Method and device for controlling vehicle association to circulate in a vehicle grouping mode by platoon

Abstract

The present invention relates to a method and device for controlling the association of a first vehicle (11) and a second vehicle (12) to travel in a platoon. For this purpose, a third distance between the first vehicle (11) and the second vehicle (12) is determined from the absolute geographical positions of the first and second vehicles (11, 12). A first distance between the first vehicle (11) and the object following the first vehicle (11), and a second distance between the second vehicle (12) and the object preceding the second vehicle (12) are determined, with the first vehicle (11) traveling behind the second vehicle (12). The third distance is compared to the first and second distances. The association of the first vehicle (11) and the second vehicle (12) is controlled based on the result of the comparison. Figure 1 (for the abstract):

Description

Title of the invention: Method and device for controlling the association of vehicles for circulating in a vehicle platoon grouping mode Technical field

[0001] The present invention relates to methods and devices for forming a group of vehicles in a platoon (from the English "platooning"). More specifically, the present invention relates to a method and a device for controlling the association of vehicles, in particular but not exclusively motor vehicles, for circulating in a group of vehicles in a platoon. Technological background

[0002] With the increase in the number of vehicles on the roads, road congestion and road safety are becoming major concerns. To reduce road congestion and improve safety without increasing the number of roads, the method known as platooning (also called road convoy or vehicle train) makes it possible to shorten the distance between vehicles thanks to increased communication between these vehicles. Bringing vehicles closer together on a given road can increase throughput up to 5 times. At the same time, safety is improved thanks to a reduction in reaction times made possible by new means of communication and electronically managed driving assistance.

[0003] New communication technologies that have recently appeared allow the establishment of wireless communications between vehicles necessary for traffic in platoon grouping mode via the exchange of information between the vehicles and / or between the vehicles and the infrastructure surrounding them. Indeed, new information and communication technologies applied to the field of transport have appeared, such as ITS G5 (from the English "Intelligent Transportation System G5" or in French "Système de transport intelligent G5") in Europe or DSRC (from the English "Dedicated Short Range Communications" or in French "Communications réservés à courte gamme") in the United States of America, which are both based on the IEEE 802 standard.1 Ip or the technology based on cellular networks called C-V2X (from the English "Cellular - Vehicle to Everything") which relies on 4G based on LTE (from the English "Long Terni Evolution" or in French "Long term Evolution") or 5G. Such a mode of wireless communication is also called V2X (from the English "Vehicle to Everything" or in French "Vehicle to Everything") grouping together. different modes of communication such as vehicle-to-vehicle communication mode, known as V2V (from the English “Vehicle-to-Vehicle”) or vehicle-to-infrastructure communication mode, known as V2I (from the English “Vehicle-to-Infrastructure”).

[0004] However, not all vehicles traveling in an environment where traffic is in platoon mode are configured to establish communications according to the V2X mode. The presence of such vehicles traveling among other vehicles wishing to associate to travel in platoon mode makes the procedure for forming a platoon or the procedure by which a vehicle joins an existing platoon more complex. Indeed, vehicles not configured for the V2X communication mode are unable to communicate their presence or their position, which creates safety risks for vehicles wishing to associate to form or join a platoon, in particular when the vehicles not configured for the V2X communication mode are interposed between vehicles wishing to associate to travel in platoon mode. Summary of the present invention

[0005] An object of the present invention is to solve at least one of the problems of the technological background described above.

[0006] Another object of the present invention is to improve the association of vehicles to form a group of vehicles traveling in vehicle platoon grouping mode.

[0007] Another object of the present invention is to improve safety when forming a platoon of vehicles.

[0008] According to a first aspect, the present invention relates to a method for controlling the association of a first vehicle and a second vehicle traveling on the same traffic lane in the same direction of travel, the first vehicle traveling downstream of the second vehicle in the same direction of travel, the method comprising the following steps, following a request for association of the first and second vehicles to travel in a group of vehicles by platoon: - reception of first data representative of an absolute geographical position of the first vehicle and second data representative of an absolute geographical position of the second vehicle, the first data and / or the second data being received according to a wireless communication mode; - reception of third data representative of a first distance between the first vehicle and a first object following the first vehicle on the traffic lane and detected by at least one first environmental sensor on board the first vehicle and reception of fourth data representative of a second distance between the second vehicle and a second object preceding the second vehicle on the traffic lane and detected by at least one second environmental sensor on board the second vehicle, the third data and / or the fourth data being received according to the wireless communication mode; - determining a third distance between the first vehicle and the second vehicle based on the first data and the second data; - first comparison of the third distance to the first distance and to the second distance; and - association control of the first vehicle and the second vehicle based on a result of the first comparison.

[0009] Wireless communication of the absolute geographical positions (for example obtained from a geolocation system) of 2 vehicles traveling at a distance from each other on the same traffic lane allows the device in possession of these two pieces of information to calculate the distance separating these 2 vehicles. The vehicles are each equipped with one or more environmental sensors (for example a radar or a lidar), it is thus possible to calculate for each of these vehicles the distance separating it from the object following or preceding the vehicle on the traffic lane from the data obtained from the environmental sensor(s). The comparison between the different distances thus determined or calculated makes it possible to detect, where appropriate, the presence of one or more objects, typically one or more vehicles which have not communicated their presence, interposed between the 2 vehicles.Determining the presence or absence of other vehicle(s) interposed between the 2 vehicles wishing to join together to travel in platoon mode makes it possible to control the association of the 2 vehicles in complete safety, for example by authorizing the association of the 2 vehicles to travel in the vehicle grouping mode by platoon if no interposed vehicle has been detected, and by prohibiting the association of the 2 vehicles in the opposite case without additional measures for example.

