201036852 六、發明說明： 【明 屬-ifcSi.彳·》餘 >%員=ι^ί 】 發明領域 本發明係有關於用來控制電動載具之多個群短的系統 與方法，該等群組係於路上行駛時各自參與群組駕駛。 C先前技術3 發明背景 群組駕駛意謂一前一後地在路段上行駛的载具之群組 所做的駕駛模式是：各載具保持基於例如行駛條件及路二 測得的安全距離。已有人提出各種系統及方法用來控制參 與群組駕駛之載具的駕駛，其中係根據由群組中之前導載 具傳送與該前導載具之駕駛操作有關的資料來自動控制跟 隨該前導載具之載具的操作。例如，美國專利第63〇1 號(“第530號專利”)所揭示的自動巡航控制系統允許由前導 載具領導的群組駕駛有多個後續載具跟隨。第53〇號專利的 第1圖及第8圖揭示可參與群組駕駛之電動載具的示範結 構，包含動力傳動電子控制單元(“ECU”）、煞車ECU、轉向 ECU及自動駕歇ECU用來駕驶有自動巡航控制之電動載 具，其中自動巡航與手動駕駛的切換可輕易基於表示有無 1C卡的信號來執行。 美國專利第6,169,940號(“第940號專利，，)也揭示一種自 動駕駛系統’其係能夠用以下方式達成載具群組的適當自 動駕驶：基於收到的行走路線，可計算出適合各載具的目 標行走軌跡’藉此使得群組中的每個载具可根據得出的目 201036852 標行走執跡來行驶。第94峨專财揭利於該自動駕駛系 統的載’、、、、。構’包含執行行走彳旨令㈣⑽㈣i⑽ruetiQn)的導 航單元(例如，GPS)與總計晝咖，例如基於載具前方障礙 的資訊1路資訊(例如，路面狀況)歧通f訊(例如，交 通擁塞資訊)來保持/變換車道。 不過這些先刚技術的方法都著眼於管理彳宁列載具的 單一群組’而沒有提供處理载具各自參與群㈣驶之多個 载具群組的群組管理計晝。因此，亟須用於群組形成、解 散及參加、等等的有效計畫用來有效管理載具各自參與群 組駕駛的多個載具群組。 此外’ μ技射法所提議的自動m統無法考慮 到例如行驶好車道道狀載具的鄰近馳所造成的通訊 干擾。此外，先前技術方法完全沒有考慮到更複雜的情況， 例如，參與群組駕駛的多個載具混雜著不加入群組駕駛的 個別載具。 c 明内容;j 發明概要 因此，本發明的主要目標是要提供一種用來有效控制 電動載具之多個群組的方法’該等群組中之每一係各自在 一道路上參與一群組駕驶’其中每個該等電動載具與一道 路基礎設施通訊以藉此克服上述各種問題。 本發明的另一目標是要提供一種利用道路基礎設施的 方法用於控制各自參與群組駕駛之多個電動載具群組與一 種供該等載具有效通訊用之通訊資源管理方法。 201036852 根據本發明之一具體實施例，提供一種用於控制電動 載具之多個群組的系統，該等群組中之每一係各自在一道 路上參與一群組駕駛，該系統包含：一路面下通訊單元用 於向每個該等電動載具提供估計該各個電動載具之位置的 地址資訊；一路邊通訊單元，其係安裝於該路段附近，用 於提供群組駕駛資訊給該各個電動載具，該群組駕駛資訊 包含該各個電動載具之位置以及維持有該各個電動載具參 與其中之群組駕駛所需要的資訊；以及，一自動駕駛單元， 其係安裝或附加於該各個電動載具，用於使得該各個電動 載具能夠基於該群組駕駛資訊來維持該群組駕駛。 根據本發明之一具體實施例，提供一種用於控制電動 載具之多個群組的方法，該等群組中之每一係各自在一路 段上參與一群組駕駛，該方法包含下列步驟：向每個該等 電動載具提供估計該各個電動載具之位置的地址資訊；由 該等電動載具中之一接收用於請求登記一新群組的一群組 登記請求信息，該請求信息包含該等電動載具中之該一的 載具ID、目的地及位置；以及，傳送一群組登記接受信息 至該等電動載具中之該一。 圖式簡單說明 由以下具體實施例的說明及附圖可明白本發明以上及 其他的目標及特徵。 第1圖係根據本發明之一具體實施例圖示群組駕駛控 制系統之一組態。 第2圖係圖示在裝上群組駕駛控制系統的路段上各自 201036852 參與群組駕駛的電動載具之多個群組。 第3圖係根據本發明之一具體實施例圖示路邊通訊單 元的概念結構。 第4圖係根據本發明之一具體實施例圖示儲存卞路邊 通訊單元之儲存單元的資料庫。 第5圖係圖示提供經由路邊通訊單元的註冊來形成群 組的初始過程。 第6圖係圖示一特定電動載具如何加入登記群組。 第7圖係圖示一特定電動載具如何脫離登記群組。 第8A圖與第8B圖係圖示一特定電動載具如何脫離登 記群組以及加入另一群組。 第9A圖與第9B圖係圖示提供解散登記群組的過程。 第10 A圖與第10B圖係圖示在非參加載具加入群組時 重新形成該群組的過程。 第11圖係圖示確認參與群組駕駛的電動載具維持群組 駕駛的過程。 第12A及12B圖的實施例係圖示在非參加載具加入群 組時以及在群組中的一些電動載具在被交通號誌捕捉時如 何重新形成該群組。 第13圖係圖示如何依照各自參與群組駕駛的電動載具 之多個群組的速度來個別分派車道。 第14圖係圖示如何分配通訊資源以避免在鄰近車道上 行駛的載具之多個群組間的通訊干擾。 【實施方式3 6 201036852 較佳實施例之詳細說明 以下以參考附圖來詳述本發明的一些較佳具體實施 例。第1圖係根據本發明之一具體實施例圖示群組駕駛控制 系統100的組態。 群組駕駛控制系統100包含詳述於下文的路面下通訊 單元101、路邊通訊單元102及交通信號通訊單元103、自動 駕駛系統105。 本發明的系統係整合於電磁感應供電之載具系統中， 該電磁感應供電之載具糸統包含設有電力供給单元的道路 以及設計成可用由該單元供給之電力行駛的電動載具。 此外，就本發明而言，路段的基本單位可選擇，例如， 1公里(km)、2km或4km等等為一段。不過，本發明不受限 於這些定義；可定義有各種不同長度的路段110。 接下來，描述自動駕駛系統105。自動駕駛系統105係 裝上或附加於電動載具106。基本上，電動載具106的自動 駕駛系統105會在駕駛人的最少干涉下適當地選擇及執行 電動載具106的自動駕駛。具體言之，自動駕駛系統105包 含通訊單元、圖形使用者介面（GUI)、偵測單元、切換單元、 電子控制單元(ECU)、以及方向控制單元。 該通訊單元可包含，例如，載具間通訊單元與道路-載 具通訊單元（基礎設施通訊單元）。例如，通過特設通訊 (ad-hoc communication)有可能使載具的載具間通訊單元與 其他電動載具的載具間通訊單元通訊。此外，道路-載具通 訊單元可與路面下通訊單元、路邊通訊單元及交通信號通 201036852 訊早元通§fl用來接收群会且 用任一常見的通訊技術， 通訊技術。 駕駛所需的資訊。該通訊單元可 例如無線電頻率、磁場或可見光 …八他兀件或路段110上另一電動載且收 的資訊。電動載具喊駛人可輸人特定資訊電_ 具的目的地，群組的初始形成，參加特定群組，錄^ ^動載具加人的群組)或選擇顯示於⑽上的資訊。例如了 :駛人可基於收到的資訊來選擇加入一個顯示於⑽的群 该偵測早元可偵測兩個相繼電動載具的 載具應附近有障礙物。例如，該_單元為毫米 型、雷射雷達型距_測或，或呵射掃描器。此外= 則單Γ設在電動載具的前面，以及能夠傳送毫 、 載具此外，該2D雷射掃描器可偵測 位於電動載具106附近的整個障礙物。 該切換單元可做自動模式與手動模式的切換。例如， 當載具106在路段11G上形成群組或參加群組時該手動模 式會自動轉成自動模式。 該E C U係控制整個自動駕驶系統1 〇 5。例如，該E c u主 要由包含中央處理單it(CPU)、唯讀記憶體(r_及隨機存 取記憶體(RAM)的電卿成。該卿的仙為巡航控制單 元。例如，基於由路邊通訊單被到的群組駕駛資訊該 巡航控制料可調整電動載具觸的速度及方向以及做電 動載具106的巡航控制。 201036852 藉由依序谓測電力供給執道(electrjc power supply rail) 之磁電感（magnetic inductance)大小，該方向控制單元可控 制在埋入路段110之電力供給執道上駕駛的電動載具1〇6之 方向。該電力供給軌道可為在路段11〇各車道底下的中線。 因此，基於可由中線測得之最大磁電感大小的最小偏差， δ亥方向控制單元可調整電動載具1〇6的方向，使得電動載具 106在各車道適當地保持筆直方向。此外，可用來自ecu的 0 指令來控制該方向控制單元。 如第1圖所示，可沿著路段11〇安裝多個路面下通訊單 兀用來讓在路段110上行駛的載具得到可估計各載具之地 址的地址資訊。具體言之，路面下通訊單元101可包含傳送 ’ 器用來傳送關於路段11G上各載具之當前地址的資訊給各 載具以及車道ID用來報告各載具正在行駛的車道。如第i 圖所示，路面下通訊單元1〇1可沿著路段11〇各車道的中線 安裝，然而也可做出路面下通訊單元的其他配置。此外， 〇 可能不必安裝路面下通訊單元101於道路的所有區段。因 此，在沒有路面下通訊單元的地方，各載具可用例如Gps 得到它的當前地址。 接下來’描述路面下通訊單元101如何傳送地址資訊給 載具。首先’路面下通訊單元101藉由周期性地傳送地址資 訊而不檢查載具是否經過它可傳送地址資訊。就此情形而 言，路面下通訊單元101的到達可限於某個範圍以免干擾其 他的路面下通訊單元。替換地，路面下通訊單元ι〇ι可包含 操作性地連接至電力供給軌道的測量構件用來測量電力供 9 201036852 給軌道的磁電感變化以基於該變化來判定載具是否經過路 面下通訊單元101，以及傳送包含地址資訊及車道ID的資訊 給載具。在任何情況下，路面下通訊單元101可傳送該資訊 給載具而不需特殊設備用來向載具中的路面下通訊單元 101請求資訊。 第2圖係圖示在裝上群組駕驶控制系統的路段上各自 參與群組駕駛的多個載具群組。 如圖示，藉由提供包含各電動載具之地址資訊及保持 其隸屬群組駕駛所需要之資訊的群組駕駛資訊給各載具， 路邊通訊單元102係裝在路段no的附近用來控制在路段 110上各自參與群組駕駛的多個載具群組。可安裝該路邊通 訊單元’甚至在沒有安裝路面下通訊單元1〇1的地方。 具體言之’路邊通訊單元102可包含，如第3圖所示， 傳送器-接收器2〇1用來提供群組駕駛資訊給載具以及用來 廣播群組資訊給在裝有路邊通訊單元1〇2之路段11〇上的載 具，儲存單元2〇3包含用於儲存群組資訊(例如’群組205及 206之1D，圖示於第4圖）及路段11〇之id的資料庫，以及用 於控制傳送器-接收器201及儲存單元2〇3以及分派通訊資 源給每個行駛於路段11〇上之群組的控制裝置2〇2。 路邊通訊單元102為與載具、其他路邊通訊單元（例 如，路邊通訊單元1〇8)及交通信號通訊單元1〇3通訊的節 點，下文用諸如無線電頻率、可見光或磁場通訊技術之類 的習知方法來描述。 為了得到及維護與行駛於路段丨1〇之載具有關的群組 201036852 2訊’路輕鱗元脱可與裝知—路則湖的其他路 通吼單元⑽通訊以及與可能裝在鄰近路段的其他路邊 通訊單元通訊。 具體言之’路邊通訊單元1()2與裝在同—路段ιι〇的路 訊單元⑽可互相流通各自儲存於資料庫的群組資訊 、土於路4又11〇上之載具收到的群組駕敬資訊來更新。因 此’位在同-路段㈣邊通訊單元可及時分享關於行驶於 相同路段載具之群組的資訊。 此外，由於载具之群組在沿著道路行駛時會由路段移 動到不同的路段，因此路邊通訊單元1()2要維護關於群組中 =具已移到不同路段的群組資訊有困難。因此，路邊通 TL單元102可與裝在另—路段的鄰近路邊通訊單元以得到 未儲存於路邊軌單元脱之㈣庫但是與行駛於路段ιι〇 之群組有_群組資訊(例如，與剛進人路段削之群組有 關的群組-貝訊）。例如，請參考第鳴，群組⑶的前導載具 I32可傳送先前由另—路邊軌單元收到的群組駕驶資訊 (包含較早路段之ID)給路邊通訊單元1〇2。路邊通訊單元 102相較收到的較早路段之1〇與儲存於其資料庫的ID，以及 如果收到的ID與儲存的10相同，則意謂路邊通訊單元1〇2 已儲存關於群組131的群組資訊於其資料庫中，因此，路邊 通訊單元102可基於存有關於群組131的群組資訊來管理信 息。如果收到的ID與儲存的ID不同，則意謂路邊通訊單元 102沒有儲存關於群組131的資訊於其資料庫中，以及路邊 通訊單元102與ID和收到10相同的路邊通訊單元通訊以得 11 201036852 到儲存於路邊通訊單元之資料庫且關於群組131的群組資 訊。 此外，請參考第2圖，在群組206將要進入群組204正行 駛於其上的車道時’路邊通訊單元2〇7可向路邊通訊單元 102傳送表示群組206存在的信息。在收到後，路邊通訊單 元102中繼此信息至群組2〇4的前導載具。該前導載具認知 群組206的存在，以及調整它的速度以藉此允許群組206參 加群組204。此外’該前導載具通知調整後的速度給群組中 的其他載具，使得其他載具可相應地調整速度。 〇 接下來，描述交通信號通訊單元103。裝在例如交通流 ϊ控制器之中的交通信號通訊單元1〇3係基於由裝在路段 110之路邊通訊單元收到的群組駕驶資訊來規定給交通號 誌104的信號。 _ 以下用第5圖至第14圖描述控制多數群組駕駛的本發 明方法。 第5圖係圖示載具經由登記於路邊通訊單元來加入群 '及以便進行群組駕駛的初始過程。首先，經由提供關於目 ◎ 的地之資⑽及通過載具4m自動駕駛系統之⑽的登記請 求心要加入新群組以參與群組駕驶的載具仙 駕駛人登記 二路邊通轉兀術。然後，信息“群組形成REQ”送到裝在 月求a „己栽具彻正在其上行駛之路段的路邊通訊單元4〇2 '及且。己載具4〇1成為新群組的一員（步驟s4叫。該信息“群 :形成REQ可包含載具m，載具樹的位置及目的地資 路邊通5fl單凡402接收信息“群組形成REQ”，以及經由 12 201036852 參考收到的信息“群組形成REQ，，與I記於路邊通訊單元 402的群組f訊來判定該群_群_，該群組要用的車 道，分配給該群組的通訊資源，群組中兩個相繼載具的安 全距離，群組的大小（例如，群組的最大载具數），以及群組 的速度。'在㈣讀，路邊舰單以晚信息“群組 形成REQ，，與判定資訊當作群組資訊館存於其資料庫，然 後以β含判定群組資訊及路段ID的信息“群組形成燃” 回應請求登記載具他。之後，通過在初始群組形成階段分 派給該群_通訊資源，可進行群組中載具之間的特設通 訊。根據群組的駕駛環境，可用路邊通訊單元來修改分派 給該群組的資源。可為群組之前導載具的請求登記載具401 可儲存包含上述信息“群組形成RES，，的群組資訊宁該群組 解散’藉此基於群組資訊’它的自動駕驶系統可用來自動 維持在該路段上的群組駕駛。 第6圖係圖示特定載具如何加入登記群組。在步驟 S501 ’路邊通訊單元5〇1向路段内的載具廣播信息“群組資 訊廣播”，包含，例如，群組ID，群組的目的地，群組内載 具的當前位置，速度，以及登記於其資料庫之各群組的大 小（例如，載具數），以及該等載具周期性地收到相關的信 息。在步驟S502，通過顯示收到信息“群組資訊廣播，，的 GUI，藉由輸入該信息，想要加入群組5〇4中之一個的載具 503駕駛人選擇想要群組504 ’然後栽具5〇3向路邊通訊單元 5〇1送回包含加入該群組需要之資訊㈠列如，選定群組5〇4 的群組ID’載具的當前位置及速度，及其載具ID)的信息‘‘參 13 201036852 加群組REQ”。接收該信息“參加群組尺印”的路邊通訊單元 5〇1基於選定群組504的情況判斷是否同意該請求，例如， 路邊通訊單元501比較群組的當前大小與在登記該群組時 决疋的上限，以及如果當如大小小於該上限，則路邊通訊 單元501允許加入群組之載具5〇3參加群組5〇4。否則，路邊 通訊單元501拒絕該請求。在步驟S5〇3 ,如果路邊通訊單元 同意該請求，信息“第一參加群組RES”，包含何時何 處（或那個群組)及如何加入群組5〇4、群組中載具之安全距 離及速度的資訊，會送到加入群組之載具5〇3，進—步，信 息第二參加群組RES”，包含路邊通訊單元5〇1之路段的出 與加入群組之載具503的載具ID，會送到群組5〇4的前導載 具505。在步驟S504，基於包含於收到信息的駕駛資訊，收 到信息“第一參加群組RES”的力认群組之載具5〇3在它的自 動駕駛系統的控制下可加入該群組。在步驟55〇5，如果載 具5〇3加入群組5〇4，群組5〇4的前導載具5〇5向路邊通訊單 几501報告含有更新群組資訊的群組駕駛資訊。 另一方面，當路邊通訊單元5〇1拒絕來自加入群組之栽 具503的請求時，包含拒絕參加群組之資訊的信息“第三參 加群組RES”會送到加人軸之載具5〇3。祕較新群組資 訊’路邊通訊單元5G1更新它的資料庫。由於載具都持續二 可能出現以下的情況：載具無法與與同—個路邊通訊 單元或在同路段㈣路邊通訊單元保持軌。在這種情形 下，藉由湘路邊通訊單元斯與有由前钱㈣$收到之 路段ID的另-路邊通訊單元(例如，路邊通訊單元卿之間 201036852 的通況可解決此類問題。