Varying the distance between vehicles in a platoon

• US 10,073,464 B2
• Filed: 12/30/2016
• Issued: 09/11/2018
• Est. Priority Date: 12/30/2016
• Status: Active Grant

• Current Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Original Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Inventors: Pilkington, Andrew J.
• Primary Examiner(s): Dager, Jonathan M
• Assistant Examiner(s): Evans, Garrett F
• Application Number:
  US15/395,160
• Publication Number:
  US 20180188745A1
• Time in Patent Office: 620 Days
• Field of Search: None
• CPC Class Codes: B60W 2300/12 Trucks; Load vehicles
• CPC Class Codes: B60W 2520/12 Lateral speed
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

Inter-vehicle platoon distance management is provided. Parameters relating to external conditions are used together with vehicle physical characteristics, performance information, and other factors to select an optimized distance between vehicle pairs traveling as a platoon. The parameters relating to the external conditions are aggregated by the following vehicle of the platoon vehicle pair, and used to adjust or otherwise modify a predetermined minimum following distance parameter. This allows flexibility in the platooning control to follow at different distances while maintaining an overall fuel economy benefit of the platoon. When no external condition restrictions exist, the platoon vehicles follow at the shortest distance to maximize fuel economy. However, as the aggregated external conditions increase, the platooning distance is extended to improve safety while preserving as much fuel economy benefit of the platoon as possible.

Claims

1. A method of determining an inter-vehicle following distance of a platooning vehicle pair including an associated leading vehicle and an associated following vehicle cooperatively travelling as a platoon, the method comprising:

providing a platoon control unit in the associated following vehicle, the platoon control unit comprising a processor, a non-transient memory operatively coupled with the processor, and logic stored in the non-transient memory and executable by the processor to determine a variable inter-vehicle following distance;

determining by the processor of the platoon control unit an inter-vehicle minimum following distance;

determining by the processor of the platoon control unit an inter-vehicle maximum following distance;

determining by the processor of the platoon control unit a multiplier, wherein the inter-vehicle maximum following distance is a product of the multiplier and the inter-vehicle minimum following distance;

assessing by the processor of the platoon control unit a set of variable condition data relative to the associated following vehicle of the platooning vehicle pair;

assigning by the processor of the platoon control unit a following distance restriction weight to each of the set of variable condition data as a set of weighted condition data, wherein each following distance restriction weight assigned to each of the set of variable condition data is between unity and the multiplier thereby normalizing the set of weighted condition data to the multiplier;

determining by the processor of the platoon control unit a platoon spacing factor based on the set of weighted condition data; and

determining by the processor of the platoon control unit the variable inter-vehicle following distance as a product of the platoon spacing factor and the inter-vehicle minimum following distance.

2. The method of determining an inter-vehicle following distance of a platooning vehicle pair according to claim 1, wherein:

the assessing the set of variable condition data relative to the associated following vehicle of the platooning vehicle pair comprises assessing by the processor of the platoon control unit one or more of;

a presence of one or more lead vehicles ahead of the associated leading vehicle of the platooning vehicle pair;

a relative brake capability between the associated leading and following vehicles of the platooning vehicle pair;

a relative load distribution between the associated leading and following vehicles of the platooning vehicle pair;

an ABS/ESP activity for a predetermined time;

a length of time either vehicle has been previously platooning;

an overall size of the platoon other than the leader and follower vehicles and/or the number of other traffic participants in general near the platoon;

a weather condition evidenced by windshield wiper activity;

a Regional Restrictions on following distances; and

/or

a fleet restriction and/or driver preference.

3. The method of determining an inter-vehicle following distance of a platooning vehicle pair according to claim 2, wherein:

the determining by the processor the inter-vehicle minimum following distance comprises retrieving the inter-vehicle minimum following distance from the non-transient memory of the platoon control unit; and

the determining by the processor the inter-vehicle maximum following distance comprises retrieving the inter-vehicle maximum following distance from the non-transient memory of the platoon control unit.

