Apparatus and method for controlling vehicles in a platoon

• US 10,281,926 B2
• Filed: 01/23/2017
• Issued: 05/07/2019
• Est. Priority Date: 01/23/2017
• 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: Cremona, Michael D., Carbaugh, Jeffrey M.
• Primary Examiner(s): Troost, Aaron L
• Assistant Examiner(s): Schneider, Paula L
• Application Number:
  US15/412,681
• Publication Number:
  US 20180210461A1
• Time in Patent Office: 834 Days
• Field of Search: 701 2
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• CPC Class Codes: B60T 7/16 operated by remote control, i.e. initiating means not mounted on vehicle
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/17 Using electrical or electronic regulation means to control braking detecting or indicating faulty operation B60T8/885
• 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: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A system for controlling vehicles in a platoon includes a lead vehicle controller on a lead vehicle in the platoon and a following vehicle controller on a following vehicle in the platoon. The lead vehicle controller is adapted to determine a braking distance, based on an initial speed of the lead vehicle and a percent of full service brake application of the lead vehicle, and transmit a braking distance signal indicating the braking distance. The following vehicle controller is adapted to identify the braking distance upon receiving the braking distance signal, determine a percent of full service brake application of the following vehicle based on an initial speed of the following vehicle and the braking distance, and transmit a signal to a following vehicle service brake to apply the following vehicle service brake at the determined percent of full service brake application.

Claims

1. A controller for controlling a following vehicle in a platoon, the controller comprising:

an electrical port adapted to receive and transmit signals,

wherein the controller;

receives, via the electrical port, a brake activation signal from another vehicle in the platoon, the other vehicle being positioned in front of the following vehicle,

identifies a stopping distance of the other vehicle and transmits a first lookup signal to a lookup table on the following vehicle in response to receiving the brake activation signal, wherein the first lookup signal indicates an initial speed of the following vehicle and the identified stopping distance,

receives a second lookup signal from the lookup table including a determined percentage of full service brake application of the following vehicle based on the first lookup signal and

transmits a brake application signal, via the electrical port, for applying a service brake of the following vehicle to achieve the determined percentage of full service brake application.

2. The controller for controlling a following vehicle in a platoon as set forth in claim 1, wherein:

the controller transmits an update lookup signal to update the lookup table based on an actual stopping distance, the initial speed and percentage of full brake application of the following vehicle.

3. The controller for controlling a following vehicle in a platoon as set forth in claim 1, wherein:

the wireless RF receiver wirelessly receives the brake activation signal from the other vehicle and transmits the brake activation signal to the electrical port.

4. The controller for controlling a following vehicle in a platoon as set forth in claim 1, wherein:

the controller determines an actual stopping distance of the following vehicle based on the initial speed and the determined percentage of full service brake application; and

the controller transmits an update lookup signal to the lookup table on the following vehicle, the update lookup signal indicating the initial speed of the following vehicle, the actual stopping distance and the determined percentage of full service brake application.

5. The controller for controlling a following vehicle in a platoon as set forth in claim 1, wherein:

the other vehicle is a lead vehicle of the platoon.

6. The controller for controlling a following vehicle in a platoon as set forth in claim 1, wherein:

the controller transmits a second following vehicle stop signal, identifying the stopping distance, from the following vehicle to a second following vehicle.

7. A system for controlling vehicles in a platoon, the system comprising:

a lead vehicle controller, on a lead vehicle in the platoon, i) that determines a braking distance based on an initial speed of the lead vehicle and a percent of full service brake application of the lead vehicle and ii) transmits a braking distance signal indicating the braking distance; and

a following vehicle controller, on a following vehicle in the platoon, i) that identifies the braking distance upon receiving the braking distance signal, ii) determines a percent of full service brake application of the following vehicle based on an initial speed of the following vehicle and the braking distance and iii) transmits a brake application signal to the following vehicle service brake to apply the following vehicle service brake at the determined percent of full service brake application.

8. The system for controlling vehicles in a platoon as set forth in claim 7, further comprising:

a lead vehicle speed sensor electrically communicating with the lead vehicle controller, the lead vehicle controller determining the lead vehicle speed based on a lead vehicle speed signal received from the lead vehicle speed sensor and

a following vehicle speed sensor electrically communicating with the following vehicle controller, the following vehicle controller determining the following vehicle speed based on a following vehicle speed signal received from the following vehicle speed sensor.

9. The system for controlling vehicles in a platoon as set forth in claim 7, further comprising:

a lead vehicle service brake sensor electrically communicating with the lead vehicle controller, the lead vehicle controller identifying a start of a braking event upon receiving an electronic brake actuation signal from the lead vehicle service brake sensor;

wherein the lead vehicle controller determines the initial speed of the lead vehicle at the start of the braking event and transmits the braking distance signal based on the initial speed at the start of the braking event.