裝在不同路段的路邊通訊單元之 間的上述通訊可應用於脫離群組的過程，參加群組的過 程解散過程，以及重新形成過程，這些在下文會詳加解 釋。 第7圖圖示登§己於群組6〇2的載具6〇4如何離隊。在步驟 S6〇l通過GUI藉由輸人資訊’脫離群組載具祕通過例如 内3離隊載具604之載具ID的信息“脫離群組警報，，向前導 載具603報告它的離開，以及在步驟s6〇2離開登記群組 602同時在步驟S6〇3，藉由向群組内的後續載具傳送信息 第群組重整指令”以便調整安全距離以及向路邊通訊單 疋6〇1送出包含更新群組資訊（例如，離隊載具6〇4的載具 x及群組602經減少的大小）的群組駕駛資訊，收到該信 心脫離群組警報”的前導載具603重整群組602中的載具。 基於由岫導載具603收到的群組駕駛資訊，路邊通訊單元 6〇1更新儲#於其資料庫的對應群組資訊。載具可離開群組 以便獨自駕駛或者是參加不同的群組。第7圖圖示離隊載具 藉由簡單地執行離隊過程即可獨立於群組駕駛的情形。此 時解釋離隊載具在離隊後加人另—群組的情形。 第8A圖與第8B圖圖示載具如何脫離登記群組以加入 另群組。想要換到不同群組的載具704駕駛人通過顯示由 路邊通讯單元701收到之信息“群組資訊廣播，，的GUI選擇想 要群組，然後在步驟S701，載具704送出信息“參加群組 REQ，其係内含，例如，選定群組703、速度資訊、群組 變換载具7〇4㈣具ID及其位訊。接彳m “參加群組 15 201036852 Q的路邊通汛單元7〇1依照選定群組703的情況判斷是 否同‘'«來自群組變換載具7Q4的請求。例如，路邊通訊單元 701比較群組的當前大小與在登記群組期時預定的上限， 、及如果该當鈿大小小於該預定大小則路邊通訊單元5⑴ Η准該4求。否則，路邊通訊單元7〇丨拒絕該請求。在步驟 S702 ’當路邊通訊單元701要同意來自群組變換載具7〇4的 明求時，信息‘第—參加群組RES，，（包含關於何時、何處（或 那個群組）及如何加入已被群組變換載具7〇4選定之群組 703、群組7〇3的安全距離及速度的資訊會送到該群組變換 載具，以及包含路邊通訊單元7〇1之路段1〇及群組變換載具 704之ID的信息‘第二參加群組RES，，會送到群組7〇3的前導 載具705。之後’前導載具7〇5向後續載具傳送信息“第二群 組重整指令”以便重整屬於群組7〇3的載具使得群組變換載 具704可根據送到的資訊來加入群組7〇3。在步驟，在 收到信息“第-參加群組RES，，後，群組變換載具7〇4在彼之 自動駕駛系統的控制下基於它的資訊來移到選定群組。在 變換群組之前’群組變換载具7 〇 4在步驟s 7 〇 4必須藉由送出 信息“脫離群組警報’’來向先前群組的前導載具7〇6通知它 的離開’以及藉由向後續載具傳送信息“第一群組重整指 7以便s周整其*全距離’前導載具可重整群組的載具。以 及在步驟S706’在群組變換載具7〇4的移動完成時，這兩個 群組的前導載具705及706各自向路邊通訊單元7〇1報告包 合更新群組資訊的群組駕駛資訊。基於各由前導載具7〇5及 706收到的群組駕驶資訊’路邊通訊單元彻更新它的資料 16 201036852 庫0 第9 A圖與第9B圖圖示群組的解散過程。請參考第8 a 圖’可由群組801的前導載具802向路邊通訊單元803送出解 散群組的請求。如果必須解散群組，例如，在群組到達目 的地或道路前頭發生意外時，在步驟S811，前導載具8〇2 向路邊通訊單元803及所屬群組的後續載具送出信息“解散201036852 VI. Description of the invention: [Ming genus-ifcSi. 彳·" yu>% member = ι^ί 】 Field of the Invention The present invention relates to systems and methods for controlling multiple groups of electric vehicles, such as Groups participate in group driving when driving on the road. C Prior Art 3 Background of the Invention Group driving means a group of vehicles that travel on a road segment in tandem. The driving mode is that each vehicle maintains a safety distance based on, for example, driving conditions and road two. Various systems and methods have been proposed for controlling the driving of vehicles participating in group driving, wherein the pre-guided loading is automatically controlled based on the transmission of information relating to the driving operation of the leading vehicle by the preceding vehicle in the group. The operation of the vehicle. For example, the automatic cruise control system disclosed in U.S. Patent No. 63-1 ("Patent No. 530") allows a group of vehicles driven by a leader vehicle to be followed by multiple subsequent vehicles. Figures 1 and 8 of the 53rd patent disclose an exemplary structure of an electric vehicle that can participate in group driving, including a power transmission electronic control unit ("ECU"), a brake ECU, a steering ECU, and an automatic driving ECU. To drive an electric vehicle with automatic cruise control, the automatic cruise and manual driving can be easily performed based on the signal indicating whether there is a 1C card. U.S. Patent No. 6, 169, 940 ("No. 940," also discloses an automatic driving system' which is capable of achieving proper autonomous driving of a group of vehicles in the following manner: based on the received walking route, it can be calculated to suit each loading With the target walking track 'by this, each vehicle in the group can be driven according to the obtained 201036852 standard walking. The 94th special wealth is disclosed in the automatic driving system's load ', , , , . A navigation unit (for example, GPS) containing a walking instruction (4) (10) (4) i (10) ruetiQn) and a total amount of coffee, for example, information based on the obstacle in front of the vehicle (for example, road condition), such as traffic congestion information (for example, traffic congestion information) ) to maintain/change lanes. However, these first-in-command methods focus on managing a single group of Suining vehicles and do not provide group management for multiple vehicle groups that handle the respective participating groups of the vehicle (4). Therefore, there is no need for an effective plan for group formation, dissolution and participation, etc. to effectively manage multiple vehicle groups in which the vehicles participate in the group driving. The proposed automatic system cannot take into account, for example, the communication interference caused by the proximity of the lane-shaped vehicle. In addition, the prior art method does not consider more complicated situations at all, for example, multiple vehicles participating in group driving. Mixed with individual vehicles that do not participate in group driving. c. Summary of the invention; therefore, the main object of the present invention is to provide a method for effectively controlling multiple groups of electric vehicles in such groups. Each of the systems participates in a group driving on a road, each of which communicates with a road infrastructure to overcome the various problems described above. Another object of the present invention is to provide a road infrastructure The method of the facility is for controlling a plurality of electric vehicle groups participating in the group driving and a communication resource management method for the effective communication of the loads. 201036852 According to an embodiment of the present invention, a method for controlling a system of multiple groups of electric vehicles, each of which participates in a group driving on a road, the system comprising: a road surface The lower communication unit is configured to provide each of the electric vehicles with address information for estimating the position of the respective electric vehicles; a roadside communication unit is installed near the road section for providing group driving information to the electric motors a vehicle, the group driving information including the location of the respective electric vehicles and information required to maintain the group driving in which the respective electric vehicles participate; and an automatic driving unit installed or attached to the respective An electric vehicle for enabling the respective electric vehicle to maintain the group driving based on the group driving information. According to an embodiment of the present invention, a method for controlling a plurality of groups of electric vehicles is provided Each of the groups participates in a group driving on a road segment, the method comprising the steps of: providing each of the electric vehicles with address information that estimates a location of the respective electric vehicle; One of the electric vehicles receives a group registration request message for requesting registration of a new group, the request information including one of the electric vehicles ID, and a destination location; and transmitting a registration accept message to the group such that an electric vehicle of the. BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects and features of the present invention will become apparent from the description and appended claims. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 illustrates one configuration of a group driving control system in accordance with an embodiment of the present invention. Figure 2 is a diagram showing a plurality of groups of electric vehicles that each of the 201036852 participating in the group driving on the section on which the group driving control system is installed. Figure 3 is a diagram showing the conceptual structure of a roadside communication unit in accordance with an embodiment of the present invention. Figure 4 is a diagram illustrating a database of storage units storing a roadside communication unit in accordance with an embodiment of the present invention. Figure 5 is a diagram showing an initial process for forming a group via registration of a roadside communication unit. Figure 6 illustrates how a particular electric vehicle is added to a registration group. Figure 7 illustrates how a particular electric vehicle is out of the registration group. Figures 8A and 8B illustrate how a particular electric vehicle can be detached from the registration group and joined to another group. Figures 9A and 9B illustrate the process of dissolving a registration group. Figures 10A and 10B illustrate the process of reforming the group when the non-participating vehicle joins the group. Figure 11 is a diagram illustrating the process of confirming that the electric vehicle participating in the group driving maintains group driving. The embodiments of Figures 12A and 12B illustrate how the group can be re-formed when the non-participating vehicle is joined to the group and when some of the electric vehicles in the group are captured by the traffic sign. Figure 13 is a diagram showing how lanes are individually assigned in accordance with the speed of a plurality of groups of electric vehicles that each participating in a group drive. Figure 14 illustrates how communication resources are allocated to avoid communication interference between multiple groups of vehicles traveling in adjacent lanes. [Embodiment 3 6 201036852 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, some preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 illustrates the configuration of a group driving control system 100 in accordance with an embodiment of the present invention. The group driving control system 100 includes the under-road communication unit 101, the roadside communication unit 102, the traffic signal communication unit 103, and the automatic driving system 105, which are described in detail below. The system of the present invention is integrated into an electromagnetic induction powered vehicle system comprising a road provided with a power supply unit and an electric vehicle designed to be travelable by the power supplied by the unit. Further, as far as the present invention is concerned, the basic unit of the road section can be selected, for example, 1 km (km), 2 km or 4 km, etc., as a section. However, the invention is not limited to these definitions; road segments 110 of various lengths can be defined. Next, the automatic driving system 105 will be described. The autopilot system 105 is attached to or attached to the electric vehicle 106. Basically, the automated driving system 105 of the electric vehicle 106 appropriately selects and performs the automatic driving of the electric vehicle 106 with minimal interference from the driver. Specifically, the automatic driving system 105 includes a communication unit, a graphical user interface (GUI), a detecting unit, a switching unit, an electronic control unit (ECU), and a direction control unit. The communication unit may include, for example, an inter-vehicle communication unit and a road-to-vehicle communication unit (infrastructure communication unit). For example, through ad-hoc communication, it is possible to communicate the inter-vehicle communication unit of the carrier with the inter-vehicle communication unit of the other electric vehicle. In addition, the road-to-vehicle communication unit can be used with the under-street communication unit, the roadside communication unit and the traffic signal. The use of any common communication technology, communication technology. The information you need to drive. The communication unit can be, for example, a radio frequency, a magnetic field, or a visible light or another information on the road 110. The electric vehicle can call the driver to input the specific information, the initial formation of the group, participate in a specific group, record the group of the vehicle, or select the information displayed on (10). For example, the driver can choose to join a group displayed in (10) based on the received information. The detection element can detect obstacles in the vicinity of the carrier of two successive electric vehicles. For example, the _ unit is a millimeter type, a laser radar range _ test or a laser scanner. In addition, the single unit is placed in front of the electric vehicle, and is capable of transmitting millimeters and vehicles. In addition, the 2D laser scanner can detect the entire obstacle located near the electric vehicle 106. The switching unit can switch between automatic mode and manual mode. For example, the manual mode automatically switches to the automatic mode when the carrier 106 forms a group or participates in a group on the road segment 11G. The E C U system controls the entire autonomous driving system 1 〇 5. For example, the E cu is mainly composed of a central processing unit (CPU), a read-only memory (r_ and a random access memory (RAM). The singer is a cruise control unit. For example, based on The group driving information of the roadside communication list is obtained. The cruise control material can adjust the speed and direction of the electric vehicle contact and the cruise control of the electric vehicle 106. 201036852 By means of the power supply rail (electrjc power supply rail) The magnitude of the magnetic inductance, the direction control unit can control the direction of the electric vehicle 1〇6 driven on the power supply lane of the buried section 110. The power supply track can be under the lanes of the section 11 Therefore, based on the minimum deviation of the maximum magnetic inductance that can be measured by the neutral line, the δHear direction control unit can adjust the direction of the electric vehicle 1〇6 so that the electric vehicle 106 properly maintains the straight direction in each lane. In addition, the direction control unit can be controlled by the 0 command from ecu. As shown in Fig. 1, a plurality of roadside communication units can be installed along the road section 11〇 for traveling on the road section 110. The carrier obtains address information that can estimate the address of each carrier. Specifically, the under-street communication unit 101 can include information for transmitting the current address of each carrier on the road segment 11G to each vehicle and the lane ID. To report the lanes in which the vehicles are driving. As shown in Figure i, the under-communication unit 1〇1 can be installed along