[0010] According to one variant, the association control comprises: - a validation of association of the first vehicle and the second vehicle to circulate in a group of vehicles by platoon when a difference between the third distance and the first distance and a difference between the third distance and the second distance are each less than a first threshold; - a refusal to combine the first vehicle and the second vehicle to travel in a group of vehicles in a platoon when the difference between the third distance and the first distance and the difference between the third distance and the second distance are each greater than the first threshold.

[0011] According to another variant, the method further comprises the following steps: - reception of fifth data representative of a first speed of the first vehicle and sixth data representative of a second speed of the second vehicle, the fifth data and / or the sixth data being received according to the wireless communication mode; - second comparison of the first speed to the second speed, the association control of the first vehicle and the second vehicle being further dependent on a result of the second comparison.

[0012] According to another variant, the association is validated when the result of the second comparison indicates that the first speed is lower than the second speed, the method further comprising a step of transmitting a request to the first vehicle and the second vehicle comprising speed instructions for the first vehicle and the second vehicle so that the first speed becomes lower than the second speed when the result of the second comparison indicates that the first speed is greater than or equal to the second speed.

[0013] According to an additional variant, the method further comprises the following steps: - determining the presence of at least one third vehicle traveling between the first vehicle and the second vehicle on the same traffic lane when the difference between the third distance and the first distance and the difference between the third distance and the second distance are each greater than at least a second threshold; - determination of a third speed of at least one third vehicle based on the third data and / or fourth data; - third comparison of the first, second and third speeds, the association control of the first vehicle and the second vehicle being further dependent on a result of the third comparison.

[0014] According to another variant, the method further comprises a step of determining a first instruction to reduce the first speed of the first vehicle to allow the first vehicle to be overtaken by the at least one third vehicle or a second instruction to increase the second speed of the second vehicle to allow the at least one third vehicle to be overtaken by the second vehicle depending on the result of the third comparison.

[0015] According to an additional variant, the first data are obtained from a first receiver of a geolocation system on board the first vehicle and the second data are obtained from a second receiver of a geolocation system on board the second vehicle.

[0016] According to a second aspect, the present invention relates to a device for controlling the association of a first vehicle and a second vehicle, the device comprising a memory associated with a processor configured for the implementation steps of the method according to the first aspect of the present invention.

[0017] According to a third aspect, the present invention relates to a vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention.

[0018] According to a fourth aspect, the present invention relates to a computer program which comprises instructions adapted for executing the steps of the method according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

[0019] Such a computer program may use any programming language, and be in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0020] According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the method according to the first aspect of the present invention.

[0021] On the one hand, the recording medium may be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM memory, a CD-ROM or a microelectronic circuit type ROM memory, or a magnetic recording means or a hard disk.

[0022] Furthermore, this recording medium may also be a transmissible medium such as an electrical or optical signal, such a signal being able to be conveyed via an electrical or optical cable, by conventional or hertzian radio or by self-directed laser beam or by other means. The computer program according to the present invention may in particular be downloaded from an Internet-type network.

[0023] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to perform or to be used in performing the method in question. Brief description of the figures

[0024] Other characteristics and advantages of the present invention will emerge from the description of the particular and non-limiting exemplary embodiments of the present invention below, with reference to the appended figures 1 to 5, in which:

[0025] [Fig.l] schematically illustrates an environment comprising a set of vehicles traveling on the same traffic lane, according to a particular exemplary embodiment of the present invention;

[0026] [Fig.2] schematically illustrates a first vehicle and a second vehicle of the set of vehicles of [Fig.l], according to a first particular exemplary embodiment of the present invention;

[0027] [Fig.3] schematically illustrates a first vehicle and a second vehicle of the set of vehicles of [Fig.l], according to a second particular exemplary embodiment of the present invention;

[0028] [Fig.4] illustrates a device configured for controlling the association of the first vehicle with the second vehicle of [Fig.2] or 3 to circulate in a vehicle platoon grouping mode, according to a particular and non-limiting exemplary embodiment of the present invention.

[0029] [Fig.5] illustrates a flowchart of the different steps of a method for controlling the association of the first vehicle with the second vehicle of [Fig.2] or 3 to circulate in a mode of grouping vehicles by platoon, according to a particular and non-limiting exemplary embodiment of the present invention. Description of examples of implementation

[0030] A method and a device for controlling the association of vehicles for circulating in a group of vehicles by platoon will now be described in what follows with joint reference to Figures 1 to 5. The same elements are identified with the same reference signs throughout the description which follows.

[0031] The terms "first(s)", "second(s)" (or "first(s)", "second(s)"), etc. are used in this document by arbitrary convention to enable different elements (such as operations, means, etc.) implemented in the embodiments described below to be identified and distinguished. Such elements may be distinct or correspond to a single element, depending on the embodiment.

[0032] According to a particular and non-limiting example of embodiment of the present invention, the association or identification control of a first vehicle and a second vehicle for traveling in a vehicle platoon grouping mode is implemented by one and / or the other of the first and second vehicles or by a remote server-type device connected in wireless communication to the first and second vehicles. The first vehicle and the second vehicle advantageously travel on the same traffic lane (for example a traffic lane of a motorway) in the same direction of travel, the first vehicle traveling downstream of the second vehicle, that is to say in front of the second vehicle at a distance from the second vehicle. One or more third vehicles are potentially interposed between the first vehicle and the second vehicle on the same traffic lane.

