Methods and systems for semi-autonomous vehicular convoys

• US 10,162,366 B2
• Filed: 07/05/2018
• Issued: 12/25/2018
• Est. Priority Date: 07/06/2011
• Status: Active Grant

• Current Assignee: Peloton Technology, Inc.
• Original Assignee: Peloton Technology, Inc.
• Inventors: Switkes, Joshua P., Gerdes, Joseph Christian
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US16/028,307
• Publication Number:
  US 20180314267A1
• Time in Patent Office: 173 Days
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G01S 13/92 for velocity measurement
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• 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: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/202 Dispatching vehicles on the basis of a location, e.g. taxi dispatching
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

The present invention relates to a method and system for enabling vehicles to closely follow one another through partial automation. Following closely behind another vehicle can have significant fuel savings benefits, but is unsafe when done manually by the driver. By directly commanding the engine torque and braking of the following vehicle while controlling the gap between vehicles using a sensor system, and additionally using a communication link between vehicles that allows information about vehicle actions, such as braking events, to be anticipated by the following vehicle, a Semi-Autonomous Vehicular Convoying System that enables vehicles to follow closely together in a safe, efficient and convenient manner may be achieved.

Claims

1. A method for commanding torque, comprising:

receiving information about a second vehicle via a communication link between a first vehicle and the second vehicle;

receiving information from a sensor system regarding a gap between the first vehicle and the second vehicle; and

commanding torque of the first vehicle to maintain the gap at a predetermined value.

2. The method of claim 1, wherein the information about the second vehicle is received by a computerized controller on the first vehicle.

3. The method of claim 1, wherein the information from the sensor system is received by the computerized controller on the first vehicle.

4. The method of claim 1, wherein the torque of the first vehicle is commanded by the computerized controller on the first vehicle.

5. The method of claim 1, wherein the commanded torque is engine torque.

6. The method of claim 1, wherein commanding the engine torque of the first vehicle controls the gap.

7. The method of claim 1, wherein the predetermined value comprises gap per time.

8. The method of claim 1, wherein the communication link comprises a link that transmits and receives information between the first vehicle and the second vehicle through a third vehicle.

9. The method of claim 1, wherein the information about the second vehicle is received by an electronic device.

10. The method of claim 1, wherein the information from the sensor system is received by an electronic device.

11. The method of claim 1, wherein the gap comprises a time between the first vehicle and the second vehicle.

12. The method of claim 11, wherein the time comprises a time it will take for the second vehicle to travel a distance to reach a current location of the first vehicle.

13. The method of claim 1, wherein the gap comprises a headway.

14. The method of claim 1, wherein the torque comprises electric motor torque.

15. The method of claim 1, wherein the torque comprises power.

16. The method of claim 1, wherein the torque comprises force.

17. The method of claim 1, wherein commanding the torque causes semi-autonomous convoying between the first vehicle and the second vehicle.

18. The method of claim 1, wherein the second vehicle is chosen from a plurality of vehicles capable of linking.

19. The method of claim 1, wherein a speed of the second vehicle can be adjusted manually.

20. The method of claim 1, wherein the communication link comprises information being communicated via a server.

21. The method of claim 1, further comprising:

receiving accelerometer data; and

commanding the torque based on the accelerometer data.

22. The method of claim 1, further comprising:

receiving retarder data; and

commanding the torque based on the received retarder data.

23. The method of claim 1, further comprising:

determining the communication link was lost; and

ending the commanding of the torque of the first vehicle in response to the determination that the communication link was lost.

24. The method of claim 1, wherein the information received from the sensor system is received at a control box, and wherein the control box processes information received from the sensor system and a graphical user interface to determine actuator commands.

25. The method of claim 1, wherein receiving information about the second vehicle further comprises:

receiving information indicating the second vehicle is available for convoying; and

receiving information indicating the second vehicle has agreed to convoy.

26. The method of claim 1, wherein the first vehicle is an electric vehicle.

27. The method of claim 1, further comprising:

determining a lateral positioning of the first vehicle and the second vehicle.

28. A system for commanding torque, the system comprising:

a control unit configured to;

receive information about a second vehicle via a communication link between a first vehicle and the second vehicle;

receive information from a sensor system regarding a gap between the first vehicle and the second vehicle; and

command the torque of the first vehicle to maintain the gap at a predetermined value.

29. A system for vehicle convoying, the system comprising:

a first control unit configured to;

receive information about a second vehicle via a communication link between a first vehicle and the second vehicle; and

receive information from a sensor system regarding a gap between the first vehicle and the second vehicle; and

a second control unit configured to;

command engine torque of the first vehicle to maintain the gap at a predetermined value.

30. A system for commanding torque, the system comprising:

a first control unit configured to receive information about a second vehicle via a communication link between a first vehicle and the second vehicle;

a second control unit configured to receive information from a sensor system regarding a gap between the first vehicle and the second vehicle; and

a third control unit configured to command the torque of the first vehicle to maintain the gap at a predetermined value.