Fleet maintenance method and in-vehicle communication system

• US 8,170,747 B2
• Filed: 08/10/2009
• Issued: 05/01/2012
• Est. Priority Date: 04/15/2009
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Chen, Chien, Tsai, Ho-Wei, Li, Hsia-Hsin, Chang, Je-Wei, Jan, Rong-Hong
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US12/538,165
• Publication Number:
  US 20100268445A1
• Time in Patent Office: 995 Days
• Field of Search: 701/34.4, 701/34.2, 701/36, 701/79, 701/93, 701/119, 701/469, 340/438, 340/435, 340/436, 340/988
• US Class Current: 701/36
• CPC Class Codes: G08G 1/20 Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles

Abstract

A fleet maintenance method for generating a suggested speed for each vehicle in a fleet to maintain the vehicle in the fleet is provided. In the fleet maintenance method, vehicles are clustered into a plurality of sub-fleets, and in each sub-fleet, one vehicle is selected as a leader vehicle and the other vehicles are considered as member vehicles. Besides, a position coordinate and a speed of each vehicle in each sub-fleet are obtained, and the position coordinate is converted into a corresponding linear coordinate. In addition, a sub-fleet gravity center of each sub-fleet and a fleet gravity center of the entire fleet are calculated according to the linear coordinates. Moreover, a suggested speed of each leader vehicle is generated according to a gravity center distance of the leader vehicle, and a suggested speed of each member vehicle is generated.

Claims

1. A fleet maintenance method, for maintaining a fleet, wherein the fleet comprises a plurality of vehicles, the fleet maintenance method comprising:

clustering the vehicles into a plurality of sub-fleets, and selecting one of the vehicles in each of the sub-fleets as a leader vehicle and the other vehicles as member vehicles;

obtaining a position coordinate and a speed of each the vehicle in each of the sub-fleets;

converting the position coordinates of the vehicles into a plurality of corresponding linear coordinates;

calculating a sub-fleet gravity center of each the sub-fleet, wherein the sub-fleet gravity center of the sub-fleet is calculated according to the corresponding linear coordinates of the vehicles in the sub-fleet;

calculating a fleet gravity center of the fleet according to the sub-fleet gravity centers of the sub-fleets; and

generating a suggested speed of each the leader vehicle according to a gravity center distance of the leader vehicle, wherein the gravity center distance of the leader vehicle is calculated according to a distance between the leader vehicle and the fleet gravity center.

2. The fleet maintenance method according to claim 1, wherein the step of generating the suggested speed of each the leader vehicle according to the gravity center distance of the leader vehicle comprises:

calculating the suggested speed of each the leader vehicle according to the speed, the gravity center distance, and a average relative speed of the leader vehicle, wherein the average relative speed of the leader vehicle is calculated according to the speed of the leader vehicle and the speeds of the other vehicles in the sub-fleet corresponding to the leader vehicle.

3. The fleet maintenance method according to claim 1 further comprising generating the suggested speed of each the member vehicle according to the speed and a average relative speed of the member vehicle, wherein the average relative speed of the member vehicle is calculated according to the speed of the member vehicle and the speeds of the other vehicles in the sub-fleet corresponding to the member vehicle.

4. The fleet maintenance method according to claim 1 further comprising calculating a fleet clustered extent according to the sub-fleet gravity centers and the fleet gravity center and generating the suggested speed of each the leader vehicle according to the gravity center distance of the leader vehicle only when the fleet clustered extent is greater than a fleet clustered extent threshold.

5. The fleet maintenance method according to claim 1 further comprising configuring an in-vehicle communication device in each of the vehicles for forming a vehicle ad-hoc network (VANET) in each of the sub-fleets.

6. The fleet maintenance method according to claim 5, wherein the step of obtaining the position coordinate and the speed of each the vehicle in each of the sub-fleets comprises:

receiving the position coordinates and the speeds of the member vehicles in the corresponding sub-fleet from the in-vehicle communication devices of the member vehicles by using the in-vehicle communication device of each the leader vehicle.

7. The fleet maintenance method according to claim 5 further comprising configuring a communication system for connecting the in-vehicle communication devices of the leader vehicles, wherein the communication system is a mobile communication network or a plurality of roadside units (RSUs) connected with each other through a wireless network or a wired network.

8. The fleet maintenance method according to claim 5, wherein the RSUs and the in-vehicle communication devices conform to an IEEE 802.11p standard.

9. The fleet maintenance method according to claim 1, wherein the step of clustering the vehicles into the sub-fleets comprises clustering the vehicles into the sub-fleets through a lowest-ID clustering algorithm.

10. The fleet maintenance method according to claim 2, wherein the step of calculating the suggested speed of each of the leader vehicles according to the speed, the gravity center distance, and the average relative speed of the leader vehicle comprises:

calculating a gravity center region reference distance and a linear region reference distance according to a communication distance of the in-vehicle communication device, wherein the gravity center region reference distance is the communication distance, and the linear region reference distance is obtained by multiplying the communication distance by a predetermined multiple;

determining whether a distance between the leader vehicle and the fleet gravity center is greater than the gravity center region reference distance;

setting the suggested speed of the leader vehicle as an average speed of the vehicles when the distance between the leader vehicle and the fleet gravity center is not greater than the gravity center region reference distance; and

determining whether the distance between the leader vehicle and the fleet gravity center is greater than the linear region reference distance when the distance between the leader vehicle and the fleet gravity center is greater than the gravity center region reference distance, wherein when the distance between the leader vehicle and the fleet gravity center is not greater than the linear region reference distance, the suggested speed of the leader vehicle is calculated according to a formula 1;

V(t+1)=V(t)+α

*(D_i,g/(D_LR+D_GR))*A+(1−

α

)*V_i,Neighbors(t) 

 

(formula

     1),

wherein V(t+1) is the suggested speed of the leader vehicle, V(t) is the speed of the leader vehicle, a falls within 0%˜

100%, D_i,g is the gravity center distance of the leader vehicle, D_LR is the linear region reference distance, D_GR is the gravity center region reference distance, A is a maximum acceleration, and V_i,Neighbors(t) is the average relative speed between itself and its neighbors,

wherein when the distance between the leader vehicle and the fleet gravity center is greater than the linear region reference distance, the suggested speed of the leader vehicle is calculated according to a formula 2;

V(t+1)=V(t)±

A 

 

(formula

     2).

