CONVOY TRAVEL APPARATUS

• US 20130080041A1
• Filed: 09/13/2012
• Published: 03/28/2013
• Est. Priority Date: 09/27/2011
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kumabe, Seigou
• Granted Patent: US 8,666,647 B2
• Time in Patent Office: Days
• US Class Current: 701/117
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• 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

A convoy travel apparatus transmits convoy travel information including a whole convoy ID and a sub-convoy ID when a subject vehicle is in a convoy travel state, and performs a convoy travel control by utilizing the sub-convoy ID. Further, a second vehicle of the whole convoy is a leader vehicle of a sub-convoy and is also a follower vehicle in a forward sub-convoy, thereby (i) determining the convoy travel control of itself by receiving the convoy travel information of the sub-convoy in which the subject vehicle is traveling as the follower vehicle and (ii) transmitting the convoy travel information including the content of the determined convoy travel control. Thus, the follower vehicle in the sub-convoy lead by the subject vehicle performs the convoy travel control based on the convoy travel information from the leader vehicle of the sub-convoy in which the subject vehicle is traveling as the follower vehicle.

Claims

1. A convoy travel apparatus installed in a subject vehicle comprising:

a control unit generating a convoy travel information and performing a convoy travel control of the subject vehicle; and

a wireless communication unit performing vehicle-to-vehicle communication, the wireless communication unit regularly transmitting the convoy travel information of the subject vehicle generated by the control unit and regularly receiving a convoy travel information from other vehicles, wherein

the convoy travel information includes a whole convoy ID representing a whole convoy and at least one sub-convoy ID respectively representing a sub-convoy, the sub-convoy is organized by dividing the whole convoy, each sub-convoy including a number of vehicles less than or equal to a predetermined value defined by a communication capacity of the wireless communication unit of a sub-convoy leader vehicle,

the control unit determines whether the subject vehicle is the sub-convoy leader vehicle or a sub-convoy follower vehicle of the sub-convoy,

the control unit performs the convoy travel control of the subject vehicle per the convoy travel information received from the sub-convoy leader vehicle of the sub-convoy in which the subject vehicle is traveling as the sub-convoy follower vehicle, when the subject vehicle is the sub-convoy follower vehicle of the sub-convoy and based on the sub-convoy ID and the leader information included the convoy travel information, the control unit identifies the convoy travel information from the sub-convoy leader,

the control unit generates the convoy travel information to further include a leader information for identifying the subject vehicle as a leader of the sub-convoy, when the subject vehicle is the sub-convoy leader vehicle of the sub-convoy, and

the control unit (a) based on the sub-convoy ID and the leader information included in the convoy travel information, identifies the convoy travel information received from the sub-convoy leader vehicle of the sub-convoy in which the subject vehicle is traveling as the sub-convoy follower vehicle, (b) determines a content of the convoy travel control of the subject vehicle based on the convoy travel information identified, and (c) generates the convoy travel information to further include the content of the convoy travel control, when the subject vehicle is the sub-convoy leader vehicle of a subsequent sub-convoy to a forward sub-convoy.

2. The convoy travel apparatus of claim 1, wherein the control unit determines that the subject vehicle, is the sub-convoy leader vehicle of a next sub-convoy, when an immediate front vehicle of the subject vehicle is serving as the sub-convoy leader vehicle of the sub-convoy in which the subject vehicle is traveling as the sub-convoy follower vehicle.

3. The convoy travel apparatus of claim 1, wherein the control unit determines that the subject vehicle is the sub-convoy leader vehicle of a next sub-convoy, when the subject vehicle is traveling in the sub-convoy as the sub-convoy follower vehicle at a rearmost position of the sub-convoy having a communication capacity defined by the sub-convoy leader vehicle.

4. The convoy travel apparatus of claim 1, wherein the control unit generates the convoy travel information to further include (i) a sub-convoy ID of a next sub-convoy in which the subject vehicle serves as the sub-convoy leader vehicle and (ii) capacity information of the next sub-convoy indicating a current allowable number of sub-convoy follower vehicles, when the subject vehicle is traveling in the sub-convoy as a follower, vehicle and is positioned in an order of the sub-convoy to be serving as the sub-convoy leader vehicle of the next sub-convoy.

5. The convoy travel apparatus of claim 1, wherein

when the subject vehicle is a leader in the whole convoy and is joining, as a sub-convoy follower vehicle, a sub-convoy of a forward whole convoy traveling in front of the subject vehicle, the wireless communication unit of the subject vehicle receives the whole convoy ID and the sub-convoy ID of the forward whole convoy, and the control unit generates the convoy travel information to further include the whole convoy ID and sub-convoy ID of the forward whole convoy, and

when the subject vehicle is a follower of the whole convoy, and receives, via the wireless communication, unit, from the leader of the whole convoy, the convoy travel information that includes the whole convoy ID and the sub-convoy ID of the forward whole convoy, and receives from the sub-convoy leader vehicle of the sub-convoy of the forward whole convoy the convoy travel information that includes the whole convoy ID and the sub-convoy ID of the forward whole convoy, the control unit of the subject vehicle performs the convoy travel control of the subject vehicle based on the convoy travel information from the sub-convoy leader vehicle of the sub-convoy of the forward whole convoy.