[0033] Such an association check comprises receiving first data representative of an absolute geographical position of the first vehicle and second data representative of an absolute geographical position of the second vehicle. The absolute geographical positions correspond for example to coordinates (for example in the form of a latitude and a longitude) obtained from receivers of a geolocation system on board each of the first and second vehicles. According to the device implementing the invention, the first data and / or the second data are received according to a wireless communication mode, for example a V2X type communication mode. Third data representative of a first distance between the first vehicle and a first object following the first vehicle on the traffic lane are obtained from one or more first environmental sensors (for example one or more radars and / or lidars) on board the first vehicle, the first object having been detected by the first environmental sensor(s). The first object corresponds to a third vehicle or to the second vehicle.Fourth data representative of a second distance between the second vehicle and a second object preceding the second vehicle on the traffic lane are obtained from one or more second environmental sensors (for example one or more radars and / or lidars) on board the second vehicle, the second object having been detected by the second environmental sensor(s). The second object corresponds to the third vehicle, to the first vehicle or to a vehicle other than the first and third vehicles. According to the device implementing the invention, the third data and / or the fourth data are received according to the wireless communication mode. A third distance between the first vehicle and the second vehicle is determined according to the first data and the second data.The third distance is compared with the first distance and the second distance, the association of the first vehicle and the second vehicle being checked based on a result of the comparison. Such an association corresponds to an association of the first vehicle with the second vehicle (or a group of vehicles including the second vehicle) and / or an association of the second vehicle with the first vehicle (or a group of vehicles including the first vehicle). The association of one vehicle with the other results, for example, in a mutual identification of each of the vehicles (identification of the first vehicle by the second vehicle and conversely identification of the second vehicle by the first vehicle).

[0034] [Fig. 1] schematically illustrates a road environment 1 associated with a wireless communication network, according to a particular and non-limiting exemplary embodiment of the present invention.

[0035] [Fig.l] illustrates a first vehicle 11 and a second vehicle 12 traveling on a traffic lane 1000 of a road. According to a particular example illustrated in [Fig.l], the first vehicle 11 belongs to a platoon (also called a train of vehicles or road convoy or group of vehicles), the first vehicle 11 corresponding for example to the last vehicle of the platoon, that is, the rear vehicle closing the platoon. Such grouping of vehicles by platoon is made possible thanks to an automated highway system (also called smart road) which corresponds to an intelligent transport system designed to allow the circulation of vehicles, for example without a driver, on dedicated roads, these vehicles circulating for example in an autonomous driving mode without driver intervention.

[0036] According to another example, the first vehicle 11 is not yet associated with a platoon and is traveling outside of any grouping.

[0037] The first vehicle 11 and the second vehicle 12 correspond for example to a vehicle with a thermal engine, with electric motor(s) or even a hybrid vehicle with a thermal engine and one or more electric motors. The first vehicle 11 and the second vehicle 12 thus correspond for example to a land vehicle, for example a car, a truck, a bus.

[0038] The first vehicle 11 and the second vehicle 12 correspond to so-called connected vehicles, that is to say vehicles configured to communicate data according to a wireless communication mode, for example via a wireless network infrastructure.

[0039] For this purpose, the first vehicle 11 and the second vehicle 12 each comprise a communication system or interface comprising, for example, one or more communication antennas connected to a telematic control unit, called TCU (from the English “Telematic Control Unit”), itself connected to one or more computers of the on-board system of the vehicle. The antenna(s), the TCU unit and the computer(s) form, for example, a multiplexed architecture for the realization of different services useful for the proper functioning of the vehicle and for assisting the driver and / or the passengers of the vehicle in the control of the vehicle.The computer(s) and the TCU communicate and exchange data with each other via one or more computer buses, for example a communication bus of the CAN (Controller Area Network), CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (according to the ISO 17458 standard) or Ethernet (according to the ISO / IEC 802-3 standard) data bus type.

[0040] Even if not illustrated in [Fig.l], one or more third vehicles potentially travel on the same traffic lane as the first and second vehicles 11, 12, interposed between these first and second vehicles 11, 12, according to different embodiments. This or these third vehicles each correspond to a vehicle not configured to communicate according to a wireless communication mode, that is to say a vehicle not comprising a communication system or interface communication as described above. According to another example, the third vehicle(s) have a wireless communication system but not compatible with the wireless communication system of the first and second vehicles 11, 12, not allowing the exchange of data between, on the one hand, the third vehicle(s) and, on the other hand, by the first and second vehicles 11, 12.

[0041] The first vehicle 11 and the second vehicle 12 (as well as any vehicle configured to travel in a vehicle platoon grouping mode) advantageously communicate using a so-called V2X communication system, for example based on the 3GPP LTE-V or IEEE 802.1 Ip standards of ITS G5. In such a V2X communication system, each vehicle carries a node (or wireless communication system / interface) to enable vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I) and / or vehicle-to-pedestrian (V2P) communication, the pedestrians being equipped with mobile devices (for example a smartphone) configured to communicate with the vehicles.

[0042] The network infrastructure comprises, for example, communication devices 101, 102, each device 101, 102 corresponding, for example, to an antenna of a cellular network of the LTE 4G or 5G type or to a UBR (“Roadside Unit”), each corresponding to a node of the network, in addition to the nodes equipping the vehicles.