4. The method of determining an inter-vehicle following distance of a platooning vehicle pair according to claim 1, further comprising:

selectively generating by the processor of the platoon control unit a platoon discontinue signal in accordance with a magnitude of the determined platoon spacing factor relative to a predetermined threshold value stored in the non-transient memory of the platoon control, the platoon discontinue signal being used by the associated following vehicle to manage the platoon by selectively discontinuing participation by the associated following vehicle in the platoon responsive to the associated following vehicle receiving the platoon discontinue signal from the platoon control unit.

5. The method of determining an inter-vehicle following distance of a platooning vehicle pair according to claim 1, wherein the determining platoon spacing factor comprises:

determining platoon spacing factor as an average of the set of weighted condition data.

6. The method of determining an inter-vehicle following distance of a platooning vehicle pair according to claim 5, wherein:

the determining the platoon spacing factor as the average of the set of weighted condition data comprises aggregating the set of weighted condition data as a sum of weighted condition data and dividing the sum of weighted condition data by a total number of the set of variable condition data relative to the associated following vehicle of the platooning vehicle pair.

7. A system for determining an inter-vehicle following distance of a platooning vehicle pair including an associated leading vehicle and an associated following vehicle cooperatively travelling as a platoon, the system comprising:

a platoon control unit configured to be disposed in the associated following vehicle, the platoon control unit comprising;

a processor;

a non-transient memory operatively coupled with the processor; and

logic stored in the non-transient memory and executable by the processor to determine a variable inter-vehicle following distance by;

determining an inter-vehicle minimum following distance;

determining an inter-vehicle maximum following distance;

determining a multiplier, wherein the inter-vehicle maximum following distance is a product of the multiplier and the inter-vehicle minimum following distance;

assessing a set of variable condition data relative to the associated following vehicle of the platooning vehicle pair;

assigning a following distance restriction weight to each of the set of variable condition data as a set of weighted condition data, wherein each following distance restriction weight assigned to each of the set of variable condition data is between unity and the multiplier thereby normalizing the set of weighted condition data to the multiplier;

determining a platoon spacing factor based on the set of weighted condition data; and

determining the variable inter-vehicle following distance as a product of the platoon spacing factor applied to the inter-vehicle minimum following distance.

8. The system according to claim 7, wherein:

the platoon control unit is operable to assess the set of variable condition data relative to the associated following vehicle of the platooning vehicle pair by assessing one or more of;

a presence of one or more lead vehicles ahead of the associated leading vehicle of the platooning vehicle pair;

a relative brake capability between the associated leading and following vehicles of the platooning vehicle pair;

a relative load distribution between the associated leading and following vehicles of the platooning vehicle pair;

an ABS/ESP activity for a predetermined time;

a length of time either vehicle has been previously platooning;

an overall size of the platoon other than the leader and follower vehicles and/or the number of other traffic participants in general near the platoon;

a weather condition evidenced by windshield wiper activity;

a Regional Restrictions on following distances; and

/or

a fleet restriction and/or driver preference.

9. The system according to claim 8, wherein the control unit is operable to:

determine the inter-vehicle minimum following distance by retrieving the inter-vehicle minimum following distance from the non-transient memory of the platoon control unit; and

determine the inter-vehicle maximum following distance by retrieving the inter-vehicle maximum following distance from the non-transient memory of the platoon control unit.

10. The system according to claim 7, wherein the control unit is operable to:

selectively generate a platoon discontinue signal in accordance with a magnitude of the determined platoon spacing factor relative to a predetermined threshold value stored in the non-transient memory of the platoon control, the platoon discontinue signal being used by the associated following vehicle to manage the platoon by selectively discontinuing participation by the associated following vehicle in the platoon responsive to the associated following vehicle receiving the platoon discontinue signal from the platoon control unit.

