Method for controlling an own vehicle to participate in a platoon

• US 10,089,882 B2
• Filed: 09/21/2016
• Issued: 10/02/2018
• Est. Priority Date: 09/21/2016
• Status: Active Grant

• Current Assignee: ZF CV Systems Europe BV
• Original Assignee: Wabco Europe BVBA (Wabco Holdings Incorporated)
• Inventors: Pandy, Ananda
• Primary Examiner(s): Jen, Ian
• Application Number:
  US15/271,273
• Publication Number:
  US 20180082591A1
• Time in Patent Office: 741 Days
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2040/0827 due to sleepiness
• CPC Class Codes: B60W 2400/00 Indexing codes relating to detected, measured or calculated conditions or factors
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/406 Traffic density
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: G07C 5/0808 Diagnosing performance data testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A method for controlling an own vehicle to participate in platoon with at least one other vehicle, wherein the own vehicle and the at least one other vehicle each having communication devices configured to wirelessly transmit DSRC-signals over a vehicle-to-vehicle communication link between each other. The method includes checking initiation conditions to determine if the own vehicle is ready for platooning, identifying at least one other vehicle in signal-transmittal-range to determine if the at least one other vehicle is ready for platooning and the at least one other vehicle is a valid platooning partner, and requesting to an adaptive cruise control system to hold a following-distance between the own vehicle and the at least one other vehicle to form a platoon if the at least other vehicle is ready for platooning and is a valid platooning partner and if the own vehicle is assigned as a following vehicle.

Claims

1. A method for controlling an own vehicle to participate in platoon with at least one other vehicle, wherein the own vehicle and the at least one other vehicle each having communication devices configured to wirelessly transmit DSRC-signals over a vehicle-to-vehicle communication link between each other, the method comprising:

checking initiation-conditions to determine if the own vehicle is ready for platooning, wherein the checking of the initiation-conditions comprises monitoring on-board messages transmitted over an on-board-communication system of the own vehicle;

identifying at least one other vehicle in signal-transmittal-range to determine if the at least one other vehicle is ready for platooning and the at least one other vehicle is a valid platooning partner, wherein the identification of the at least one other vehicle comprises monitoring DSRC-messages wirelessly transmitted over the vehicle-to-vehicle-communication between the at least one other vehicle and the own vehicle by the DSRC-signal;

requesting to an adaptive cruise control system to hold a following-distance between the own vehicle and the at least one other vehicle to form a platoon if the at least other vehicle is ready for platooning and is a valid platooning partner and if the own vehicle is assigned as a following vehicle, wherein an assignment as a following vehicle is made if a brake-performance-value of the own vehicle transmitted as an on-board message over the on-board-communication system contains a higher stopping distance performance rank as the brake-performance-value of the at least other vehicle transmitted as an DSRC-message over the vehicle-to-vehicle-communication.

2. The method according to claim 1, wherein checking of the initiation-conditions, identifying the at least one other vehicle, determining if the own vehicle is a following vehicle and requesting the following-distance is controlled by the communication device by:

receiving and monitoring a brake-configuration-message, a geographical-position-message, a vehicle-identification-message, a platoon-status-message, and a platoon-position-message as DSRC-messages wirelessly transmitted by the DSRC-signal,

receiving and monitoring a diagnose-message, an unique identifier of the own vehicle, a brake-performance-value of the own vehicle and a geographical position of the own vehicle transmitted by the on-board-communication system, and

receiving and monitoring external-messages transmitted by an external communication system.

3. The method according to claim 1, wherein checking initiation-conditions comprises:

determining if the electronic braking system of the own vehicle is working properly by determining if the anti-lock braking system, the electronic stability control, and the adaptive cruise control system combined with the advanced emergency braking system are working fault free by monitoring a diagnose-message transferred over the on-board-communication system of the own vehicle.

4. The method according to claim 1, wherein checking initiation-conditions further comprises the steps of:

determining if the anti-lock braking system and the electronic stability control are fully operational;

determining if the cruise control system of the own vehicle is activated.

5. The method according to claim 1, wherein checking initiation-conditions further comprises determining if no disengagement-condition is met, wherein a disengagement-condition is met if the driver presses the braking pedal or if the adaptive cruise control system shuts off or is overridden or if there is a forward collision warning or any other collision warnings outputted by the advanced emergency braking system or if there is a lane departure warning or if a turn-signal or a hazard light signal is activated or if a restriction-value sends “

no approval”

or if the diagnose-message is indicating that the electronic braking system is not working fault free any more or if the following-distance derived from a geographical-position-value is not matching the following-distance outputted from the adaptive cruise control system of the own vehicle within a tolerance-distance or if the geographical-positioning-value indicates that the own vehicles and the at least one other vehicle are not driving in the same lane of travel any more for more than 2s or if there is a failure in data transmission of the DSRC-signal.

6. The method according to claim 1, wherein checking initiation-conditions further comprises determining if the driver of the own vehicle is drowsy.

