequency Division Multiplexing) analysis and processing unit 11 on the receiver side of the second communication device 3b. For example, data can be transmitted as different pulse durations, different sets of orthogonal frequencies, and / or different pulse positions. The analysis and processing unit 11 of the second communication device 3b is also configured to determine the direction of the vehicle 2a traveling ahead based on the propagation time difference between the transmission and reception of each signal.

[0061] In an alternative implementation, the two transmitters 14a and 14b are configured to transmit the first and second signals at time-staggered intervals, so that signals within a certain angular range are received by the receivers 15a and 15b at time-staggered intervals. This eliminates the overhead of distinguishing signals, for example, using OFDM. The first and second signals can be configured, for example, as OFDM signals, linear frequency modulated pulse signals, etc. For example, data can be transmitted as different pulse durations, different (orthogonal) frequency groups / curves, and / or different pulse positions. The analysis and processing unit 11 of the second communication device 3b is further configured to determine the direction of the vehicle 2a traveling ahead based on the propagation time difference between the transmission and reception of each signal, known to the receivers 15a and 15b.

[0062] Figure 5 With Figure 4The same diagram illustrates communication arrangement 4, wherein the first transmission module 10a of the first communication device 3a is configured as a transmitter 14a, and the second transmission module 10b of the first communication device 3a is configured as a receiver 15b. Correspondingly, the first transmission module 10a of the second communication device 3b is configured as a receiver 15a, and the second transmission module 10b of the second communication device 3b is configured as a transmitter 14b. Here, the first transmitter 14a transmits a signal from the first communication device 3a to the first receiver 15a of the second communication device 3b for at least a limited transmission time, wherein the signal is transmitted from the second communication device 3b to the second receiver 15b of the first communication device 3a via the second transmitter 14b after a known predetermined time. Here, the analysis and processing device 11 of the first communication device 11 is configured to calculate the distance A1 between vehicles 2a and 2b or between communication devices 3a and 3b based on the total transmission time related to the propagation time.

[0063] In principle, signals can be transmitted between two communication devices 3a and 3b using sound waves. For example, communication can be conducted in two directions using the same medium but different media, for example, by synchronizing the timers of the first and second communication devices 3a and 3b, wherein the first communication device 3a is notified by radio that the second communication device 3b has received a signal, such as an acoustic signal, from the first communication device 3a at what time.

[0064] Similarly, a so-called multi-channel ringing can also be performed between the two communication devices 3a and 3b. For this purpose, signal transmissions can be performed multiple times between the two communication devices 3a and 3b before analysis and processing. Alternatively, the signal can also be transmitted via direction-dependent optical communication, where, for example, if a vehicle 2a traveling ahead has been detected by radar or ultrasound, lights are briefly flashed at the rear of that vehicle 2a.

Claims

1. A method for communicating between at least two vehicles (2a, 2b, 2c) traveling in succession via a communication arrangement (4), wherein, The communication arrangement (4) has at least one first communication device (3a) for placement on the first vehicle (2a) and at least one second communication device (3b) for placement on the second vehicle (2b), wherein: Signals are transmitted through a transmission path between the communication devices (3a, 3b, 3c), wherein the main transmission line (H) of the transmission path extends at least below the first vehicle and / or the second vehicle (2a, 2b). At least the first communication device (3a) has a first transmission module and a second transmission module (10a, 10b) spaced apart from the first transmission module by a distance (A2). A first signal is transmitted along a first transmission path between the first transmission module (10a) and the second communication device (3b). A second signal is transmitted along a second transmission path between the second transmission module (10b) and the second communication device (3b). The main transmission lines (H) of the first and second transmission paths extend below the at least first vehicle and / or the second vehicle (2a, 2b).

2. The method according to claim 1, characterized in that, The at least first communication device and / or the second communication device (3a, 3b) each have a transmission area (B), in which the signal is transmitted and / or received, wherein at least 50% of the transmission area (B) is arranged below the vehicle (2a, 2b).

