Smart platooning of vehicles

• US 10,380,898 B1
• Filed: 03/23/2018
• Issued: 08/13/2019
• Est. Priority Date: 10/06/2016
• Status: Active Grant

• Current Assignee: X Development LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Schubert, Martin Friedrich, Jessen, Johan Ulrich Lewin
• Primary Examiner(s): Dsouza, Adolf
• Application Number:
  US15/934,493
• Time in Patent Office: 508 Days
• Field of Search: None
• CPC Class Codes: B60F 1/00 Vehicles for use both on rail and on road; Conversions therefor
• CPC Class Codes: B60L 2240/70 Interactions with external data bases, e.g. traffic centres
• CPC Class Codes: B60L 53/30 Constructional details of charging stations
• CPC Class Codes: B60L 53/302 Cooling of charging equipment
• CPC Class Codes: B60L 53/305 Communication interfaces
• CPC Class Codes: B60L 53/68 Off-site monitoring or control, e.g. remote control
• CPC Class Codes: B60L 58/12 responding to state of charge [SoC]
• CPC Class Codes: B61B 3/00 Elevated railway systems with suspended vehicles with suspended flexible tracks B61B7/00; saddle or like balanced type with monorail B61B13/06; with propelling cables and for transporting materials B65G; tracks therefor E01B25/00
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: G06Q 10/02 Reservations, e.g. for tickets, services or events
• CPC Class Codes: G06Q 30/06 Buying, selling or leasing transactions
• CPC Class Codes: G06Q 50/40 Business processes related to the transportation industry shipping G06Q10/083
• CPC Class Codes: G08G 1/20 Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• 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
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y02T 90/12 : Electric charging stations
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

A computing system may obtain, for each vehicle of a plurality of vehicles located within a location area, navigation data that indicates a travel route for the vehicle. Based on the navigation data for the plurality of vehicles, the computing system determines a subset of the plurality of vehicles that are within a threshold distance of each other and have respective travel routes that at least partially overlap. The computing system selects, based on a set of selection parameters, two or more vehicles among the subset of vehicles to form a platoon of vehicles that travel in a coordinated arrangement in proximity to each other during at least a portion of the respective travel routes of the selected vehicles. The computing system can direct the selected vehicles to form the platoon of vehicles.

Claims

1. A computer-implemented method, comprising:

identifying, by a computing system, a group of autonomous vehicles that are traveling in a platoon in a first formation;

while the group of autonomous vehicles are traveling in the platoon in the first formation;

determining, by the computing system, a candidate formation of autonomous vehicles for the group of autonomous vehicles that are traveling in the platoon, wherein the candidate formation is different than the first formation,

determining, by the computing system, a first projected outcome for one or more autonomous vehicles from the group of autonomous vehicles that would result from maintaining the platoon in the first formation,

determining, by the computing system, a second projected outcome for the one or more autonomous vehicles that would result from reforming the platoon according to the candidate formation, and

determining, by the computing system, whether to reform the group of autonomous vehicles in the platoon according to the candidate formation based on a comparison of the first projected outcome for the one or more autonomous vehicles that would result from maintaining the platoon in the first formation and the second projected outcome for the one or more autonomous vehicles that would result from reforming the platoon according to the candidate formation; and

in response to determining that the second projected outcome improves the first projected outcome by at least a predetermined amount, directing, by the computing system, the group of autonomous vehicles traveling in the platoon to reform from the first formation according to the candidate formation.

2. The computer-implemented method of claim 1, further comprising, while the group of autonomous vehicles are traveling in the platoon in the first formation:

monitoring, by the computing system, parameters of autonomous vehicles in the group of autonomous vehicles; and

detecting a change in at least one parameter of a first autonomous vehicle in the group of autonomous vehicles,

wherein the computing system determines the candidate formation of autonomous vehicles in response to detecting the change in the at least one parameter of the first autonomous vehicle in the group of autonomous vehicles.