[0043] According to a particular embodiment, all of the nodes (i.e. the wireless communications systems or interfaces associated with the vehicles 11, 12 and the antennas or UBRs 101, 102) of the network form, for example, an ad hoc wireless network (also called WANET (from the English “Wireless Ad Hoc Network”) or MANET (from the English “Mobile Ad Hoc Network”)), corresponding to a decentralized wireless network. The ad hoc wireless network advantageously corresponds to an ad hoc vehicular network (or VANET, from the English “Vehicular Ad hoc NETwork”) or to an intelligent ad hoc vehicular network (or InVANET, from the English “Intelligent Vehicular Ad hoc NETwork”), also called a “GeoNetworking” network.In such a network, 2 or more vehicles, each carrying a node, can communicate with each other in the context of vehicle-to-vehicle (V2V) communication; each vehicle can communicate with the infrastructure set up in the context of vehicle-to-infrastructure (V2I) communication; each vehicle can communicate with one or more pedestrians equipped with mobile devices (for example, a smartphone) in the context of vehicle-to-pedestrian (V2P) communication.

[0044] The nodes corresponding to the antennas (or UBR) 101 and 102 are advantageously connected to one or more remote servers 110 or to the “cloud” 100 (or in French “nuage”) via a wired and / or wireless connection. The antennas or UBR 101 and 102 can thus act as a relay between the “cloud” 100 and its servers 110 on the one hand and the first and second vehicles 11, 12 (i.e. each connected vehicle configured to travel in a platoon).

[0045] According to a particular embodiment, the first vehicle 11 and the second vehicle 12 communicate with each other according to a direct communication mode, which is for example in accordance with: - ITS G5 in Europe or DSRC (Dedicated Short Range Communications) in the United States of America, both of which are based on the IEEE 802.1 lp standard; or - LTE-V Mode 4 (Long-Term Evolution - Vehicle Mode 4) which enables V2V communications, also called sidelink communications) based on a direct LTE communication interface called PC5; such technology is described for example in the article entitled "Analytical Models of the Performance of C-V2X Mode 4 Vehicular Communications", written by Manuel Gonzalez-Martin, Miguel Sépulcre, Rafael Molina-Masegosa and Javier Gozalvez, and published in 2018.

[0046] The first vehicle 11 and the second vehicle 12 each further comprise a set of sensors for perceiving the environment around each vehicle, these sensors being for example arranged at the front of each vehicle (for example in the front bumper) to detect the presence of objects located in front of the vehicle and at the rear of each vehicle (for example in the rear bumper) to detect the presence of objects located behind the vehicle depending on the direction of travel of the vehicle. According to other examples, each vehicle further comprises perception sensors arranged on the sides of the vehicle, for example in the side mirrors.

[0047] The environmental perception sensor(s) of the first vehicle 11 and of the second vehicle 12 correspond for example to one or more of the following sensors: - one or more millimeter wave radars arranged on the vehicle, for example at the front, at the rear, on each front / rear corner of the vehicle; each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more objects, for the purpose of detecting obstacles and their distances from the vehicle; and / or - one or more LIDAR(s) (from the English “Light Detection And Ranging”, or “Detection and estimation of distance by light” in French), a sensor LIDAR corresponding to an optoelectronic system composed of a laser emitting device, a receiving device comprising a light collector (to collect the part of the light radiation emitted by the emitter and reflected by any object located in the path of the light rays emitted by the emitter) and a photodetector which transforms the collected light into an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects located in the emitted light beam and to measure the distance between the sensor and each detected object; and / or - one or more cameras (associated or not with a depth sensor) for acquiring one or more images of the environment around the vehicle located in the field of vision of the camera(s), for example a so-called front camera, such a front camera being arranged in the passenger compartment of the vehicle under the windshield and at the top and in the middle of this windshield and having a field of vision corresponding to the space located in front of the vehicle according to the direction of travel of the vehicle.

[0048] The first vehicle 11 and the second vehicle 12 each further comprise a geolocation system receiver allowing each vehicle 11, 12 to obtain first data representative of its geographical position at any time, for example in the form of coordinates (latitude and longitude), via a satellite link with a set of satellites 111.The geolocation system corresponds for example to a system of the GPS type (from the English "Global Positioning System" or in French "Global Positioning System"), Galileo or GLONASS. The geographical position obtained for each vehicle 11, 12 from a geolocation system is said to be absolute in that the coordinates are expressed in the same reference frame for each vehicle, namely the world reference frame.

[0049] A process for associating or identifying vehicles so that these vehicles travel in a group of vehicles by platoon is advantageously implemented by an association or identification control device, that is to say by one or more processors of this device. Such an association control device is for example embedded in each of the first and second vehicles 11, 12 and / or in the remote device 110 of the server type connected in wireless communication to the first and second vehicles 11, 12. Such a process is thus implemented by the first vehicle 11 (that is to say by one or more processors of one or more computers of the first vehicle 11), by the second vehicle 12 (that is to say by one or more processors of one or more computers of the second vehicle 12) and / or by the remote device 110.

[0050] Such a process corresponds to a process of controlling the association or identification of the first vehicle 11 and the second vehicle 12 so that the first vehicle 11 and the second vehicle regroup and form a platoon in a traffic mode of grouping vehicles by platoon when the conditions necessary are fulfilled, as described below. According to another example, such a process corresponds to a process of controlling the association or identification of a vehicle, for example the first vehicle 11 (respectively the second vehicle 12), so that the first vehicle 11 (respectively the second vehicle 12) joins an already existing platoon comprising the second vehicle 12 (respectively the first vehicle 11). According to another example, such a process corresponds to a process of controlling the association or identification of a first group of vehicles comprising the first vehicle 11 and circulating in a platoon and of a second group of vehicles comprising the second vehicle 12 and circulating in a platoon so that the first group of vehicles and the second group of vehicles join and form a single platoon.