11. An in-vehicle communication system, suitable for being configured in a vehicle and maintaining the vehicle in a fleet, the in-vehicle communication system comprising:

a microprocessor unit;

a sub-fleet clustering unit, coupled to the microprocessor unit, for clustering the vehicle into a sub-fleet and determining the vehicle as a leader vehicle or a member vehicle;

a positioning unit, coupled to the microprocessor unit, for receiving a plurality of position information from a positioning system to determine a position coordinate of the vehicle;

a speed detection unit, coupled to the microprocessor unit, for detecting a speed of the vehicle;

a transceiver unit, coupled to the microprocessor unit, for receiving position coordinates and speeds of a plurality of other vehicles in the sub-fleet from the other vehicles;

a linear coordinate conversion unit, coupled to the microprocessor unit, for converting the position coordinate of the vehicle and the position coordinates of the other vehicles into a plurality of corresponding linear coordinates;

a gravity center calculation unit, coupled to the microprocessor unit, for calculating a sub-fleet gravity center of the sub-fleet according to the corresponding linear coordinates, wherein the gravity center calculation unit further calculates a fleet gravity center of the fleet according to sub-fleet gravity centers received by the transceiver unit from a plurality of other leader vehicles and the sub-fleet gravity center; and

a suggested speed generation unit, coupled to the microprocessor unit,

wherein when the sub-fleet clustering unit determines the vehicle as the leader vehicle, the suggested speed generation unit generates a suggested speed of the vehicle according to a gravity center distance between the fleet gravity center and the vehicle.

12. The in-vehicle communication system according to claim 11, wherein when the sub-fleet clustering unit determines the vehicle as the leader vehicle, the suggested speed generation unit further calculates the suggested speed of the vehicle according to the speed, the gravity center distance, and an average relative speed of the vehicle, wherein the average relative speed of the vehicle is calculated according to the speed of the vehicle and the speeds of the other vehicles.

13. The in-vehicle communication system according to claim 11, wherein when the sub-fleet clustering unit determines the vehicle as the member vehicle, the suggested speed generation unit generates the suggested speed of the vehicle according to the speed and an average relative speed of the vehicle, wherein the average relative speed of the vehicle is calculated according to the speed of the vehicle and the speeds of the other vehicles.

14. The in-vehicle communication system according to claim 11, wherein when the sub-fleet clustering unit determines the vehicle as the leader vehicle, the suggested speed generation unit calculates a fleet clustered extent according to the sub-fleet gravity center, the other fleet gravity center, and the fleet gravity center, and the suggested speed generation unit generates the suggested speed of the vehicle according to the gravity center distance only when the fleet clustered extent is greater than a fleet clustered extent threshold.

15. The in-vehicle communication system according to claim 11, wherein the transceiver unit conforms to an IEEE 802.11p standard.

16. The in-vehicle communication system according to claim 11, wherein the sub-fleet clustering unit clusters the vehicle into the sub-fleet and determines the vehicle as the leader vehicle or the member vehicle through a lowest-ID clustering algorithm.

17. The in-vehicle communication system according to claim 12, wherein when the sub-fleet clustering unit determines the vehicle as the leader vehicle, the suggested speed generation unit further:

calculates a gravity center region reference distance and a linear region reference distance according to a communication distance of the transceiver unit, wherein the gravity center region reference distance is the communication distance, and the linear region reference distance is obtained by multiplying the communication distance by a predetermined multiple;

determines whether a distance between the vehicle and the fleet gravity center is greater than the gravity center region reference distance;

sets the suggested speed of the vehicle as an average speed of the fleet when the distance between the vehicle and the fleet gravity center is not greater than the gravity center region reference distance; and

determines whether the distance between the vehicle and the fleet gravity center is greater than the linear region reference distance when the distance between the vehicle and the fleet gravity center is greater than the gravity center region reference distance, wherein when the distance between the vehicle and the fleet gravity center is not greater than the linear region reference distance, the suggested speed generation unit calculates the suggested speed of the vehicle according to a formula;

V(t+1)=V(t)+α

*(D_i,g/(D_LR+D_GR))*A+(1−

α

)*V_i,Neighbors(t) 

 

(formula

     1),

wherein V(t+1) is the suggested speed of the vehicle, V(t) is the speed of the vehicle, a falls within 0%˜

100%, D_i,g is the gravity center distance of the vehicle, D_LR is the linear region reference distance, D_GR is the gravity center region reference distance, A is a maximum acceleration, and V_i,Neighbors(t) is the average of velocity difference between itself and its neighbors,

wherein when the distance between the vehicle and the fleet gravity center is greater than the linear region reference distance, the suggested speed generation unit calculates the suggested speed of the vehicle according to formula 2;

V(t+1)=V(t)±

A 

 

(formula

     2).