7. The method according to claim 1, wherein identifying the at least one other vehicle further comprises the step of determining a platoon-status-value contained in the platoon-status-message wirelessly received from the at least one other vehicle over the DSRC-signal, wherein the at least one other vehicle is classified as a valid partner if the at least one other vehicle is ready and initiated.

8. The method according to claim 1, wherein identifying the at least one other vehicle further comprises:

monitoring the brake-performance-value of the at least one other vehicle wirelessly broadcasted over the DSRC-signal, wherein the at least one other vehicle is classified as a valid partner if the at least one other vehicle driving in front has transmitted a lower stopping distance performance rank over the DSRC-signal relative to the stopping distance performance rank of the own vehicle transmitted over the vehicle-to-vehicle-communication, or the at least one other vehicle driving behind has transmitted a higher stopping distance performance rank over the DSRC-signal relative to the stopping distance performance rank of the own vehicle transmitted over the vehicle-to-vehicle-communication.

9. The method according to claim 1, wherein identifying the at least one other vehicle further comprises the step of determining the unique identifier contained in the vehicle-identification-message wirelessly broadcasted over the DSRC-signal, wherein the at least one other vehicle is classified as a valid partner, if the same or a friendly unique identifier is wirelessly broadcasted by the at least one other vehicle.

10. The method according to claim 1, wherein identifying the at least one other vehicle further comprises determining if the same or a friendly unique identifier is wirelessly broadcasted by more than two vehicles in signal-transmittal-range, wherein in this case filtering of the own vehicle and the at least one other vehicle is done based on their geographical-position-value contained in the geographical-position-message broadcasted over the DSRC-signal to identify the position of the own vehicle relative to the at least one other vehicle, wherein the at least one other vehicle is classified as a valid partner, if the at least other vehicle is driving in the same lane of travel.

11. The method according to claim 1, wherein identifying the at least one other vehicle further comprises the step of comparing the following-distance derived from the geographical-position-value to the following-distance outputted from the adaptive cruise control system.

12. The method according to claim 1, wherein requesting the adaptive cruise control system to hold a following-distance is done only if:

the own vehicle is driving at a vehicle-speed equal to or less than a maximum vehicle-speed or equal or higher than a minimum vehicle-speed;

the own vehicle and the other vehicle are ready for platooning and the other vehicle is classified as a valid partner; and

transmission of DSRC-signals is consistent over a verification-time.

13. The method according to claim 1, wherein before requesting the adaptive cruise control system to hold a following-distance a restriction-value contained in the restriction-message is checked,

wherein the adaptive cruise control system is requested to hold a short following distance as the following-distance of the own vehicle relative to the at least one other vehicle if the restriction-value comprises “

no restrictions”

;

wherein the adaptive cruise control system is requested to hold a medium following distance as the following-distance of the own vehicle relative to the at least one other vehicle if the restriction-value comprises “

limited approval”

; and

wherein the adaptive cruise control system is requested to hold a long following distance as the following-distance of the own vehicle relative to the at least one other vehicle if the restriction-value comprises “

no approval”

.

14. The method according to claim 1, wherein the following-distance request to hold by the adaptive cruise control system is set in dependence of the traffic, the weather or environmental data.

15. The method according to claim 1, wherein the own vehicle is disengaged from the platoon if a disengagement condition is met, wherein a disengagement-condition is met if the driver presses the braking pedal or if the adaptive cruise control system shuts off or is overridden or if there is a forward collision warning or any other collision warnings outputted by the advanced emergency braking system or if there is a lane departure warning or if a turn-signal or a hazard light signal is activated or if a restriction-value sends “

no approval”

or if the diagnose-message is indicating that the electronic braking system is not working fault free any more or if the following-distance derived from a geographical-position-value is not matching the following-distance outputted from the adaptive cruise control system of the own vehicle within a tolerance-distance or if the geographical-positioning-value indicates that the own vehicles and the at least one other vehicle are not driving in the same lane of travel any more for more than 2 s or if there is a failure in data transmission of the DSRC-signal.

16. The method according to claim 1, wherein determining if the own vehicle is assigned as a following vehicle of the platoon is further done in dependence of the vehicle mass of the own vehicle or the driving behavior of the driver of the own vehicle.

17. A communication device, comprising:

an on-board-interface operable to physically connect to an on-board-communication system of an own vehicle to receive on-board messages and to transmit control-signals;

a DSRC-radio operable to wirelessly transmit and receive DSRC-messages over the DSRC-signal;

a processor to monitor the on-board messages and the received DSRC-messages to generate a DSRC-signal and a control-signal in dependence of the received on-board messages and the received DSRC-messages.

18. A vehicle comprising:

a communication device;

an on-board communication system;

an electronic braking system;

an anti-lock braking system;

an electronic stability control;

an adaptive cruise control combined with an advanced emergency braking system; and

a powertrain-system;

wherein the communication device is operable to control the vehicle to participate in a platoon by analyzing a DSRC-signal received from a vehicle-to-vehicle communication and analyzing messages transmitted over the on-board-communication system of an own vehicle and transmitting a control-signal over the on-board communication system.