the midline of each lane of the section 11, but other configurations of the communication unit under the road can be made. In addition, it may not be necessary to install all the sections of the road under the road surface communication unit 101. Therefore, where there is no communication unit under the road surface, each vehicle can obtain its current address by, for example, Gps. Next, the description of the subsurface communication unit 101 is described. How to transmit the address information to the carrier. Firstly, the communication unit 101 under the road surface can transmit the address information by periodically transmitting the address information without checking whether the carrier passes through it. In this case, the arrival of the communication unit 101 under the road surface can be limited. a range so as not to interfere with other subsurface communication units. Alternatively, the subsurface communication unit ι〇ι may include operatively connected to the electrical power The measuring member for the track is used to measure the change in the magnetic inductance of the power supply to the track to determine whether the vehicle has passed the subsurface communication unit 101 based on the change, and to transmit information including the address information and the lane ID to the carrier. In the case, the under-street communication unit 101 can transmit the information to the carrier without special equipment for requesting information from the under-surface communication unit 101 in the vehicle. Fig. 2 is a diagram showing the section on which the group driving control system is installed. Each of the plurality of vehicle groups participating in the group driving is provided to each vehicle by providing group driving information including address information of each electric vehicle and information required to maintain driving of the member group. The roadside communication unit 102 is installed in the vicinity of the link no for controlling a plurality of vehicle groups each participating in the group driving on the road segment 110. The roadside communication unit can be installed even where the communication unit 1〇1 under the road surface is not installed. Specifically, the roadside communication unit 102 can include, as shown in FIG. 3, the transmitter-receiver 2〇1 is used to provide group driving information to the vehicle and to broadcast group information to the roadside. The vehicle on the section 11 of the communication unit 1〇2, the storage unit 2〇3 contains the id for storing group information (for example, '1D of groups 205 and 206, shown in FIG. 4) and the section 11〇 The database, and the control device 2〇2 for controlling the transmitter-receiver 201 and the storage unit 2〇3 and dispatching communication resources to each group traveling on the road segment 11〇. The roadside communication unit 102 is a node that communicates with the vehicle, other roadside communication units (for example, the roadside communication unit 〇8), and the traffic signal communication unit 1-3, and uses communication technologies such as radio frequency, visible light, or magnetic field. A familiar method of the class to describe. In order to obtain and maintain the group that has the relationship with the driving section of the road section 201036852 2, the road light scales the detachment and the other road junction units (10) of Luze Lake and may be installed in the adjacent road sections. Other roadside communication unit communication. Specifically, the roadside communication unit 1()2 and the road information unit (10) installed in the same road section ιι〇 can mutually distribute the group information stored in the database, and the vehicles on the roads 4 and 11 The group to the tour information to update. Therefore, the communication unit located in the same-segment (4) side can share information about the group traveling on the same road segment in time. In addition, since the group of vehicles moves from the road segment to different road segments while traveling along the road, the roadside communication unit 1() 2 maintains information about the group in the group that has been moved to different road segments. difficult. Therefore, the roadside TL unit 102 can be connected to the adjacent roadside communication unit of the other road section to obtain the (4) library that is not stored in the roadside rail unit, but has _group information with the group traveling on the road section ι ( For example, the group related to the group just cut into the road segment - Beixun). For example, please refer to the first sound, group (3)'s lead vehicle I32 can transmit the group driving information (including the ID of the earlier road section) previously received by the other roadside rail unit to the roadside communication unit 1〇2. The roadside communication unit 102 compares with the ID of the earlier road segment received and the ID stored in its database, and if the received ID is the same as the stored 10, it means that the roadside communication unit 1〇2 has been stored. The group information of the group 131 is in its database, and therefore, the roadside communication unit 102 can manage information based on the group information about the group 131. If the received ID is different from the stored ID, it means that the roadside communication unit 102 does not store the information about the group 131 in its database, and the roadside communication unit 102 has the same roadside communication as the ID and the received 10 The unit communicates with 11 201036852 to the group information stored in the database of the roadside communication unit and about the group 131. In addition, referring to Fig. 2, when the group 206 is about to enter the lane on which the group 204 is traveling, the roadside communication unit 2〇7 can transmit information indicating the presence of the group 206 to the roadside communication unit 102. Upon receipt, the roadside communication unit 102 relays this information to the lead carrier of group 2〇4. The preamble carrier recognizes the presence of the group 206 and adjusts its speed to thereby allow the group 206 to participate in the group 204. In addition, the preamble carrier notifies the adjusted speed to other vehicles in the group so that other vehicles can adjust the speed accordingly. 