3. The method according to claim 1 or 2, characterized in that, The main transmission line (H) extends at least substantially in the longitudinal direction (L) of at least one of the vehicles (2a, 2b, 2c).

4. The method according to any one of the preceding claims, characterized in that, The signal is reflected along the main transmission line (H) in the y-direction about the vehicle coordinate system by the vehicle wheels (7a, 7b) of the at least first vehicle and / or the second vehicle (2a, 2b) on both sides, and / or, in the z-direction, by the road surface (8) on one side and by the bottom (9) of the at least first vehicle and / or the second vehicle (2a, 2b) on the other side.

5. The method according to any one of the preceding claims, characterized in that, At least one of the communication devices (3a, 3b, 3c) has an ambient environment detection module (12), wherein, based on the signal, the ambient environment detection module (12) detects the state of objects and / or the road surface (8) in the surrounding environment of the vehicle (2a, 2b, 2c).

6. The method according to any one of the preceding claims, characterized in that, At least one of the communication devices (3a, 3b, 3c) has a bottom detection module (13), wherein, based on the signal, the bottom detection module (13) detects the state of objects and / or the road surface (8) in the bottom area of ​​the vehicle (2a, 2b, 2c).

7. The method according to any one of the preceding claims, characterized in that, The first signal is transmitted in close time to the second communication device (3b) via the first transmission module (10a) and the second signal is transmitted in close time to the second transmission module (10b), wherein the first signal and the second signal are distinguished from each other by means of a modulation method by the second communication device (3b).

8. The method according to any one of claims 1 to 6, characterized in that, The first signal is transmitted to the second communication device (3b) via the first transmission module (10a) and the second signal is transmitted to the second communication device (3b) at time intervals, wherein the first signal and the second signal are distinguished from each other by the second communication device (3b) based on the time interval.

9. The method according to any one of the preceding claims, characterized in that, Based on the propagation time difference between the transmission and reception of the first signal and / or the second signal, the position and / or direction of travel of the first vehicle (2a) relative to the second communication device (3b) are determined.

10. The method according to any one of the preceding claims, characterized in that, The first signal is transmitted via sound waves, and the second signal is transmitted via electromagnetic waves.

11. The method according to any one of the preceding claims, characterized in that... The first signal and / or the second signal are constructed as linear frequency modulated pulse signals or as OFDM signals.

12. The method according to any one of the preceding claims, characterized in that, The signal is sent from the first communication device (3a) to the second communication device (3b), and after a certain time, the second communication device (3b) sends the signal back to the first communication device (3a), wherein the distance between the first communication device and the second communication device (3a, 3b) is determined based on the total transmission time of the signal.

13. The method according to any one of the preceding claims, characterized in that, The first signal and the second signal are synchronized using an additional medium, such as WLAN, mobile radio, or SMS.

14. The method according to claim 7, characterized in that, The first signal is transmitted simultaneously through the first transmission module (10a) and the second signal is transmitted simultaneously through the second transmission module (10b) to the second communication device (3b), wherein the first signal and the second signal are distinguished from each other by means of a modulation method.

15. A vehicle (2a, 2b, 2c) having at least one communication device (3a, 3b, 3c), said communication device being used, when employing the method according to any one of claims 1 to 14, for communicating with at least one vehicle (2a, 2b, 2c) traveling ahead and / or following behind and / or for determining the motion of at least one vehicle (2a, 2b, 2c) traveling ahead and / or following behind, wherein, The communication devices (3a, 3b, 3c) are configured to transmit signals to other vehicles (2a, 2b, 2c) via a transmission path, and / or receive signals from the other vehicles (2a, 2b, 2c) via the transmission path, characterized in that the communication devices (3a, 3b, 3c) are arranged on the underside of the vehicles (2a, 2b, 2c), such that the main transmission line (H) of the transmission path extends below the vehicles (2a, 2b, 2c), and / or the motion is determined based on propagation time and / or propagation time difference.

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