“V” shaped and wide platoon formations

• US 10,372,123 B2
• Filed: 12/30/2016
• Issued: 08/06/2019
• Est. Priority Date: 12/30/2016
• 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, Hayes, Thomas J, Kasper, Phillip J
• Primary Examiner(s): Tran, Khoi H
• Assistant Examiner(s): Peche, Jorge O
• Application Number:
  US15/395,214
• Publication Number:
  US 20180188725A1
• Time in Patent Office: 949 Days
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

Platoon management control systems and methods rearrange three of more vehicles cooperatively travelling seriatim as a platoon along an associated roadway into a platoon arrangement other than the linear or single file formation. Multi roadway lane platoon management control systems and methods control the three or more vehicles cooperatively travelling as a multi-lane platoon along an associated multi-lane roadway into a platoon arrangement other than the linear or single file formation. Larger platoon sizes are provided thereby enabling more vehicles to participate in the larger multi-lane platoon. A platoon management control uses a combination of the GPS position of the lead vehicle representative of the position of the vehicle relative to the associated geographical area, and braking performance data representative of the braking capabilities of following vehicles to rearrange the vehicles into the non-columnar formation.

Claims

1. A system operable in associated platooning vehicles comprising an associated leading vehicle and a plurality of associated following vehicles cooperatively travelling as a linear column platoon in an associated geographical area on an associated roadway in a first direction for controlling reorganization of the platooning vehicles from the linear column platoon to a non-linear platoon, the system comprising:

a platoon control unit configured to be disposed in the associated leading vehicle, the platoon control unit comprising;

a processor;

a non-transient memory device operatively coupled with the processor; and

logic stored in the non-transient memory and executable by the processor to selectively reorganize the platooning vehicles;

a communication receiver operatively coupled with the platoon control unit, the communication receiver being operable to;

receive performance capability signals from one or more of the plurality of associated following vehicles, the performance capability signals comprising performance data representative of one or more performance characteristics of the one or more of the plurality of associated following vehicles;

a global position sensor (GPS) receiver operatively coupled with the platoon control unit, the GPS receiver being operable to;

receive a global position signal from an associated source of global position information, the global position signal comprising global position data representative of a position of the associated leading vehicle relative to the associated geographical area; and

a communication transmitter operatively coupled with the platoon control unit, the transmitter comprising;

a first communication interface, the first communication interface being responsive to a reorganization initiate signal to selectively transmit, to a first set of first and second following vehicles of the plurality of following vehicles;

a first lateral offset distance signal comprising first lateral offset distance data representative of first lateral offset distances on opposite sides of a forward path of the associated leading vehicle and in directions perpendicular to the first direction to be maintained in the non-linear platoon by each of the first and second vehicles; and

a first longitudinal overlap distance signal comprising first longitudinal overlap distance data representative of first longitudinal overlap distances in a direction along the first direction to be maintained in the non-linear platoon by the each of the first and second vehicles of the first set interleaved in the first direction relative to the leader vehicle; and

a second communication interface operable responsive to the reorganization initiate signal to selectively transmit, to a second set of third, fourth, and fifth following vehicles of the plurality of following vehicles;

a second lateral offset distance signal comprising second lateral offset distance data representative of second lateral offset distances on opposite sides of the forward path of the associated leading vehicle and in directions perpendicular to the first direction to be maintained in the non-linear platoon by each of the third, fourth, and fifth following vehicles of the second set; and

a second longitudinal overlap distance signal comprising second longitudinal overlap distance data representative of longitudinal overlap distances in a direction along the first direction to be maintained in the non-linear platoon by the each of the third, fourth, and fifth following vehicles of the second set interleaved in the first direction relative to the first and second vehicles of the first set,

wherein the logic of the platoon control unit is executable by the processor to generate the first lateral offset distance data the first longitudinal overlap distance data, the second longitudinal overlap distance data, and the second lateral offset distance data in accordance with a predetermined combination of the global position data representative of the position of the associated leading vehicle relative to the associated geographical area, the performance data representative of the one or more performance characteristics of the plurality of associated following vehicles, and the reorganization initiate signal.

2. The system according to claim 1, wherein:

the communication receiver is operable to receive, as the performance capability signals, braking performance capability signals from the plurality of associated following vehicles, the braking performance capability signals comprising braking performance data representative of braking capabilities of the plurality of associated following vehicles; and

the logic of the platoon control unit is executable by the processor to generate the first lateral offset distance data and the first longitudinal overlap distance data in accordance with a predetermined combination of the global position data representative of the position of the associated leading vehicle relative to the associated geographical area and the braking performance data representative of the braking capabilities of the plurality of associated following vehicles.

3. The system according to claim 2, wherein:

the first communication interface is operable to transmit, to the first set of first and second following vehicles;

the first lateral offset distance data representative of a single lateral offset distance on opposite sides of the forward path of the associated leading vehicle and in directions perpendicular to the first direction to be maintained in the non-linear platoon by each of the first and second vehicles of the first set relative to the forward path; and

the first longitudinal overlap distance data representative of a single longitudinal overlap distance in a direction along the forward direction to be maintained in the non-linear platoon by the each of the first and second vehicles of the first set relative to the leader vehicle.