〇 Next, the traffic signal communication unit 103 will be described. The traffic signal communication unit 1-3 installed in, for example, the traffic flow controller is based on the group driving information received by the roadside communication unit mounted on the road section 110 to dictate the signal to the traffic signal 104. _ The method of the present invention for controlling majority group driving is described below with reference to Figures 5 through 14. Figure 5 is a diagram showing the initial process of the vehicle being joined to the group 'by registration with the roadside communication unit for group driving. First of all, by providing the capital of the land (10) and the registration request of the vehicle (4) by the vehicle 4m automatic driving system, it is necessary to join the new group to participate in the group driving. . Then, the message "Group Formation REQ" is sent to the roadside communication unit 4〇2' which is installed on the road section where the vehicle is traveling, and the vehicle has become a new group. One member (step s4 called. The message "Group: Forming REQ may include the carrier m, the location of the carrier tree and the destination route side pass 5fl single 402 receiving the message "Group forming REQ", and via 12 201036852 reference The obtained message "Group formation REQ", and I grouped in the roadside communication unit 402 to determine the group_group_, the lane to be used by the group, the communication resources assigned to the group, the group The safety distance of two successive vehicles in the group, the size of the group (for example, the maximum number of vehicles in the group), and the speed of the group. 'In (4) reading, the roadside ship orders with the late information "Group formation REQ And the judgment information is stored in the database as a group information hall, and then the information is "group formed" in response to the information of the judgment group information and the section ID. The request is to register the vehicle. After that, the initial group is The formation phase is assigned to the group_communication resource, and the special connection between the vehicles in the group can be performed. According to the driving environment of the group, the roadside communication unit can be used to modify the resources allocated to the group. The request registration vehicle 401 for the group leader vehicle can store the above information "group formation RES," The group information is that the group is disbanded 'by this based on group information' and its autopilot system can be used to automatically maintain group driving on the road segment. Figure 6 shows how a particular vehicle joins a registration group. Step S501 'The roadside communication unit 5〇1 broadcasts the information “group information broadcast” to the vehicle in the road segment, including, for example, the group ID, the destination of the group, the current position of the vehicle in the group, the speed, And the size of each group registered in its database (for example, the number of vehicles), and the vehicles periodically receive related information. In step S502, by displaying the received information "group information broadcast, GUI, by inputting the information, the vehicle 503 that wants to join one of the groups 5〇4, the driver selects the desired group 504' and then sends the device 5〇3 to the roadside communication unit 5〇1 to send back the Information needed to join the group (1) For example, the group ID of the group 5〇4 is selected as the current position and speed of the vehicle, and its vehicle ID) information ''Parameter 13 201036852 plus group REQ.') Receiving the message "Participating in the group ruler" The roadside communication unit 〇1 determines whether to approve the request based on the selected group 504. For example, the roadside communication unit 501 compares the current size of the group with the upper limit of the decision when the group is registered, and if If the size is smaller than the upper limit, the roadside communication unit 501 allows the vehicle 5加入3 to join the group to participate in the group 5〇4. Otherwise, the roadside communication unit 501 rejects the request. In step S5〇3, if the roadside communication unit Agree to the request, the message "First Participation Group RES", including when and where (or that group) and how to join the group 5〇4, the safety distance and speed of the vehicle in the group will be sent to join The vehicle of the group is 5〇3, the step of entering, the second group of information is participating in the group RES”, and the vehicle ID of the vehicle 503 including the road section of the roadside communication unit 5〇1 and the joining group is sent to The leader carrier 505 of group 5〇4. In step S504, based on the driving information included in the received information, the vehicle 5〇3 of the force recognition group receiving the information “first participating group RES” can join the group under the control of its automatic driving system. . In step 55〇5, if the vehicle 5〇3 is added to the group 5〇4, the group leader 5〇5 of the group 5〇4 reports the group driving information containing the updated group information to the roadside communication unit 501. On the other hand, when the roadside communication unit 5〇1 rejects the request from the plant 503 joining the group, the information “the third participation group RES” containing the information refusing to participate in the group is sent to the addition axis. With 5〇3. The newer group information, the roadside communication unit 5G1, updates its database. Since the vehicle is continuous, the following situation may occur: the carrier cannot maintain the track with the same roadside communication unit or the same road segment (4) roadside communication unit. In this case, the situation can be solved by the Xianglu Roadside communication unit and the other roadside communication unit with the section ID received by the former (4)$ (for example, the roadside communication unit between 201036852) Class problems. The above communication between roadside communication units installed on different road sections can be applied to the process of leaving the group, the process of disbanding the participating groups, and the process of reforming, which will be explained in detail below. The figure shows how the vehicle 6〇4 of the group 6〇2 leaves the team. In step S6〇1, the vehicle is passed through the GUI by the input information, and the carrier of the inner 3 carrier vehicle 604 is passed. The information of the ID "out of the group alarm, the forward carrier 603 reports its departure, and leaves the registration group 602 at step s6 同时 2 while transmitting information to the subsequent vehicles in the group at step S6 〇 3 The first group reorganization command" is to adjust the safety distance and send the update group information (for example, the vehicle x of the departure vehicle 6〇4 and the reduced size of the group 602) to the roadside communication unit 〇6〇1. Group driving information, receiving this confidence to leave the group alert" The leader carrier 603 reorganizes the carrier in the group 602. Based on the group driving information received by the navigation carrier 603, the roadside communication unit 6〇1 updates the corresponding group information of the repository in its database. Can leave the group to drive alone or participate in different groups. Figure 7 shows the departure vehicle can be driven independently of the group by simply performing the departure process. Explain that the departure vehicle is after leaving the team. Add another-group situation. Figures 8A and 8B illustrate how the vehicle is separated from the registration group to join another group. Want to switch to a different group of vehicles 704 the driver displays by roadside communication The unit 701 receives the message "Group Information Broadcast," and the GUI selects the desired group. Then, in step S701, the carrier 704 sends the message "Participation Group REQ, which is included, for example, the selected group 703, speed. The information and group change vehicle 7〇4(4) has the ID and its position. 