[0051] In a first operation of the process, one or more requests for association or identification of vehicles to travel in a group of vehicles in a platoon is / are transmitted. For example, a request is sent by each vehicle wishing to indicate its intention to travel in a platoon with other vehicles or to join an existing group of vehicles traveling in a platoon, such a request being for example transmitted by each vehicle in a broadcast mode and / or via the remote device 110 which retransmits it to all the vehicles traveling in the area of ​​the transmitting vehicle to signal the presence of the transmitting vehicle and its intention to travel in a platoon.

[0052] According to an alternative embodiment, the remote device 110 centralizes all requests from vehicles wishing to travel in a platoon and controls or coordinates the association process so that these vehicles, i.e. the first vehicle 11 and the second vehicle 12, travel in a group of vehicles by platoon.

[0053] In a second operation of the process, first data representative of an absolute geographical position of the first vehicle 11 and second data representative of an absolute geographical position of the second vehicle 12 are obtained, for example by a receiver of a geolocation system 111 on board each of the first and second vehicles 11, 12.

[0054] When the process is implemented by the first vehicle 11 (respectively the second vehicle 12), the first vehicle 11 (respectively the second vehicle 12), that is to say the computer implementing the process, receives the first data from the receiver of the geolocation system of the first vehicle 11 via a data bus connecting these two entities and the computer receives the second data via a wireless link connecting the first vehicle 11 and the second vehicle 12 according to a wireless communication mode, for example of the V2X type (for example in V2V and / or V2I).

[0055] When the process is implemented by the remote device 110, the latter receives from each of the first and second vehicles 11, 12 the first and second data (from the first vehicle 11 and the second vehicle 12 respectively) via the wireless links connecting the vehicles 11, 12 to the “cloud” 100 according to the wireless communication mode, for example in V2I.

[0056] In a third operation of the process, the relative position of the first vehicle 11 with respect to the second vehicle 12 is determined from the first and second data, to determine which vehicle is traveling in front of the other on the traffic lane 100, the two vehicles traveling in the same direction of travel on this lane.

[0057] According to the embodiment illustrated in [Fig. 1], the first vehicle 11 travels in front of the second vehicle 12, the first vehicle 11 corresponding to the so-called downstream vehicle and the second vehicle 12 to the so-called upstream vehicle.

[0058] In a fourth operation of the process, third data representative of a first distance, noted 'dl' (expressed for example in meters), between the first vehicle 11 and a first object following the first vehicle 11 on the traffic lane 100 are obtained from one or more environmental sensors (for example one or more radars) configured to monitor the environment behind the first vehicle 11 and detect the presence of an object (within the limit of the field of action of the environmental sensor(s)) closest behind the first vehicle 11. These third data are for example obtained from a computer of the first vehicle 11 controlling this or these environmental sensors.

[0059] In the same way, fourth data representative of a second distance, noted 'd2' (expressed for example in meters), between the second vehicle 12 and a second object preceding the second vehicle 12 on the traffic lane 100 are obtained from one or more environmental sensors (for example one or more radars) configured to monitor the environment in front of the second vehicle 12 and detect the presence of the object (within the limit of the field of action of the environmental sensor(s)) closest in front of the second vehicle 12. These fourth data are for example obtained from a computer of the second vehicle 12 controlling this or these environmental sensors.

[0060] The third and / or fourth data are communicated to the device(s) responsible for controlling the association according to the wireless communication mode, for example V2X, as described for the first and second data in the second operation of the process.

[0061] In a fifth operation of the process, the distance between the first vehicle 11 and the second vehicle 12, called the third distance and noted 'd3' (expressed for example in meters) is determined or calculated from the first and second data received, that is to say from the absolute geographical positions of the first and second vehicles 11, 12.

[0062] In a sixth operation of the process, the third distance 'd3' is compared to the first distance 'dl' and the third distance 'd3' is compared to the second distance 'd2'.

[0063] In a seventh operation of the process, the association and / or identification of the first vehicle 11 and the second vehicle 12 is checked based on the result of the comparison of the sixth operation.

[0064] The comparison between the third distance 'd3' and each of the first distance 'd1' and second distance 'd2' makes it possible to determine the presence or absence of vehicle(s) (called third vehicle(s)) between the first vehicle 11 and the second vehicle 12. In other words, the comparison between the third distance 'd3' and each of the first distance 'd1' and second distance 'd2' makes it possible to verify whether one or more third vehicles are located between the first vehicle 11 and the second vehicle 12 on the traffic lane 1000, without the system controlling the formation of the platoon being aware of this (for example when the third vehicle(s) are not configured for wireless data communication with this system).

[0065] Thus, the association control comprises a validation of the association of the first vehicle 11 and the second vehicle 12 to circulate in a group of vehicles by platoon when the difference between the third distance 'd3' and the first distance 'dl' is less than a first threshold, noted 'e' (the first threshold corresponding for example to a distance equal to 1, 2 or 5 meters) and when the difference between the third distance 'd3' and the second distance 'd2' is also less than the first threshold, that is to say when:

[0066] [Math.l] < s and [Math.l] |d3-Æ| S 8

[0067] The first threshold makes it possible to take into account errors in determining the distances 'dl', 'd2' and / or 'd3' due to the imprecision of the measurements made to obtain the absolute geographical positions and / or the measurements made by the environmental sensors.

[0068] When the above equations are verified, this means that the first object detected behind the first vehicle 11 by the environmental sensor(s) of the first vehicle 11 corresponds to the second vehicle 12 and that the second object detected in front of the second vehicle 12 by the environmental sensor(s) of the second vehicle 12 corresponds to the first vehicle 11. The presence of no third vehicle between the first and second vehicles 11, 12 is detected when the above equations are verified.

[0069] [Fig.2] illustrates such a scenario where the first vehicle 11 is immediately followed by the second vehicle 12, i.e. a situation in which no third vehicle is interposed between the first vehicle 11 and the second vehicle 12.

