Communication between vehicles of a platoon

• US 10,204,519 B2
• Filed: 12/25/2015
• Issued: 02/12/2019
• Est. Priority Date: 12/25/2015
• Status: Active Grant

• Current Assignee: Kadir Has Üniversitesi, Ozyegin Universitesi
• Original Assignee: Kadir Has Üniversitesi, Ozyegin Universitesi
• Inventors: Uysal, Murat, Erkucuk, Serhat, Narmanlio{umlaut over (g)}lu, Omer
• Primary Examiner(s): Edwards, Jerrah
• Application Number:
  US14/902,235
• Publication Number:
  US 20170186327A1
• Time in Patent Office: 1,145 Days
• CPC Class Codes: B60Q 1/00 Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor for lighting vehicle interior B60Q3/00
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles
• CPC Class Codes: H04B 10/1125 using a single common optical path
• CPC Class Codes: H04B 10/1129 Arrangements for outdoor wireless networking of information
• CPC Class Codes: H04B 10/1149 Arrangements for indoor wireless networking of information
• CPC Class Codes: H04B 10/116 Visible light communication
• CPC Class Codes: H04L 51/222 using geographical location information, e.g. messages transmitted or received in proximity of a certain spot or area

Abstract

A system and method are provided for communication between vehicles within a platoon of vehicles. In one embodiment, each vehicle is equipped with forward and backward directed optical emitters and receivers in operable communication with a controller. In an initialization phase, each vehicle determines its position within the platoon and the identification of all vehicles of the platoon. In a data transmission phase, each vehicle takes part in a token-based data transmission.

Claims

1. A communication system for enabling communication between vehicles in a platoon whether such vehicles are arranged consecutively or non-consecutively, the system comprising:

a first emitter and a first receiver, configured to be directed in a forward direction of a vehicle;

a second emitter and a second receiver, configured to be directed in a backward direction of the vehicle; and

a controller in communication with the emitters and the receivers, the controller configured to;

during an initialization phase, determine a position of the vehicle within the platoon and the identity of each vehicle in the platoon, based on optical signals detected by the first and/or second receivers; and

during a data transmission phase, participate in a token-based data transmission by evaluating an optical signal received by one of the first or second receivers and causing the emission of an optical signal either by the corresponding one of the first or second emitters that received the signal should the vehicle be the first or last vehicle in the platoon, or by the other one of the first or second emitters should the vehicle not be the first or last vehicle in the platoon;

wherein the controller is further configured to, during the data transmission phase;

if the vehicle is the first vehicle of the platoon, start the cyclical circulation of an optical control signal;

if an optical control signal is received and no data transmission is required, forward the received control signal; and

if an optical control signal is received and data transmission is required, generate and send a data-transmission signal including identification of a sender, a destination vehicle, payload data, and error correction data.

2. The system according to claim 1, wherein the controller is further configured to, during the initialization phase, determine whether the vehicle is the first or last vehicle in the platoon or not the first or last vehicle in the platoon, based on signals detected by the first and/or second receivers.

3. The system according to claim 1, wherein the controller is further configured to, during the initialization phase:

cause the first and second emitters to emit a signal;

if no signal is received from the forward direction, identify the vehicle to be the first vehicle of the platoon;

if no signal is received from the backward direction, identify the vehicle to be the last vehicle in the platoon; and

if signals are received from both the forward direction and the backward direction, identify the vehicle to be neither the first nor last vehicle of the platoon.

4. The system according to claim 1, wherein the controller is further configured to, during the initialization phase:

if the vehicle is the first vehicle of the platoon, generate a first signal comprising a vehicle identification and cause the first signal to be emitted in the backward direction;

if the vehicle is neither the first nor last vehicle of the platoon, generate a second signal by adding a vehicle identification to a signal received from the forward direction, cause the generated second signal to be emitted in the backward direction, and forward a signal received from the backward direction unchanged to be emitted in the forward direction; and

if the vehicle is the last vehicle of the platoon, generate a third signal by adding a vehicle identification to a signal received from a forward direction and cause the generated third signal to be emitted in a forward direction, the generated third signal including information about the sequence and identification of all vehicles in the platoon.

5. The system according to claim 1, wherein the controller is further configured to, during the initialization phase, determine the position of all vehicles in the platoon from the received signals.

6. The system according to claim 1, wherein the controller is further configured to, during the data transmission phase:

if the data-transmission signal is received and the vehicle does not have the destination vehicle identification, forward the received data-transmission signal;

if the data-transmission signal is received and the vehicle has the destination vehicle identification, generate and send a positive or negative data-transmission receipt signal to the sender, depending on whether the signal is received by the vehicle having the destination vehicle identification or not;

if a negative data-transmission receipt is received by the sender of the data- transmission signal, resend the data-transmission signal; and

if a positive data-transmission receipt is received by the sender of the data- transmission signal, start the circulation of a control signal.

7. The system according to claim 1, wherein the controller is further configured to, during the data transmission phase, and when checking if a data-transmission signal is received and a recipient vehicle does not have the destination vehicle identification, forward the received data-transmission signal in the direction where the vehicle having the destination vehicle identification is located with respect to the recipient vehicle.