彳m “The roadside communication unit 7〇1 participating in the group 15 201036852 Q judges whether or not the same is from the case of the selected group 703. The group changes the request of the carrier 7Q4. For example, the roadside communication unit 701 The roadside communication unit 5(1) requests the fourth request if the current size of the group is greater than the predetermined upper limit when registering the group period, and if the size is less than the predetermined size, otherwise, the roadside communication unit 7 rejects The request. In step S702, 'When the roadside communication unit 701 wants to agree to the request from the group change vehicle 7〇4, the information 'the first to participate in the group RES, (including when and where (or the group) Group) and how to join the information of the safety distance and speed of the group 703 and the group 7〇3 selected by the group change vehicle 7〇4 are sent to the group conversion vehicle, and the roadside communication unit 7 is included. The information of the ID of the segment 1 and the ID of the group change carrier 704, the second participation group RES, is sent to the leader carrier 705 of the group 7〇3. The 'preamble carrier 7〇5 then transmits a message "Second Group Reforming Command" to the subsequent vehicle to reorganize the vehicles belonging to the group 7〇3 so that the group change carrier 704 can join according to the sent information. Group 7〇3. In the step, after receiving the message "Part-Participation group RES," the group change vehicle 7〇4 is moved to the selected group based on its information under the control of the autopilot system. The previous 'group change vehicle 7 〇 4 must notify the departure of the previous group's lead vehicle 7〇6 by sending the message "out of group alarm" at step s 7 以及 4 and by following A vehicle carrying the information "first group reforming finger 7 so as to circumscribe its *full distance" leading vehicle reconfigurable group. And in step S706' the movement of the group changing vehicle 7〇4 is completed. At this time, the lead carriers 705 and 706 of the two groups respectively report the group driving information including the updated group information to the roadside communication unit 7〇1, based on the respective received by the lead vehicles 7〇5 and 706. Group driving information 'Roadside communication unit to update its data 16 201036852 Library 0 Figure 9A and Figure 9B illustrate the disbanding process of the group. Please refer to Figure 8 a Figure 'A leading carrier 802 of group 801 Sending a request to the roadside communication unit 803 to dismiss the group. If the group must be disbanded, for example, at When the group arrives at the destination or the road is in front of the accident, in step S811, the preamble carrier 8〇2 sends the message “dissolution” to the roadside communication unit 803 and the subsequent carrier of the group.
群組IND”。然後，在步驟S812，後續载具向它的後續載具 送出L息。另一方面’路邊通sfl单元804可向群組8〇5的前 導載具806發出解散命令。例如，當用於群組駕駛的道路或 其他基礎設施不再支撐或交通情況無法支揮群組駕駛時， 在步驟S821，路邊通訊單元804預先向前導載具8〇6送出俨 息“解散群組IND” ’以防，例如，意外。請參考第8B圖， 在收到信息“解散群組IND”時，在步驟沾”，前導載具8〇6 向後續載具傳送信息。然後，在步驟S823 ,後續載具將它Group IND". Then, in step S812, the subsequent carrier sends an L message to its subsequent carrier. On the other hand, the 'Roadside sfl unit 804 can issue a dismissal command to the leader carrier 806 of the group 8〇5. For example, when the road or other infrastructure for group driving is no longer supported or the traffic situation cannot support the group driving, in step S821, the roadside communication unit 804 sends the suffocation message "dissolution" in advance to the leader vehicle 8〇6. Group IND" 'in case, for example, accident. Please refer to Figure 8B. When the message "Dissolve Group IND" is received, at the step, the leader vehicle 8〇6 transmits information to the subsequent vehicle. Then, in step S823, the subsequent carrier will take it
傳送給它的後續載具。收到該信息“解散群組IND，，的載具會 停止它們的群組駕駛。當群組駕駛解散時，路邊通訊單元 8〇3及8〇4刪除儲存於其資料庫的對應群組資訊，收回分派 給該群組的群組職通訊⑽，以及向各自在有路邊通訊 單元803及8G4之路段上行駛的載具_更新的群組資訊。 第l〇A圖與第1()B圖圖示重新形成或分割群組的過 程。例如’在步驟讀當不在群組幫之中的載具9〇2進入 群組親的兩個載具中間或群組謝中若干載具沒有和群組 :之其他載具—起通過交通號誌、時，該群組需要重新形成 或分成兩個群組9G3及痛’因為群組_中的載具不再有可 17 201036852 能經由特設軌來通訊。‘錄，免衫糾彡㈣3及鄕的 新前導載具9〇4及衝分別向路邊通訊單元9〇5及⑽送出各 自關於群組重新形成903及906的更新群組駕馱資訊。然 後，路邊通訊單W05及则基於該更新群組駕駛資訊來更 新各自儲存於其資料庫的群組資訊。此時用第11圖闡述重 新形成的順序。 第11圏圖示確認參與群組駕駛的電動載具維持群組駕 驶的過程。信息、“群組維持確認請求/回應，，含有群組大小與 已送出請求或回應信息之一或更多載具的載具賊位置資 訊。藉由數算内含於其中的㈣聰，收發信息“群組維持 確認請求/回應”的載具可認知它當前在群組内的位置。在步 驟S1001 ’ 4導載具1〇11周期性地向它的後續載具而2送出 信息“群組維持確認請求，，用來確認群組的維持。在步驟 S1002，收到該信息的後續載具1〇12，如果不是群組中最後 一個載具，會送出信息（包含收到信息、其位置資訊及其ID) 給立即後繼者1013。在步驟S1003進行類似的過程。在步驟 S1004,當收到信息“群組維持確認請求”的載具為群組的最 後載具1014時，載具1〇14向它前面的載具傳送信息“群組維 持確認回應”。在步驟51005至51006進行類似的回應過程， 直到信息“群組維持確認回應”到達前導載具1〇11。 第12A及12B圖的實施例係圖示在非參加載具加入群 組時以及在群組中的一些電動載具在被交通號誌捕捉而其 他載具已通過交通號誌時如何重新形成該群組。在由4個載 具組成的示範群組中，假設載具11〇1在第二及第三載具 18 201036852Subsequent vehicles delivered to it. Upon receipt of the message "Dissolve Group IND, the vehicles will stop their group driving. When the group driving disbands, the roadside communication units 8〇3 and 8〇4 delete the corresponding group stored in their database. Information, retrieving the group communication (10) assigned to the group, and the group information updated to each vehicle on the roadside communication unit 803 and 8G4. Section l〇A and 1( Figure B illustrates the process of reforming or splitting a group. For example, 'read in the step when the vehicle is not in the group gang 9〇2 enters the group parent's two vehicles or the group thank you for some vehicles No and group: other vehicles - when passing traffic signs, the group needs to be re-formed or divided into two groups 9G3 and pain 'because the vehicle in the group _ is no longer available 17 201036852 Special track to communicate. 