[0070] In such a situation, the third distance 'd3' is equal to the first distance 'dl' (or substantially equal, the difference between the two distances being less than the first threshold e representing an acceptable margin of error) and the third distance 'd3' is equal to the second distance 'd2' (or substantially equal). Consequently, the first distance 'dl' is also equal, or substantially equal, to the second distance 'd2'.

[0071] When the association of the first vehicle 11 and the second vehicle 12 is validated, the first vehicle 11 and the second vehicle 12 join to form a platoon and travel in the vehicle grouping mode by platoon.The association comprises for example the reception by the first vehicle 11 and / or the second vehicle 12 of an authorization to form a group of vehicles by platoon or to join an already existing platoon of vehicles.

[0072] In such a mode, the vehicles 11, 12 circulate for example in an autonomous mode, with a level of autonomy greater than or equal to 3, whether in the classification published by the federal agency responsible for road safety in the USA which comprises 5 levels or in the classification published by the international organization of automobile manufacturers which comprises 6 levels.

[0073] According to a particular embodiment, the association of the first vehicle 11 and the second vehicle 12 is conditioned by a speed condition.

[0074] According to this particular embodiment, fifth data representative of a first speed of the first vehicle 11 and sixth data representative of a second speed of the second vehicle 12 are obtained.

[0075] The fifth data and / or the sixth data are communicated to the device(s) responsible for controlling the association according to the wireless communication mode, for example V2X, as described for the first and second data in the second operation of the process.

[0076] The first speed is for example obtained by an odometer system of the first vehicle 11 and the second speed is for example obtained by an odometer system of the second vehicle 12.

[0077] The first speed and the second speed are compared, the association control of the first vehicle 11 and the second vehicle 12 furthermore being a function of the result of this comparison.

[0078] According to this particular embodiment, the association between the first vehicle 11 and the second vehicle 12 is possible and validated when the first speed is lower than the second speed. Indeed, in such a case, the second vehicle 12 which is traveling behind the first vehicle 11 at the distance 'd3' behind the latter has the capacity to catch up with the first vehicle 11 to form a platoon when the speed of the second vehicle 12 is higher than the speed of the first vehicle 11.

[0079] Otherwise, that is to say when the first speed is higher than the second speed (with the second vehicle 12 being unable to reach the first vehicle 11), this particular embodiment further comprises an operation during which a request is transmitted to the first vehicle and / or the second vehicle, which request comprises speed instructions for the first vehicle and / or the second vehicle so that the first speed becomes lower than the second speed. For example, a first request is transmitted to the first vehicle 11 with the instruction to reduce its speed to a first set speed (lower than the current speed) and / or a second request is transmitted to the second vehicle 12 with the instruction to increase its speed to a second set speed (higher than the current speed).The first set speed and / or the second set speed is / are calculated as a function of the first speed and the second speed so as to allow the second vehicle 12 to join the first vehicle 11 to form the platoon.

[0080] The first vehicle 11 and / or the second vehicle 12 acknowledge receipt of the first request and / or the request, the response of the first vehicle 11 and / or the second vehicle 12 validating or rejecting the request to reduce, or increase, the speed respectively. In the event of acceptance, the association of the first vehicle 11 and the second vehicle 12 is validated. In the event of rejection or refusal to apply the instructions, the association is rejected or refused and the process ends, the second vehicle 12 not having the capacity to join the first vehicle 11 to form a platoon of vehicles.

[0081] When the difference between the third distance 'd3' and the first distance 'dl' is greater than the first threshold e and the difference between the third distance 'd3' and the second distance 'd2' is greater than the first threshold e, then the association between the first vehicle 11 and the second vehicle 12 is refused or failed, that is to say when:

[0082] [Math.2] > e. And [Math.2] \d3-d2\ > s

[0083] When the above equations are verified, this means that the first object detected behind the first vehicle 11 by the environmental sensor(s) of the first vehicle 11 does not correspond to the second vehicle 12 but to a third vehicle whose presence had not been identified by wireless communication. This also means that the second object detected in front of the second vehicle 12 by the environmental sensor(s) of the second vehicle 12 does not correspond to the first vehicle 11 but to a third vehicle (identical or different from the third vehicle following the first vehicle 11). The presence of one or more third vehicles between the first and second vehicles 11, 12 is thus detected when the above equations are verified.

[0084] [Fig. 3] illustrates such a scenario where one or more third vehicles 30 (2 vehicles according to the particular example of [Fig. 3]) are interposed between the first vehicle 11 and the second vehicle 12. The third vehicle corresponds to any motorized land vehicle, for example a motor vehicle, a bus or a truck.

[0085] In such a situation, the third distance 'd3' is greater than the first distance 'dl' and the second distance 'd2'.

[0086] When only one of the above equations is verified (for example if only 'd3' is only greater than 'dl') then an error is detected by the system or device implementing the process.

[0087] According to a particular embodiment, when the difference between the third distance 'd3' and the first distance 'dl' is greater than a second threshold (which is for example at the first threshold e or different from the first threshold) and the difference between the third distance 'd3' and the second distance 'd2' is greater than the second threshold, the process further comprises the following additional operations: - determining the presence of a set of third vehicles 30 comprising one or more third vehicles 30 as a function of the third and / or fourth data; - determination of the current speed, called third speed, of the set of third vehicles 30 from the third and / or fourth data: the speed of the third vehicle(s) 30 is for example determined by analyzing the variation of the first distance 'dl', knowing the first speed of the first vehicle 11 and / or the speed of the third vehicle(s) 30 is determined by analyzing the variation of the second distance 'd2', knowing the second speed of the second vehicle 12; and - the first, second and third speeds are compared to determine, based on the comparison, a first instruction to reduce the first speed of the first vehicle 11 to allow overtaking of the first vehicle 11 by the set of third vehicles 30 or a second instruction to increase the second speed of the second vehicle 12 (for example depending on the speed limit authorized on the section of road comprising the traffic lane 1000) to allow overtaking of the set of third vehicles 30 by the second vehicle 12.

