Methods and systems for semi-autonomous vehicular convoys

• US 10,732,645 B2
• Filed: 11/13/2018
• Issued: 08/04/2020
• Est. Priority Date: 07/06/2011
• Status: Active Grant

• Current Assignee: Peloton Technology, Inc.
• Original Assignee: Peloton Technology, Inc.
• Inventors: Switkes, Joshua P., Gerdes, Joseph Christian
• Primary Examiner(s): Elchanti, Hussein
• Application Number:
  US16/188,872
• Publication Number:
  US 20190086935A1
• Time in Patent Office: 630 Days
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G01S 13/92 for velocity measurement
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/202 Dispatching vehicles on the basis of a location, e.g. taxi dispatching
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

The present invention relates to a method and system for enabling vehicles to closely follow one another through partial automation. Following closely behind another vehicle can have significant fuel savings benefits, but is unsafe when done manually by the driver. By directly commanding the engine torque and braking of the following vehicle while controlling the gap between vehicles using a sensor system, and additionally using a communication link between vehicles that allows information about vehicle actions, such as braking events, to be anticipated by the following vehicle, a Semi-Autonomous Vehicular Convoying System that enables vehicles to follow closely together in a safe, efficient and convenient manner may be achieved.

Claims

1. A method for convoying vehicles, comprising:

receiving, by a computerized controller on a first vehicle from among a plurality of vehicles, information about a second vehicle from among the plurality of vehicles via a communication link between the first vehicle and the second vehicle, wherein;

the communication link comprises a first communication layer operable to transmit safety critical data but not video, and a second communication layer operable to transmit video but not safety critical data;

receiving, via the second communication layer, video captured at a camera located in the first vehicle to the second vehicle;

receiving, by the computerized controller on the first vehicle and via the first communication layer, commands capable of causing the actuation of brakes at the first vehicle, wherein the received commands are received from the second vehicle;

receiving, by the computerized controller on the first vehicle, information from a sensor system regarding a gap distance between the first vehicle and the second vehicle; and

commanding, by the computerized controller on the first vehicle and via the first communication layer, engine torque of the first vehicle to maintain the gap distance to a predetermined value.

2. The method of claim 1, further comprising:

providing a display of the video to the driver of the first vehicle.

3. The method of claim 1, wherein the video from the camera includes video including a forward-looking view from the second vehicle.

4. The method of claim 1, further comprising:

commanding, by the computerized controller on the first vehicle, braking of the first vehicle to maintain the gap distance to a predetermined value.

5. The method of claim 1, wherein the first vehicle is positioned to follow behind the second vehicle.

6. The method of claim 1:

wherein the video represents an amount of vehicle lane drift;

further comprising calculating a vehicle lateral offset based on the vehicle lane drift; and

further comprising sending, upon detecting an amount of vehicle lateral offset, the commands capable of causing the actuation of brakes, wherein the commands include a braking jerk command.

7. The method of claim 1, wherein the communication link is configured such that:

the first communication layer is used to communicate information about the second vehicle selected from the group consisting of acceleration information, braking information, convoying system activation, convoying system deactivation, convoying system faults, second vehicle distance from the first vehicle, second vehicle speed relative to the first vehicle, one or more data streams used to control the second vehicle, brake application pressure, brake air supply reservoir pressure, engine torque, engine revolutions per minute (RPM), compression brake application, accelerator pedal position, engine manifold pressure, computed delivered torque, vehicle speed, battery voltage, radar data, lidar data, accelerometer data, and tire pressure.

8. The method of claim 1, wherein the sensor system is attached to the first vehicle, and is selected from the group consisting of:

a radar system and a lidar system.

9. The method of claim 1, wherein the communication link comprises at least a first communication layer and a second communication layer.

10. A system for vehicle convoying, the system comprising:

a first control unit, configured to;

receive information about a second vehicle via a communication link between a first vehicle and the second vehicle, wherein;

the communication link comprises a first communication layer operable to transmit safety critical data but not video, and a second communication layer operable to transmit video but not safety critical data;

receive commands capable of causing the actuation of brakes at the first vehicle, wherein the received commands are received from the second vehicle via the first communication layer; and

receive information from a sensor system regarding a gap between the first vehicle and the second vehicle; and

a second control unit, configured to;

receive, via the second communication layer, video captured at a camera located in the first vehicle to the second vehicle; and

command engine torque of the first vehicle to maintain the gap at a predetermined value.