'Record, free shirt correction (4) 3 and 新 new lead vehicle 9〇4 and rush to the roadside communication units 9〇5 and (10) to send their respective update groups for group re-formation 903 and 906 Driving the information. Then, the roadside communication list W05 is updated based on the updated group driving information. The group information stored in its database. At this time, the order of reforming is explained in Figure 11. Figure 11 shows the process of confirming the driving of the group by the electric vehicle participating in the group driving. Information, "Group Maintenance Confirmation Request/Response, information about the location of the vehicle thief containing the group size and one or more vehicles that have sent the request or response message. By counting the (four) Cong contained in it, the vehicle that sends and receives the message "Group Maintenance Confirmation Request/Response" can recognize its current position within the group. In step S1001', the 4-way carrier 1〇11 periodically sends a message “Group Maintenance Confirmation Request” to its subsequent vehicle 2 for confirming the maintenance of the group. In step S1002, the information is subsequently received. The vehicle 1〇12, if not the last vehicle in the group, sends a message (containing the received information, its location information and its ID) to the immediate successor 1013. A similar process is performed in step S1003. In step S1004, When the vehicle receiving the message "Group Maintenance Confirmation Request" is the last vehicle 1014 of the group, the vehicle 1-14 transmits a message "Group Maintenance Confirmation Response" to the vehicle in front of it. In steps 51005 to 51006 A similar response process is performed until the message "Group Maintenance Confirmation Response" arrives at the lead carrier 1.1. The embodiments of Figures 12A and 12B illustrate some of the non-participating vehicles joining the group and some of the groups. How the electric vehicle is re-formed when it is captured by the traffic sign and the other vehicles have passed the traffic sign. In the demonstration group consisting of 4 vehicles, assume that the vehicle 11〇1 is in the second and the Three vehicles 18 201036852
1112及1121中間插隊，或最後兩個載具1121及1122在交通 號誌被捕捉。在此類情形下，有些載具（例如，載具1121) 會無法經由特設通訊來收發信息，“群組維持確認請求，，及 “群組維持確認回應，，。因此，會判定該群組應分成兩個群 組。在步驟S1103，無法收到信息“群組維持確認請求，，的載 具1121送出信息“群組重新形成，，給它的後續載具ιΐ22以變 成包含載具1121及其後續載具的新群級之前導載具以及登 記於路邊通訊單元，其方式與群組形成的上述初始過程類 似。此外，在步驟咖5，無法收到信息“群組維持確認回 應的載具m2會送出信息“群組重新形成，，給 仙，前導載具川丨向路邊軌單元通知關於群組重卿 成的資訊，以及該路邊通訊單元基於關於新群組及群組重 新形成的收到歧來執行對應的更新。 第13圖圖示如何分派 具。如第13圖所+ 逍，、°各自參與群組駕駛的載 速度相近行_具：:=::=派車道給以 效率地行駛同時維彳 H 1载"的群組可有 據群組駕驶速度，通過審慎地分 2就疋說，根 的效果。此外，如果非灸“車了優化群組駕駛 個載具中間，它會觸發: : 隊於參與群組駕駛的兩 繁地執行重新形成過程會或分割過程副 可最小化這種ΓΓΓΓΓ料4道給非群組-载具， 間發現需要改變速度 ^與群組駕駛的裁具在行教期 1 門最好可通過路邊通訊單元及參 19 201036852 與群組駕駛的載具的通訊來改到不同的車道。 第14圖圖示如何分派通訊資源以避免車道之間的通1 干擾。 藉由分派不同的通訊資源給每個車道，可防止兩個鄰 近車道之間的信號干擾。不過，此方法只能防止源於同 車道的可能干擾，例如，在同一車道行駛的多個群把之間。 不過’根據本發明，藉由進一步正交分割分派給車道的通 訊資源，可防止此類干擾。第14圖圖示避免鄰近载具在路 段通訊時有信號干擾的示範方法。在4車道的路上，時間八 成4段(例如，時段1至4)以及各載具只在分派給行駛車道的 時段期間可與其他載具通訊。此外，為了避免在同—車道 的載具之間的干擾，分派給該車道的時段細分為數個子通 道(例如，子通道丨至叫讓行駛於同一車道的載具可使用不 同頻率的通道從而避免相互干擾。第14關科邊通訊單 元分派時段1及子通紅給軸⑶丨，以及分派時段丨及子通 道3給輕⑶3。M ’圖林料2料闕2分派給行歇 於第=車道的物322，帅叫段3好舰3分派給行 駛於第二車道的群組1333。 …上迹方法’當使用同1訊資源的兩個或更多 載具相互鄰近時仍可能屮士 仍了此出現相互干擾的問題。在此情形 下，根據本發明，路邊通訊單 .依照相近群組的位置關係 來重新刀派通崎源給這麵知避免任何干擾。 儘管第14圖是以車道間 刀配負源採用TDMA以及車 道内之通訊應用FDMA為例來 解忒明，然而可用各種方 20 201036852 式來應用不同組合的習知TDM A、FDMA及CDMA技術。 儘管已只用一些較佳具體實施例來圖示及描述本發 明，然而熟諳此藝者可做出不同的改變及修改而不脫離本 發明定義於下列申請專利範圍的範疇。 【圖式簡單說明】 第1圖係根據本發明之一具體實施例圖示群組駕駛控 制系統之一組態。 第2圖係圖示在裝上群組駕駛控制系統的路段上各自 參與群組駕駛的電動載具之多個群組。 第3圖係根據本發明之一具體實施例圖示路邊通訊單 元的概念結構。 第4圖係根據本發明之一具體實施例圖示儲存卞路邊 通訊單元之儲存單元的資料庫。 第5圖係圖示提供經由路邊通訊單元的註冊來形成群 組的初始過程。 第6圖係圖示一特定電動載具如何加入登記群組。 第7圖係圖示一特定電動載具如何脫離登記群組。 第8A圖與第8B圖係圖示一特定電動載具如何脫離登 記群組以及加入另一群組。 第9A圖與第9B圖係圖示提供解散登記群組的過程。 第10A圖與第10B圖係圖示在非參加載具加入群組時 重新形成該群組的過程。 第11圖係圖示確認參與群組駕駛的電動載具維持群組 駕駛的過程。 21 201036852 第12A及12B圖的實施例係圖示在非參加載具加入群 組時以及在群組中的一些電動載具在被交通號誌捕捉時如 何重新形成該群組。 第13圖係圖示如何依照各自參與群組駕駛的電動載具 之多個群組的速度來個別分派車道。 第14圖係圖示如何分配通訊資源以避免在鄰近車道上 行駛的載具之多個群組間的通訊干擾。 【主要元件符號說明】 100…群組駕駛控制系統 101.··路面下通訊單元 102.. .路邊通訊單元 103…交通信號通訊單元 104.. .交通號誌 105··.自動駕駛系統 106.. .電動載具 108…路邊通訊單元 110.. .路段 131.. .群組 132.. .前導載具 201…傳送器-接收器 202.. .控制裝置 203.. .儲存單元 204.. .群組 205.. .群組 22 201036852 206.. .群組 207.. .路邊通訊單元 401.. .載具 402.. .路邊通訊單元 5401.. .請求加入群組 5402.. .儲存群組資訊於資料庫 501···路邊通訊單元 502.. .路邊通訊單元 503…載具 504.. .想要群組 505.. .前導載具 5501.. .廣播群組資訊 5502.. .選擇及加入群組 S503…信息“第一參加群組RES”送到加入群組之載具以及信息 “第二參加群組RES”送到前導載具 S504…加入群組 S505···向路邊通訊單元報告含有更新群組資訊的群組駕駛資訊 601.. .路邊通訊單元 602…群組 603.. .前導載具 604.··載具 5601.. .向前導載具報告它的離開 5602.. .離開登記群組 5603.. .重整群組 23 201036852 701…路邊通訊單元 703.··選定群組 704.. .載具 705.706.. .前導載具 S701_··^·求參加群組 S702…信息“第_參加群組啦”送到群組變換載具及信息“第二 參加群組RES”送到前導載具 S704…达心息“_顿警報，’來向先前雜的料載具通知 它的離開 S705…群組變換載具移到選定群組 801…群組 802·.·前導載具 803.··路邊通訊單元 804.. .路邊通訊單元 805…群組 806··.前導栽具 S811“.^|導载具向路邊通單元及所屬群組的後續载具送出作 息“解散群組IND” S812…後續載具向它的後續載具送出信息 綱…路邊通鮮親先㈣導财送出信息‘‘解散群組腑， S822…前導載具向後續載具傳送信息 S823···後續载具將信息傳送給它的後續载具 901…群組 902.·.载具 24 201036852 S901…不在群組中的載具進入群組的兩個載具中間 903,906…群組 904,907…新前導載具 905··.路邊通訊單元· S1001…前導載具向後續載具送出信息“群組維持確認請求” S1002，S1003…向立即後繼者送出信息 S1004.··最後載具向前面的載具傳送信息“群組維持確認回應” S1005，S1006·.·向前面的載具傳送信息“群組維持確認回應” 1011.. .前導載具 1012…後續載具 1013.. .立即後繼者 1014…最後載具 1101…載具 S1103···送出信息“群組重新形成，，給它的後續載具 S1105···送出信息“群組重新形成，，給前導載具 1111…前導載具 1112,1121…第二、第三載具 1121.1122.. .最後兩個載具 1311.1313.1322.1333.. .群組 25The middle of the 1112 and 1121 queues, or the last two vehicles 1121 and 1122 are captured in the traffic sign. In such cases, some vehicles (for example, vehicle 1121) will not be able to send and receive information via ad hoc communication, "group maintenance confirmation request, and "group maintenance confirmation response,". Therefore, it is determined that the group should be divided into two groups. In step S1103, the message "Group Maintenance Confirmation Request" is not received, the vehicle 1121 sends the message "Group Reformation, and its subsequent vehicle ι 22 is turned into a new group containing the carrier 1121 and its subsequent vehicles. The stage preamble carrier and the registration to the roadside communication unit are similar to the initial process described above for group formation. In addition, in step 5, the message "Group maintenance confirmation response vehicle m2 will send out the message" group re-formation, and the predecessor vehicle Chuanxi informs the roadside track unit about the group. The information and the roadside communication unit perform corresponding updates based on the received differences regarding the re-formation of the new group and the group. Figure 13 shows how to assign a tool. As shown in Figure 13 + 逍, °, the speed of each participating group driving is similar _ with::=::= send the lane to the efficient driving while the group of the 彳H 1 carrier" can be grouped The group driving speed, by carefully dividing 2, said that the root effect. In addition, if the non- moxibustion "car has optimized the group driving a vehicle in the middle, it will trigger: : The team will perform the re-formation process in the two-way execution of the group driving or the split process can minimize this kind of dip. For non-group-vehicles, it is necessary to change the speed. ^The cutting tool with the group driving in the teaching period 1 is best changed by the roadside communication unit and the communication with the group driving vehicle in 2010. To different lanes. Figure 14 shows how to distribute communication resources to avoid interference between lanes. By assigning different communication resources to each lane, signal interference between two adjacent lanes can be prevented. This method can only prevent possible interference from the same lane, for example, between multiple groups of vehicles traveling in the same lane. However, according to the present invention, such a division can be prevented by further orthogonally dividing the communication resources assigned to the lanes. Interference. Figure 14 illustrates an exemplary method to avoid signal interference when adjacent