[0088] The value of the second threshold is for example greater than the value of the first threshold to guarantee the detection of the presence of a vehicle. According to a variant, several values ​​are associated with the second threshold, each second threshold value being associated with an average length of a vehicle, the plurality of values ​​making it possible to determine the number of third interposed vehicles.

[0089] If the result of the comparison of the first, second and third speeds does not allow the first instruction or the second instruction to be determined, then the process ends and the association of the first vehicle 11 and the second vehicle 12 is rejected and refused and traffic in vehicle platoon grouping mode cannot be implemented. According to a variant, in such a case, the process resumes with the second operation after a determined time interval has elapsed (for example 30, 60 or 120 seconds) to attempt a new association depending on the evolution of the traffic conditions, for example the evolution of the first, second and third speeds.

[0090] In the case where the first instruction or the second instruction has been determined, the first instruction is transmitted to the first vehicle 11 for implementation by the first vehicle 11 which reduces its speed to be overtaken by the set of third vehicles 30 and to be joined by the second vehicle 12 or the second instruction is transmitted to the second vehicle 12 for implementation by the second vehicle 12 which increases its speed to overtake the set of third vehicles 30 and to join the first vehicle 11. During this operation, data is advantageously communicated to the first vehicle 11 and to the second vehicle 12 to inform them of the instructions transmitted and of the implementation of overtaking by or of the set of third vehicles 30, which makes it possible to control the formation of the platoon grouping the first vehicle 11 and the second vehicle 12.

[0091] In the case where a first instruction to reduce the speed of the first vehicle 11 and a second instruction to increase the speed of the second vehicle 12, the process provides, according to a particular and non-limiting embodiment, to give preference to the implementation of the second instruction by the second vehicle 12.

[0092] [Fig.4] schematically illustrates a device 4 configured for controlling the association and / or identification of vehicles for circulating in groups of vehicles per platoon, for example to control the association and / or identification of the first and second vehicles 11, 12, according to various particular and non-limiting embodiments of the present invention. The device 4 corresponds for example to a device embedded in the first vehicle 11 (for example a computer), a device embedded in the second vehicle 12 or a remote device of the server type 110.

[0093] The device 4 is for example configured for the implementation of at least part of the operations described with regard to figures 1 to 3 and / or the steps of the method described with regard to [Fig.5]. Examples of such a device 4 include, but are not limited to, on-board electronic equipment such as an on-board computer of a vehicle, an electronic calculator such as an ECU (“Electronic Control Unit”), a TCU, a controller, a computer, a server or a mobile communication device (for example on board a vehicle and connected by wired or wireless communication to this vehicle). The elements of the device 4, individually or in combination, can be integrated in a single integrated circuit, in several integrated circuits, and / or in discrete components.The device 4 can be produced in the form of electronic circuits or software (or computer) modules or even a combination of electronic circuits and software modules.

[0094] The device 4 comprises one (or more) processor(s) 40 configured to execute instructions for carrying out the steps of the method and / or for executing the instructions of the software(s) embedded in the device 4. The processor 40 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The device 4 further comprises at least one memory 41 corresponding for example to a volatile and / or non-volatile memory and / or comprises a memory storage device which may comprise volatile and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic or optical disk.

[0095] The computer code of the embedded software(s) comprising the instructions to be loaded and executed by the processor is for example stored in the 4L memory.

[0096] According to various particular and non-limiting embodiments, the device 4 is coupled in communication with other similar devices or systems and / or with communication devices, for example a TCU (from the English “Telematic Control Unit” or in French “Telematic Control Unit”), for example via a communication bus or through dedicated input / output ports.

[0097] According to a particular and non-limiting exemplary embodiment, the device 4 comprises a block 42 of interface elements for communicating with external devices. The interface elements of the block 42 comprise one or more of the interfaces following: - RF radio frequency interface, for example Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or Bluetooth® type (according to IEEE 802.15.1), in the 2.4 GHz frequency band, or Sigfox type using UBN (Ultra Narrow Band) radio technology, or LoRa in the 868 MHz frequency band, LTE (Long-Term Evolution), LTE-Advanced, 5G; - USB interface (from the English “Universal Serial Bus” or “Universal Serial Bus” in French); - HDMI interface (from the English “High Definition Multimedia Interface” or “High Definition Multimedia Interface” in French); - LIN interface (from the English “Local Interconnect Network”).

[0098] According to another particular and non-limiting exemplary embodiment, the device 4 comprises a communication interface 43 which makes it possible to establish communication with other devices (such as other computers of the on-board system) via a communication channel 430. The communication interface 43 corresponds for example to a transmitter configured to transmit and receive information and / or data via the communication channel 430. The communication interface 43 corresponds for example to a wired network of the LVDS type (from the English “Low Voltage Differential Signaling” or in French “Low Voltage Differential Transmission”).

[0099] According to a particular and non-limiting exemplary embodiment, the device 4 can provide output signals to one or more external devices, such as a display screen 440, touch-sensitive or not, one or more speakers 450 and / or other peripherals 460 (projection system) via output interfaces 44, 45 and 46 respectively. According to a variant, one or other of the external devices is integrated into the device 4.