3. The computer-implemented method of claim 2, wherein the at least one parameter of the first autonomous vehicle in the group of autonomous vehicles comprises a power requirement of the first autonomous vehicle, and detecting the change in the at least one parameter of the first autonomous vehicle comprises detecting a change in the power requirement of the first autonomous vehicle.

4. The computer-implemented method of claim 3, wherein the power requirement of the first autonomous vehicle represents a ratio of an estimated level of power required for the first autonomous vehicle to travel a predefined distance and a level of power reserve on the first autonomous vehicle.

5. The computer-implemented method of claim 2, wherein the at least one parameter of the first autonomous vehicle in the group of autonomous vehicles comprises a separation requirement of the first autonomous vehicle, and detecting the change in the at least one parameter of the first autonomous vehicle comprises detecting a change in the separation requirement of the first autonomous vehicle.

6. The computer-implemented method of claim 1, wherein the computing system is configured in response to determining that the second projected outcome does not improve the first projected outcome by at least the predetermined amount to take no action to cause the group of autonomous vehicles to transition from the first formation to the candidate formation.

7. The computer-implemented method of claim 1, wherein the platoon maintains a configuration of autonomous vehicle positions between the first formation and the candidate formation, wherein the candidate formation assigns the group of autonomous vehicles to respective ones of the autonomous vehicle positions differently than the first formation assigned the group of autonomous vehicles to the respective ones of the autonomous vehicle positions for the configuration of the platoon.

8. The computer-implemented method of claim 1, wherein the group of autonomous vehicles reform in response to the direction.

9. The computer-implemented method of claim 1, wherein the first projected outcome for the one or more autonomous vehicles comprises a first estimated trip time for the one or more autonomous vehicles that would result from maintaining the platoon in the first formation, the second projected outcome for the one or more autonomous vehicles comprises a second estimated trip time for the one or more autonomous vehicles that would result from reforming the platoon according to the candidate formation, and determining that the second projected outcome improves the first projected outcome by at least the predetermined amount comprises determining that the second estimated trip time improves the first estimated trip time by at least a threshold amount.

10. The computer-implemented method of claim 1, wherein the first projected outcome for the one or more autonomous vehicles comprises a first estimated power consumption for the one or more autonomous vehicles that would result from maintaining the platoon in the first formation, the second projected outcome for the one or more autonomous vehicles comprises a second estimated power consumption for the one or more autonomous vehicles that would result from reforming the platoon according to the candidate formation, and determining that the second projected outcome improves the first projected outcome by at least the predetermined amount comprises determining that the second estimated power consumption improves the first estimated power consumption by at least a threshold amount.

11. One or more non-transitory computer-readable media having instructions stored thereon that, when executed by one or more processors of a computing system, cause performance of operations comprising:

identifying, by the computing system, a group of autonomous vehicles that are traveling in a platoon in a first formation;

while the group of autonomous vehicles are traveling in the platoon in the first formation;

determining, by the computing system, a candidate formation of autonomous vehicles for the group of autonomous vehicles that are traveling in the platoon, wherein the candidate formation is different than the first formation,

determining, by the computing system, a first projected outcome for one or more autonomous vehicles from the group of autonomous vehicles that would result from maintaining the platoon in the first formation,

determining, by the computing system, a second projected outcome for the one or more autonomous vehicles that would result from reforming the platoon according to the candidate formation, and

determining, by the computing system, whether to reform the group of autonomous vehicles in the platoon according to the candidate formation based on a comparison of the first projected outcome for the one or more autonomous vehicles that would result from maintaining the platoon in the first formation and the second projected outcome for the one or more autonomous vehicles that would result from reforming the platoon according to the candidate formation; and

in response to determining that the second projected outcome improves the first projected outcome by at least a predetermined amount, directing, by the computing system, the group of autonomous vehicles traveling in the platoon to reform from the first formation according to the candidate formation.

