Method for joining drive rank of vehicle

• US 10,259,456 B2
• Filed: 06/23/2016
• Issued: 04/16/2019
• Est. Priority Date: 12/08/2015
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Park, Jong Rok, Noh, Dong Gyu, Ryu, Cho Rong, Hwang, Dae Sung, Noh, Hahk Rel, Sung, Su Lyun
• Primary Examiner(s): Shudy, Angelina
• Application Number:
  US15/191,104
• Publication Number:
  US 20170158196A1
• Time in Patent Office: 1,027 Days
• Field of Search: 701 2
• CPC Class Codes: B60K 31/0058 responsive to externally generated signalling
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Abstract

A method for joining a driving rank of a vehicle including receiving, by a joining requesting vehicle, information of vehicles in a cooperative adaptive cruise control (CACC) driving rank, transmitting, by the joining requesting vehicle, a joining request message to the vehicles in the CACC driving rank, and receiving, by the vehicles in the CACC driving rank, the joining request message, adjusting, by a rear vehicle and a front vehicle with respect to a position to which the joining requesting vehicle intends to move, among the vehicles in the CACC driving rank, a distance therebetween, determining, by the joining requesting vehicle, whether the joining requesting vehicle is allowed to join the vehicles in the CACC driving rank, and joining, by the joining requesting vehicle, the vehicles in the CACC driving rank and allowing the driving rank to be reconfigured.

Claims

1. A method for joining a driving rank of a vehicle, the method comprising:

receiving, by a joining requesting vehicle, information of vehicles in a cooperative adaptive cruise control (CACC) driving rank;

transmitting, by the joining requesting vehicle, a joining request message to the vehicles in the CACC driving rank, and receiving, by the vehicles in the CACC driving rank, the joining request message;

adjusting, by a rear vehicle and a front vehicle with respect to a position to which the joining requesting vehicle intends to move, among the vehicles in the CACC driving rank, a distance between the rear vehicle and the front vehicle;

determining, by the joining requesting vehicle, whether the joining requesting vehicle is allowed to join the vehicles in the CACC driving rank; and

joining, by the joining requesting vehicle, the vehicles in the CACC driving rank and allowing the driving rank to be reconfigured,

wherein, in the adjusting of the distance between the rear vehicle and the front vehicle, the distance between the rear vehicle and the front vehicle is adjusted as the rear vehicle decelerates from a reference speed and the front vehicle accelerates from the reference speed.

2. The method according to claim 1, wherein when the vehicles in the CACC driving rank do not receive the joining request message, the joining requesting vehicle again receives information regarding the vehicles in the CACC driving rank.

3. A method for joining a driving rank of a vehicle, the method comprising:

receiving, by a joining requesting vehicle, information of vehicles in a cooperative adaptive cruise control (CACC) driving rank;

comparing, by the joining requesting vehicle, an average speed of the joining requesting vehicle and an average speed of the vehicles in the CACC driving rank;

adjusting, by the joining requesting vehicle, a vehicle speed thereof and selecting a closest joining position among joining-available positions in the CACC driving rank, wherein the closest joining position is determined to be in front of the joining requesting vehicle in the CACC driving rank when the average speed of the joining requesting vehicle is higher than the average speed of the vehicles in the CACC driving rank, the closest joining position is determined to be behind the joining requesting vehicle in the CACC driving rank when the average speed of the joining requesting vehicle is lower than the average speed of the vehicles in the CACC driving rank;

transmitting, by the joining requesting vehicle, a joining request message to a rear vehicle with respect to the closest joining-available position;

receiving, by a joining request receiving vehicle, the joining request message and determining whether the joining requesting vehicle is allowed to join;

transmitting, by the joining request receiving vehicle, a joining acceptance message to the joining requesting vehicle when the joining requesting vehicle is allowed to join; and

joining, by the joining requesting vehicle, the CACC driving rank of the vehicles and allowing the driving rank to be reconfigured,

wherein, in the transmitting of the joining acceptance message to the joining requesting vehicle, the joining request receiving vehicle automatically transmits information regarding availability of joining to the joining requesting vehicle, and the joining requesting vehicle displays a pop-up window indicating whether the joining requesting vehicle is allowed to join, after the joining request receiving vehicle determines whether the joining requesting vehicle is allowed to join.

4. The method according to claim 3, wherein when the average speed of the joining requesting vehicle is higher than the average speed of the vehicles in the CACC driving rank, the joining requesting vehicle determines that the joining requesting vehicle moves to a position between a first vehicle and a second vehicle in front of the joining requesting vehicle.

5. The method according to claim 3, wherein when the average speed of the joining requesting vehicle is lower than the average speed of the vehicles in the CACC driving rank, the joining requesting vehicle determines that the joining requesting vehicle moves to a position between a second vehicle and a third vehicle, which is following the second vehicle and behind the joining requesting vehicle.

6. The method according to claim 3, the joining request receiving vehicle determines a condition of a turn signal, a yaw rate, or both deceleration and acceleration signals thereof and automatically transmits information regarding availability of joining to the joining requesting vehicle.

7. The method according to claim 3, further comprising:

transmitting, by the joining request receiving vehicle, a joining rejection message to the joining requesting vehicle, when the joining requesting vehicle is not allowed to join.