[0100] [Fig. 5] illustrates a flowchart of the different steps of a method for controlling the association of a first vehicle and a second vehicle traveling on the same traffic lane in the same direction of travel, the first vehicle traveling downstream of the second vehicle in the same direction of travel, according to a particular and non-limiting exemplary embodiment of the present invention. The method is for example implemented by the first vehicle, the second vehicle and / or a remote device connected in wireless communication to the first and second vehicles, for example by the device 4 of [Fig. 4].

[0101] In a first step 51, first data representative of an absolute geographical position of the first vehicle and second data representative of an absolute geographic position of the second vehicle are received, the first data and / or the second data being received according to a wireless communication mode following a request for association of the first and second vehicles to circulate in a group of vehicles by platoon.

[0102] In a second step 52, third data representative of a first distance between the first vehicle and a first object following the first vehicle on the traffic lane and detected by at least one first environmental sensor on board the first vehicle are received and fourth data representative of a second distance between the second vehicle and a second object preceding the second vehicle on the traffic lane and detected by at least one second environmental sensor on board the second vehicle are received, the third data and / or the fourth data being received according to the wireless communication mode.

[0103] In a third step 53, a third distance between the first vehicle and the second vehicle is determined based on the first data and the second data.

[0104] In a fourth step 54, the third distance is compared to the first distance and to the second distance.

[0105] In a fifth step 55, the association of the first vehicle and the second vehicle is checked according to the result of the comparison of the fourth step 54.

[0106] According to a variant, the variants and examples of the operations described in relation to figures 1 to 3 apply to the steps of the method of [Fig.5].

[0107] Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method for controlling the formation of a platoon of vehicles which would include secondary steps without thereby departing from the scope of the present invention. The same would apply to a device configured for the implementation of such a method.

Claims

Claims

1. Method for controlling the association of a first vehicle (11) and a second vehicle (12) traveling on the same traffic lane (1000) in the same direction of travel, said first vehicle (11) traveling downstream of said second vehicle (12) in said same direction of travel, said method comprising the following steps, following a request for association of said first and second vehicles (11, 12) to travel in a group of vehicles by platoon: - reception (51) of first data representative of an absolute geographical position of said first vehicle and second data representative of an absolute geographical position of said second vehicle, the first data and / or the second data being received according to a wireless communication mode; - receiving (52) third data representative of a first distance between said first vehicle (11) and a first object following said first vehicle (11) on said same traffic lane (1000) and detected by at least one first environmental sensor on board said first vehicle (11) and receiving fourth data representative of a second distance between said second vehicle (12) and a second object preceding said second vehicle (12) on said same traffic lane (1000) and detected by at least one second environmental sensor on board said second vehicle (12), the third data and / or the fourth data being received according to said wireless communication mode; - determination (53) of a third distance between said first vehicle (11) and said second vehicle (12) as a function of said first data and said second data; - first comparison (54) of the third distance to the first distance and to the second distance; and - control (55) of association of said first vehicle (11) and said second vehicle (12) as a function of a result of said first comparison (54).

2. The method of claim 1, wherein said association control comprises: - a validation of association of said first vehicle (11) and said second vehicle (12) to circulate in a group of vehicles by platoon when a difference between the third distance and the first

3.

4.

5. distance and a difference between the third distance and the second distance are each less than a first threshold; - a refusal to associate said first vehicle (11) and said second vehicle (12) to circulate in a group of vehicles by platoon when the difference between the third distance and the first distance and the difference between the third distance and the second distance are each greater than said first threshold. The method of claim 1 or 2, further comprising the following steps: - receiving fifth data representative of a first speed of said first vehicle (11) and sixth data representative of a second speed of said second vehicle (12), the fifth data and / or the sixth data being received according to said wireless communication mode; - second comparison of said first speed to said second speed, said association control of said first vehicle (11) and said second vehicle (12) furthermore being a function of a result of said second comparison. Method according to claim 3 in dependence on claim 2, for which said association is validated when the result of said second comparison indicates that said first speed is lower than said second speed, the method further comprising a step of transmitting a request to said first vehicle (11) and said second vehicle (12) comprising speed instructions for said first vehicle (11) and said second vehicle (12) so that said first speed becomes lower than said second speed when the result of said second comparison indicates that said first speed is greater than or equal to said second speed. The method of claim 2, further comprising the steps of: - determining the presence of at least one third vehicle (30) traveling between said first vehicle (11) and said second vehicle (12) on said same traffic lane (1000) when the difference between the third distance and the first distance and the difference between the third distance and the second distance are each greater than at least a second threshold; - determination of a third speed of said at least one third vehicle (30) as a function of said third data and / or fourth data; - third comparison of said first, second and third speeds, said association control of said first vehicle (11) and said second vehicle (12) being furthermore a function of a result of said third comparison.

6. The method of claim 5, further comprising a step of determining a first instruction to reduce the first speed of said first vehicle (11) to allow overtaking of said first vehicle (11) by said at least one third vehicle (30) or a second instruction to increase the second speed of said second vehicle (12) to allow overtaking of said at least one third vehicle (30) by said second vehicle (12) depending on the result of said third comparison.

7. Method according to one of claims 1 to 6, for which said first data are obtained from a first receiver of a geolocation system on board said first vehicle (11) and said second data are obtained from a second receiver of a geolocation system on board said second vehicle (12).

8. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor.

9. Device (4) for controlling the association of a first vehicle and a second vehicle, said device comprising a memory (41) associated with at least one processor (40) configured for implementing the steps of the method according to any one of claims 1 to 7.

10. Vehicle (11; 12) comprising the device (4) according to claim 9.

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