4. The system according to claim 1, wherein:

the communication receiver is operable to receive, as the performance capability signals, braking performance capability signals from the plurality of associated following vehicles, the braking performance capability signals comprising braking performance data representative of braking capabilities of the plurality of associated following vehicles; and

the logic of the platoon control unit is executable by the processor to generate the first lateral offset distance data, the first longitudinal overlap distance data, the first lateral offset distance data, the first longitudinal overlap distance data, and the reorganization initiation signal in accordance with a predetermined combination of the global position data representative of the position of the associated leading vehicle relative to the associated geographical area and the braking performance data representative of the braking capabilities of the plurality of associated following vehicles.

5. The system according to claim 1, wherein:

the communication transmitter comprises;

a third communication interface operable to transmit, to the first set of first and second following vehicles of the plurality of following vehicle and to the second set of third, fourth, and fifth following vehicles of the plurality of following vehicles;

an emergency brake command signal comprising emergency brake command data representative of deceleration command data selectively usable by the first and second sets of following vehicles to effect an emergency deceleration operation; and

an emergency brake command direction signal comprising emergency brake command direction data representative of deceleration command direction data selectively usable by the first and second sets of following vehicles to implement the emergency deceleration operation;

the logic of the platoon control unit is executable by the processor to generate the emergency brake command data, and the emergency brake command direction data in accordance with a predetermined combination of the one or more conditions of the associated roadway and/or the associated geographical area.

6. The system according to claim 1, wherein:

the communication receiver is operable to receive, as the performance capability signals, braking performance capability signals from the plurality of associated following vehicles, the braking performance capability signals comprising braking performance data representative of braking capabilities of the plurality of associated following vehicles; and

the logic of the platoon control unit is executable by the processor to generate the first lateral offset distance data, the first longitudinal overlap distance data, the second longitudinal overlap distance data, and the second lateral offset distance data in accordance with a predetermined combination of the global position data representative of the position of the associated leading vehicle relative to the associated geographical area and the braking performance data representative of the braking capabilities of the plurality of associated following vehicles.

7. A method for controlling reorganization of associated platooning vehicles comprising an associated leading vehicle and a plurality of associated following vehicles cooperatively travelling as a linear column platoon in an associated geographical area on an associated roadway in a first direction from the linear column platoon to a non-linear platoon, the method comprising:

providing a platoon control unit in the associated leading vehicle, the platoon control unit comprising a processor, a non-transient memory device operatively coupled with the processor, and logic stored in the non-transient memory and executable by the processor to selectively reorganize the platooning vehicles;

receiving, by a communication receiver operatively coupled with the platoon control unit, performance capability signals from the plurality of associated following vehicles, the performance capability signals comprising performance data representative of one or more performance characteristics of the plurality of associated following vehicles;

receiving, by a global position sensor receiver operatively coupled with the platoon control unit, a global position signal from an associated source of global position information, the global position signal comprising global position data representative of a position of the associated leading vehicle relative to the associated geographical area;

responsive to receiving a reorganization initiate signal, selectively transmitting to a first set of first and second following vehicles of the plurality of following vehicles, by a first communication interface of a communication transmitter operatively coupled with the platoon control unit;

a first lateral offset distance signal comprising first lateral offset distance data representative of first lateral offset distances on opposite sides of a forward path of the associated leading vehicle and in directions perpendicular to the first direction to be maintained in the non-linear platoon by each of the first and second vehicles; and

a first longitudinal overlap distance signal comprising first longitudinal overlap distance data representative of first longitudinal overlap distances in a direction along the first direction to be maintained in the non-linear platoon by the each of the first and second vehicles of the first set interleaved in the first direction relative to the leader vehicle;

responsive to receiving the reorganization initiate signal, selectively transmitting, to a second set of third, fourth, and fifth following vehicles of the plurality of following vehicles by a second communication interface of the communication transmitter;

a second lateral offset distance signal comprising second lateral offset distance data representative of second lateral offset distances on opposite sides of the forward path of the associated leading vehicle an in directions perpendicular to the first direction to be maintained in the non-linear platoon by each of the third, fourth, and fifth following vehicles of the second set; and

a second longitudinal overlap distance signal comprising second longitudinal overlap distance data representative of longitudinal overlap distances in a direction along the first direction to be maintained in the non-linear platoon by the each of the third, fourth, and fifth following vehicles of the second set interleaved in the first direction relative to the first and second vehicles of the first set; and

executing the logic of the platoon control unit the processor to generate the first lateral offset distance data, the first longitudinal overlap distance data, the second longitudinal overlap distance data, and the second lateral offset distance data in accordance with a predetermined combination of the global position data representative of the position of the associated leading vehicle relative to the associated geographical area, the performance data representative of the one or more performance characteristics of the plurality of associated following vehicles, and the reorganization initiate signal.