8. The system according to claim 1, wherein the system further comprises a first plurality of emitters and receivers, configured to be integrated into headlights of the vehicle, and a second plurality of emitters and receivers, configured to be integrated into backlights of the vehicle.

9. The system according to claim 1, wherein the emitters include optical emitters, including one or more LEDs, and wherein the receivers include optical receivers, including one or more photodetectors.

10. The system according to claim 1, wherein the vehicle is selected from the group consisting of cars, trucks, tanks, boats, planes, and helicopters.

11. A method of communication vehicles in a platoon whether such vehicles are arranged consecutively or non-consecutively, the method comprising:

providing a first emitter and a first receiver directed in the forward direction of a vehicle;

providing a second emitter and a second receiver directed in the backward direction of the vehicle;

during an initialization phase, determining a position of the vehicle within the platoon and the identity of all vehicles in the platoon, based on optical signals detected by the first and/or second receivers; and

during a data transmission phase;

participating in a token-based data transmission by evaluating an optical signal received by one of the first or second receivers and causing the emission of an optical signal either by the corresponding one of the first or second emitters that received the signal should the determined position of the vehicle be the first or last vehicle in the platoon, or by the other one of the first or second emitters should the determined position of the vehicle not be the first or last vehicle in the platoon;

if the vehicle is the first vehicle of the platoon, starting the cyclical circulation of an optical control signal;

if an optical control signal is received and no data transmission is required, forwarding the received control signal; and

if an optical control signal is received and data transmission is required, generating and sending a data-transmission signal comprising identification of a sender, a destination vehicle identification, payload data, and error correction data.

12. The method according to claim 11, further comprising, during the initialization phase, determining whether the vehicle is the first or last vehicle in the platoon or not the first or last vehicle in the platoon, based on signals detected by the first and/or second receivers.

13. The method according to claim 11, further comprising, during the initialization phase:

emitting a signal from the first and second emitters;

if no signal is received from the forward direction, identifying the vehicle to be the first vehicle of the platoon;

if no signal is received from the backward direction, identifying the vehicle to be the last vehicle in the platoon; and

if signals are received from both the forward direction and the backward direction, identifying the vehicle to be neither the first nor last vehicle of the platoon.

14. The method according to claim 11, further comprising, during the initialization phase:

if the vehicle is the first vehicle of the platoon, generating a first signal comprising a vehicle identification and emitting the first signal in the backward direction;

if the vehicle is neither the first nor last vehicle of the platoon, generating a second signal by adding a vehicle identification to a signal received from the forward direction, emitting the generated second signal in the backward direction, and forwarding a signal received from the backward direction unchanged to be emitted in the forward direction; and

if the vehicle is the last vehicle of the platoon, generating a third signal by adding a vehicle identification to a signal received from the forward direction and emitting the generated third signal in the forward direction, the generated third signal including information about the sequence and identification of all vehicles in the platoon.

15. The method according to claim 11, further comprising, during the initialization phase, determining the position of all vehicles in the platoon from the received signals.

16. The method according to claim 11, further comprising, during the data transmission phase:

if a data-transmission signal is received and the vehicle does not have the destination vehicle identification, forwarding the received data-transmission signal;

if a data-transmission signal is received and the vehicle has the destination vehicle identification, generating and sending a positive or negative data-transmission receipt signal to the sender, depending on whether the signal is received by the vehicle having the destination vehicle identification or not;

if a negative data-transmission receipt is received by the sender of the data- transmission signal, re-sending the data-transmission signal; and

if a positive data-transmission receipt is received by the sender of the data- transmission signal, starting the circulation of a control signal.

17. The method according to claim 11, further comprising, during the data transmission phase, and when checking if a data-transmission signal is received and a recipient vehicle does not have a destination vehicle identification, forwarding the received data- transmission signal in the direction where the vehicle having the destination vehicle identification is located with respect to the recipient vehicle.

18. The method according to claim 11, wherein the received or emitted signal is an optical radiation signal.

19. A method of communication between non-consecutive vehicles in a platoon, the method comprising:

providing a first emitter and a first receiver directed in the forward direction of a vehicle;

providing a second emitter and a second receiver directed in the backward direction of the vehicle;

during an initialization phase, determining a position of the vehicle within the platoon and the identity of all vehicles in the platoon, based on optical signals detected by the first and/or second receivers; and

during a data transmission phase;

participating in a token-based multi-hop data transmission by evaluating an optical signal received by one of the first or second receivers and causing the emission of an optical signal either by the corresponding one of the first or second emitters that received the signal should the determined position of the vehicle be the first or last vehicle in the platoon, or by the other one of the first or second emitters should the determined position of the vehicle not be the first or last vehicle in the platoon;

if the vehicle is the first vehicle of the platoon, starting the cyclical circulation of an optical control signal;

if an optical control signal is received and no data transmission is required, forwarding the received control signal; and

if an optical control signal is received and data transmission is required, generating and sending a data-transmission signal comprising identification of a sender, a destination vehicle identification, payload data, and error correction data.