vehicles are communicating on a road segment. On a 4-lane road, time is 8 to 4 segments (for example, time slots 1 to 4) and each vehicle is only assigned to the line. During the time period of the lane, it can communicate with other vehicles. In addition, in order to avoid interference between the vehicles in the same lane, the time zone assigned to the lane is subdivided into several sub-channels (for example, sub-channels to the same lane) The vehicles can use different frequency channels to avoid mutual interference. The 14th branch communication unit assigns time period 1 and sub-pass red to axis (3)丨, and dispatch time 丨 and sub-channel 3 to light (3) 3. M '图林料2 Item 2 is assigned to the object 322 that is resting in the lane ==3, and the handsome section 3 is assigned to the group 1333 driving in the second lane. ...The tracking method 'When using the same resource or two or more resources When the multiple carriers are adjacent to each other, it is still possible that the gentleman still has the problem of mutual interference. In this case, according to the present invention, the roadside communication list re-sends the Tongji source to the face according to the positional relationship of the similar groups. It is known to avoid any interference. Although Figure 14 illustrates the use of TDMA for the inter-lane knife with negative source and the communication application FDMA in the lane, various combinations of conventional TDM A can be applied by various methods 20 201036852. FDMA CDMA technology. While the invention has been illustrated and described with respect to the preferred embodiments of the present invention, various changes and modifications may be made without departing from the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing one configuration of a group driving control system according to an embodiment of the present invention. Fig. 2 is a diagram showing respective participation in group driving on a road section on which a group driving control system is installed. A plurality of groups of electric vehicles. Fig. 3 is a diagram showing a conceptual structure of a roadside communication unit according to an embodiment of the present invention. Fig. 4 is a diagram showing a storage side of a road according to an embodiment of the present invention. A database of storage units of communication units. Figure 5 is an illustration of an initial process for forming a group via registration of a roadside communication unit. Figure 6 illustrates how a particular electric vehicle is added to a registration group. Figure 7 illustrates how a particular electric vehicle is out of the registration group. Figures 8A and 8B illustrate how a particular electric vehicle can be detached from the registration group and joined to another group. Figures 9A and 9B illustrate the process of dissolving a registration group. Figures 10A and 10B illustrate the process of reforming the group when the non-participating vehicle joins the group. Figure 11 is a diagram illustrating the process of confirming that the electric vehicle participating in the group driving maintains group driving. 21 201036852 The embodiments of Figures 12A and 12B illustrate how the group can be re-formed when the non-participating vehicle is joined to the group and when some of the electric vehicles in the group are captured by the traffic sign. Figure 13 is a diagram showing how lanes are individually assigned in accordance with the speed of a plurality of groups of electric vehicles that each participating in a group drive. Figure 14 illustrates how communication resources are allocated to avoid communication interference between multiple groups of vehicles traveling in adjacent lanes. [Main component symbol description] 100...Group driving control system 101.·. Under-road communication unit 102.. Roadside communication unit 103... Traffic signal communication unit 104.. . Traffic number 105··. Autopilot system 106 .. . Electric vehicle 108... Roadside communication unit 110.. . Road segment 131.. Group 132.. Front guide carrier 201... Transmitter-receiver 202.. Control device 203.. Storage unit 204 .. .Group 205.. .Group 22 201036852 206.. .Group 207.. . Roadside Communication Unit 401.. Vehicles 402.. . Roadside Communication Unit 5401.. Request to Join Group 5402 .. .Storing group information in database 501···sideside communication unit 502.. Roadside communication unit 503...carrier 504.. wants group 505.. .leading carrier 5501.. broadcast Group information 5502.. Select and join group S503... The information "first group RES" is sent to the group joining vehicle and the information "second group RES" is sent to the leader vehicle S504... to join the group Group S505···Reports group driving information including updated group information to the roadside communication unit 601.. Roadside communication unit 602...Group 603... Leading carrier 604.· · Vehicle 5601.. The forward guide vehicle reports its departure 5602.. leaves the registration group 5603.. .Reorganize group 23 201036852 701... Roadside communication unit 703.··Select group 704.. Vehicle 705.706.. .leading vehicle S701_···· seeking participation group S702... information “第_参加组” is sent to the group conversion vehicle and the information “second participation group RES” is sent to the front load With S704... up to the heart "_-alarm, 'to inform the previous miscellaneous material carrier of its departure S705... group change vehicle moved to the selected group 801... group 802..·leading vehicle 803.. Roadside communication unit 804... Roadside communication unit 805...Group 806··.The leading plant S811 “.^|The guide carrier sends the work to the roadside communication unit and the subsequent vehicles of the group to “dissolve the group” IND" S812... Subsequent vehicles send information to its subsequent vehicles... Roadside pass fresh first (4) Guide money to send out the message ''Dissolution group腑, S822... Leading vehicle transmits information to subsequent vehicles S823··· Subsequent vehicles transmit information to its subsequent vehicles 901...Group 902.·. Vehicle 24 201036852 S901... Vehicles not in the group enter the group Group of two carriers in the middle 903, 906... group 904, 907... new leader vehicle 905·.. roadside communication unit · S1001... the leader vehicle sends the message "group maintenance confirmation request" to the subsequent carrier S1002, S1003... The successor sends the message S1004.··The last vehicle transmits the message “Group Maintenance Confirmation Response” to the preceding vehicle. S1005, S1006·.·Transfers the message “Group Maintenance Confirmation Response” to the preceding vehicle. 1011.. . Vehicle 1012...subsequent vehicle 1013..immediate successor 1014...final vehicle 1101...carrier S1103··· sends out the message “Group re-formation, giving its subsequent vehicle S1105···Send information “group The group is reformed, and the leading carrier 1111...the leading carrier 1112,1121...the second and third carriers 1121.1122...the last two carriers 1311.1313.1322.1333.. group 25