8. The method according to claim 7, wherein:

the receiving by communication receiver the performance capability signals comprises receiving braking performance capability signals from the plurality of associated following vehicles, the braking performance capability signals comprising braking performance data representative of braking capabilities of the plurality of associated following vehicles; and

the executing the logic by the processor comprises executing the logic to generate the first lateral offset distance data and the first longitudinal overlap distance data in accordance with a predetermined combination of the global position data representative of the position of the associated leading vehicle relative to the associated geographical area and the braking performance data representative of the braking capabilities of the plurality of associated following vehicles.

9. The method according to claim 8, further comprising:

transmitting to the first set of first and second following vehicles by the first communication interface;

the first lateral offset distance data representative of a single lateral offset distance on opposite sides of the forward path of the associated leading vehicle and in directions perpendicular to the first direction to be maintained in the non-linear platoon by each of the first and second vehicles of the first set relative to the forward path; and

the first longitudinal overlap distance data representative of a single longitudinal overlap distance in a direction along the forward direction to be maintained in the non-linear platoon by the each of the first and second vehicles of the first set relative to the leader vehicle.

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

receiving, by the communication receiver from the plurality of associated following vehicles as the performance capability signals, braking performance capability signals,

the braking performance capability signals comprising braking performance data representative of braking capabilities of the plurality of associated following vehicles; and

executing the logic of the platoon control unit by the processor to generate the first lateral offset distance data, the first longitudinal overlap distance data, the first lateral offset distance data, the first longitudinal overlap distance data, and the reorganization initiation signal in accordance with a predetermined combination of the global position data representative of the position of the associated leading vehicle relative to the associated geographical area and the braking performance data representative of the braking capabilities of the plurality of associated following vehicles.

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

transmitting, to the first set of first and second following vehicles of the plurality of following vehicle and to the second set of third, fourth, and fifth following vehicles of the plurality of following vehicles by a third communication interface of the communication transmitter;

an emergency brake command signal comprising emergency brake command data representative of deceleration command data selectively usable by the first and second sets of following vehicles to effect an emergency deceleration operation; and

an emergency brake command direction signal comprising emergency brake command direction data representative of deceleration command direction data selectively usable by the first and second sets of following vehicles to implement the emergency deceleration operation;

executing the logic of the platoon control unit by the processor to generate the emergency brake command data, and the emergency brake command direction data in accordance with a predetermined combination of the one or more conditions of the associated roadway and/or the associated geographical.

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

receiving, by the communication receiver from the plurality of associated following vehicles as the performance capability signals, braking performance capability signals the braking performance capability signals comprising braking performance data representative of braking capabilities of the plurality of associated following vehicles; and

executing the logic of the platoon control unit by the processor to generate the first lateral offset distance data, the first longitudinal overlap distance data, the second longitudinal overlap distance data, and the second lateral offset distance data in accordance with a predetermined combination of the global position data representative of the position of the associated leading vehicle relative to the associated geographical area and the braking performance data representative of the braking capabilities of the plurality of associated following vehicles.

13. A system controlling reorganization of a plurality of associated platooning vehicles from travelling as a linear column platoon formation to travelling as a V-shaped formation, the system comprising:

a platoon control unit disposed in an associated leading vehicle leading the plurality of associated following vehicles cooperatively travelling as the linear column platoon on an associated roadway in a first direction, the platoon control unit comprising;

a processor;

a non-transient memory device operatively coupled with the processor; and

logic stored in the non-transient memory and executed by the processor to generate first and second lateral offset distance data, and first and second longitudinal overlap distance data based on a reorganization initiate signal received by the platoon control unit from the associated leading vehicle; and

a communication transmitter operatively coupled with the platoon control unit, the transmitter comprising;

a first communication interface, the first communication interface being responsive to the reorganization initiate signal to selectively transmit, to a first set of first and second following vehicles of the plurality of associated following vehicles;

a first lateral offset distance signal comprising the first lateral offset distance data representative of first lateral offset distances on opposite sides of a forward path of the associated leading vehicle and in directions perpendicular to the first direction to be maintained in the V-shaped platoon formation by each of the first and second vehicles; and

a first longitudinal overlap distance signal comprising the first longitudinal overlap distance data representative of first longitudinal overlap distances in a direction along the first direction to be maintained in the V-shaped platoon formation by the each of the first and second vehicles of the first set of associated following vehicles interleaved in the first direction relative to the associated leading vehicle; and

a second communication interface operable to transmit, to a second set of third, fourth, and fifth following vehicles of the plurality of associated following vehicles;

a second lateral offset distance signal comprising the second lateral offset distance data representative of second lateral offset distances in directions perpendicular to the first direction and offset from the forward path of the associated leading vehicle to be maintained in the V-shaped platoon formation by each of the third, fourth, and fifth following vehicles of the second set; and

a second longitudinal overlap distance signal comprising the second longitudinal overlap distance data representative of second longitudinal overlap distances in a direction along the first direction to be maintained in the V-shaped platoon formation by the each of the third, fourth, and fifth following vehicles of the second set interleaved in the first direction relative to the first and second vehicles of the first set.