12. The non-transitory computer-readable media of claim 11, wherein the operations further comprise, while the group of autonomous vehicles are traveling in the platoon in the first formation:

monitoring, by the computing system, parameters of autonomous vehicles in the group of autonomous vehicles; and

detecting a change in at least one parameter of a first autonomous vehicle in the group of autonomous vehicles,

wherein the computing system determines the candidate formation of autonomous vehicles in response to detecting the change in the at least one parameter of the first autonomous vehicle in the group of autonomous vehicles.

13. The non-transitory computer-readable media of claim 12, wherein the at least one parameter of the first autonomous vehicle in the group of autonomous vehicles comprises a power requirement of the first autonomous vehicle, and detecting the change in the at least one parameter of the first autonomous vehicle comprises detecting a change in the power requirement of the first autonomous vehicle.

14. The non-transitory computer-readable media of claim 13, wherein the power requirement of the first autonomous vehicle represents a ratio of an estimated level of power required for the first autonomous vehicle to travel a predefined distance and a level of power reserve on the first autonomous vehicle.

15. The non-transitory computer-readable media of claim 12, wherein the at least one parameter of the first autonomous vehicle in the group of autonomous vehicles comprises a separation requirement of the first autonomous vehicle, and detecting the change in the at least one parameter of the first autonomous vehicle comprises detecting a change in the separation requirement of the first autonomous vehicle.

16. The non-transitory computer-readable media of claim 11, wherein the operations further comprise in response to determining that the second projected outcome does not improve the first projected outcome by at least the predetermined amount to take no action to cause the group of autonomous vehicles to transition from the first formation to the candidate formation.

17. The non-transitory computer-readable media of claim 11, wherein the platoon maintains a configuration of autonomous vehicle positions between the first formation and the candidate formation, wherein the candidate formation assigns the group of autonomous vehicles to respective ones of the autonomous vehicle positions differently than the first formation assigned the group of autonomous vehicles to the respective ones of the autonomous vehicle positions for the configuration of the platoon.

18. A computer-implemented method, comprising:

identifying, by a computing system, a group of autonomous vehicles that are traveling in a platoon in a first formation;

while the group of autonomous vehicles are traveling in the platoon in the first formation;

(i) determining, by the computing system, a candidate formation of autonomous vehicles for the group of autonomous vehicles that are traveling in the platoon, wherein the candidate formation is different than the first formation, and

(ii) determining, by the computing system, whether to reform the group of autonomous vehicles in the platoon according to the candidate formation based on whether estimated trip times or estimated power consumption for one or more autonomous vehicles in the group of autonomous vehicles satisfies a reformation condition;

in response to determining that the estimated trip times or the estimated power consumption for the one or more autonomous vehicles in the group of autonomous vehicles satisfies the reformation condition, directing, by the computing system, the group of autonomous vehicles traveling in the platoon to reform from the first formation according to the candidate formation,

wherein determining that the estimated trip times or estimated power consumption for the one or more autonomous vehicles in the group of autonomous vehicles satisfies the reformation condition comprises (i) determining that the estimated trip times for the one or more autonomous vehicles traveling in the platoon in the candidate formation would improve the estimated trip times for the one or more autonomous vehicles traveling in the platoon in the first formation by at least a first threshold amount or (ii) determining that the estimated power consumption by the one or more autonomous vehicles traveling in the platoon in the candidate formation would improve the estimated power consumption by the one or more autonomous vehicles traveling in the platoon in the first formation by at least a second threshold amount.

19. The computer-implemented method of claim 18, comprising determining whether to reform the group of autonomous vehicles in the platoon according to the candidate formation based on whether the estimated trip times for the one or more autonomous vehicles satisfies the reformation condition.

20. The computer-implemented method of claim 18, comprising determining whether to reform the group of autonomous vehicles in the platoon according to the candidate formation based on whether the estimated power consumption for the one or more autonomous vehicles satisfies the reformation condition.