10. The system for controlling vehicles in a platoon as set forth in claim 7, the lead vehicle controller further comprising:

a lead vehicle lookup table electrically communicating with the lead vehicle controller, the lead vehicle controller transmits a lead vehicle first lookup signal to the lead vehicle lookup table, indicating the initial speed of the lead vehicle and the percent of full service brake application of the lead vehicle, and receives a lead vehicle second lookup signal from the lead vehicle lookup table indicating the lead vehicle braking distance.

11. The system for controlling vehicles in a platoon as set forth in claim 10, wherein the lead vehicle controller updates the lead vehicle lookup table.

12. The system for controlling vehicles in a platoon as set forth in claim 11, further comprising:

a lead vehicle distance measuring device;

a lead vehicle service brake sensor; and

a lead vehicle speed sensor;

wherein the lead vehicle controller i) receives a lead vehicle brake activation signal from the lead vehicle service brake sensor upon activation of the service brake of the lead vehicle, ii) receives a lead vehicle actual brake distance signal from the lead vehicle distance measuring device indicating the lead vehicle actual braking distance and iii) transmits a lead vehicle update signal to the lead vehicle lookup table to update the lead vehicle lookup table with the lead vehicle actual braking distance based on the lead vehicle initial speed and lead vehicle percent of full service brake application.

13. The system for controlling vehicles in a platoon as set forth in claim 12, further comprising:

a following vehicle lookup table;

a following vehicle distance measuring device;

a following vehicle service brake sensor; and

a following vehicle speed sensor;

the following vehicle controller i) receives a following vehicle brake activation signal from the following vehicle service brake sensor upon activation of the service brake of the following vehicle, ii) receives a following vehicle actual brake distance signal from the distance measuring device indicating the following vehicle actual braking distance and iii) transmits a following vehicle update signal to the following vehicle lookup table to update the following vehicle lookup table with the following vehicle actual braking distance based on the following vehicle initial speed and following vehicle percent of full service brake application.

14. The system for controlling vehicles in a platoon as set forth in claim 12, wherein:

upon receiving the lead vehicle brake activation signal indicating activation of the service brake of the lead vehicle, the lead vehicle controller transmits a lead vehicle actual braking distance start signal to the lead vehicle distance measuring device to begin measuring an actual braking distance of the lead vehicle; and

upon receiving a lead vehicle brake event end signal from the lead vehicle speed sensor indicating an end of the braking event, the lead vehicle controller transmits a lead vehicle actual braking distance stop signal to the lead vehicle distance measuring device to stop measuring the actual braking distance, determine the actual braking distance of the lead vehicle and transmit the lead vehicle actual brake distance signal to the lead vehicle controller indicating the actual braking distance.

15. A method for controlling vehicles in a platoon, the method comprising:

determining a braking distance of a lead vehicle based on an initial speed of the lead vehicle and a percent of full service brake application of the lead vehicle;

transmitting a lead vehicle braking distance signal, indicting the braking distance, from the lead vehicle;

receiving the lead vehicle braking distance signal at a following vehicle;

determining a percent of full service brake application of the following vehicle based on an initial speed of the following vehicle and the lead vehicle braking distance; and

transmitting a following vehicle brake application signal to the following vehicle to apply the following vehicle service brake at the determined percent of full service brake application.

16. The method for controlling vehicles in a platoon as set forth in claim 15, further comprising:

determining an initial speed of the lead vehicle.

17. The method for controlling vehicles in a platoon as set forth in claim 15, wherein the step of determining the braking distance comprises:

transmitting a lookup signal to a lead vehicle lookup table indicating the initial speed of the lead vehicle and the percent of full service brake application of the lead vehicle;

identifying the lead vehicle braking distance, based on the initial speed of the lead vehicle and the percent of full service brake application of the lead vehicle, in the lookup table; and

transmitting the lead vehicle braking distance from the lookup table.

18. The method for controlling vehicles in a platoon as set forth in claim 17, further comprising:

determining a lead vehicle actual braking distance based on the initial speed of the lead vehicle and the percent of full service brake application of the lead vehicle; and

updating the lead vehicle lookup table with the lead vehicle actual braking distance based on the initial speed of the lead vehicle and the percent of full service brake application of the lead vehicle.

19. The method for controlling vehicles in a platoon as set forth in claim 15, further comprising:

transmitting the lead vehicle braking distance signal to a second following vehicle.

20. The method for controlling vehicles in a platoon as set forth in claim 19, further comprising:

determining a percent of full service brake application of the second following vehicle based on an initial speed of the second following vehicle and the lead vehicle braking distance.