11. The system of claim 10, additionally comprising a video display configured to present the video to the driver of the first vehicle.

12. The system of claim 10, wherein the camera on the second vehicle is a forward-looking camera.

13. The system of claim 10:

wherein the video represents an amount of vehicle lane drift;

further configured to calculate a vehicle lateral offset based on the vehicle lane drift; and

further configured to send, upon detecting an amount of vehicle lateral offset, the commands capable of causing the actuation of brakes, wherein the commands include a braking jerk command.

14. The system of claim 10, wherein the communication link is configured such that:

the first communication layer is used to communicate information about the second vehicle selected from the group consisting of acceleration information, braking information, convoying system activation, convoying system deactivation, convoying system faults, second vehicle distance from the first vehicle, second vehicle speed relative to the first vehicle, one or more data streams used to control the second vehicle, brake application pressure, brake air supply reservoir pressure, engine torque, engine revolutions per minute (RPM), compression brake application, accelerator pedal position, engine manifold pressure, computed delivered torque, vehicle speed, battery voltage, radar data, lidar data, accelerometer data, and tire pressure.

15. The system of claim 10, wherein both the first control unit and the second control unit are on the first vehicle.

16. The method of claim 10, wherein the first vehicle is positioned to follow behind the second vehicle.

17. The method of claim 10, wherein the first vehicle and the second vehicle are both trucks.

18. A method for communicating between a plurality of vehicles, comprising:

receiving, by a computerized controller on a first vehicle from among a plurality of vehicles, information about a second vehicle from among the plurality of vehicles via a communication link between the first vehicle and the second vehicle, wherein;

the communication link comprises a first communication layer operable to transmit safety critical data but not video, and a second communication layer operable to transmit video but not safety critical data, and

information received by the computerized controller on the first vehicle includes information generated at the second vehicle via the first communication layer capable of causing actuation of brakes on the first vehicle, wherein the communication link additionally provides video from a camera located in the second vehicle to the first vehicle via the second communication layer.

19. The method of claim 18, further comprising providing a display of the video to the driver of the first vehicle.

20. The method of claim 18, wherein the video from the camera provides a forward-looking view from the second vehicle.

21. The method of claim 18, wherein the communication link is a wireless radio frequency communication link.

22. The method of claim 21, wherein

the first communication layer further communicates information about the second vehicle selected from the group consisting of acceleration information, braking information, convoying system activation, convoying system deactivation, convoying system faults, second vehicle distance from the first vehicle, second vehicle speed relative to the first vehicle, one or more data streams used to control the second vehicle, brake application pressure, brake air supply reservoir pressure, engine torque, engine revolutions per minute (RPM), compression brake application, accelerator pedal position, engine manifold pressure, computed delivered torque, vehicle speed, battery voltage, radar data, lidar data, accelerometer data, and tire pressure.

23. The method of claim 18, wherein the first vehicle is positioned to follow behind the second vehicle.

24. The method of claim 18:

wherein the video represents an amount of vehicle lane drift;

further comprising calculating a vehicle lateral offset based on the vehicle lane drift; and

further comprising sending, upon detecting an amount of vehicle lateral offset, the commands capable of causing the actuation of brakes, wherein the commands include a braking jerk command.

25. The method of claim 18, wherein the first vehicle and the second vehicle are platooning.

26. A method for distributing video information between vehicles, comprising:

receiving, by a computerized controller on a first vehicle from among a plurality of vehicles, information about a second vehicle from among the plurality of vehicles via a communication link between the first vehicle and the second vehicle, wherein;

the communication link comprises a first communication layer operable to transmit safety critical data but not video, and a second communication layer operable to transmit video but not safety critical data, and

information received by the computerized controller on the first vehicle includes information generated at the second vehicle via the first communication layer capable of causing actuation of brakes on the first vehicle, wherein the communication link additionally provides video from a camera located in the second vehicle to the first vehicle via the second communication layer.

27. The method of claim 26, further comprising providing a display of the video to the driver of the first vehicle.

28. The method of claim 26, wherein the video from the camera provides a forward-looking view from the second vehicle.

29. The method of claim 26:

wherein the video represents an amount of vehicle lane drift;

further comprising calculating a vehicle lateral offset based on the vehicle lane drift; and

further comprising sending, upon detecting an amount of vehicle lateral offset, the commands capable of causing the actuation of brakes, wherein the commands include a braking jerk command.