11. The system according to claim 7, wherein the logic stored in the non-transient memory is executable by the processor to determine the platoon spacing factor as an average of the set of weighted condition data.

12. The system according to claim 11, wherein:

the control unit is operable to determining the platoon spacing factor as the average of the set of weighted condition data by aggregating the set of weighted condition data as a sum of weighted condition data and dividing the sum of weighted condition data by a total number of the set of variable condition data relative to the associated following vehicle of the platooning vehicle pair.

13. A non-transitory machine readable storage medium having instructions thereon that when executed cause an associated platoon control unit including a processor to perform steps for determining an inter-vehicle following distance of a platooning vehicle pair including an associated leading vehicle and an associated following vehicle cooperatively travelling as a platoon, the steps comprising:

determining by the processor of the associated platoon control unit an inter-vehicle minimum following distance;

determining by the processor of the associated platoon control unit an inter-vehicle maximum following distance;

determining by the processor of the associated platoon control unit a multiplier, wherein the inter-vehicle maximum following distance is a product of the multiplier and the inter-vehicle minimum following distance;

assessing by the processor of the associated platoon control unit a set of variable condition data relative to the associated following vehicle of the platooning vehicle pair;

assigning by the processor of the associated platoon control unit a following distance restriction weight to each of the set of variable condition data as a set of weighted condition data, wherein each following distance restriction weight assigned to each of the set of variable condition data is between unity and the multiplier thereby normalizing the set of weighted condition data to the multiplier;

determining by the processor of the associated platoon control unit a platoon spacing factor based on the set of weighted condition data; and

determining by the processor of the associated platoon control unit the variable inter-vehicle following distance as a product of the platoon spacing factor applied to the inter-vehicle minimum following distance.

14. The non-transitory machine readable storage medium according to claim 13, wherein:

the assessing the set of variable condition data relative to the associated following vehicle of the platooning vehicle pair comprises assessing by the processor of the platoon control unit one or more of;

a presence of one or more lead vehicles ahead of the associated leading vehicle of the platooning vehicle pair;

a relative brake capability between the associated leading and following vehicles of the platooning vehicle pair;

a relative load distribution between the associated leading and following vehicles of the platooning vehicle pair;

an ABS/ESP activity for a predetermined time;

a length of time either vehicle has been previously platooning;

an overall size of the platoon other than the leader and follower vehicles and/or the number of other traffic participants in general near the platoon;

a weather condition evidenced by windshield wiper activity;

a Regional Restrictions on following distances;

a fleet restriction and/or driver preference.

15. The non-transitory machine readable storage medium according to claim 14, wherein:

the determining by the processor the inter-vehicle minimum following distance comprises retrieving the inter-vehicle minimum following distance from the non-transient memory of the platoon control unit; and

the determining by the processor the inter-vehicle maximum following distance comprises retrieving the inter-vehicle maximum following distance from the non-transient memory of the platoon control unit.

16. The non-transitory machine readable storage medium according to claim 13, further comprising:

selectively generating by the processor of the platoon control unit a platoon discontinue signal in accordance with a magnitude of the determined platoon spacing factor relative to a predetermined threshold value stored in the non-transient memory of the platoon control, the platoon discontinue signal being used by the associated following vehicle to manage the platoon by selectively discontinuing participation by the associated following vehicle in the platoon responsive to the associated following vehicle receiving the platoon discontinue signal from the platoon control unit.

17. The non-transitory machine readable storage medium according to claim 13, wherein the determining the platoon spacing factor comprises:

determining by the processor of the associated platoon control unit the platoon spacing factor as an average of the set of weighted condition data.

18. The non-transitory machine readable storage medium according to claim 17, wherein:

the determining the platoon spacing factor as the average of the set of weighted condition data comprises aggregating the set of weighted condition data as a sum of weighted condition data and dividing the sum of weighted condition data by a total number of the set of variable condition data relative to the associated following vehicle of the platooning vehicle pair.