DYNAMIC GAP CONTROL FOR AUTOMATED DRIVING
First Claim
1. A method of controlling a first vehicle to at least partially automatically maintain separation from a second vehicle while driving, the first vehicle having a power plant and brakes, the method comprising:
- automatically controlling an output of the power plant during driving in accordance with a power plant output control scheme arranged to attain and maintain a first target gap between the first and the second vehicles; and
automatically controlling the brakes during driving in accordance with a braking control scheme arranged to attain and maintain a second target gap during first selected operating conditions, the second target gap being shorter than the first target gap.
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Abstract
A variety of methods, controllers and algorithms are described for controlling a vehicle to closely follow one another safely using automatic or partially automatic control. The described control schemes are well suited for use in vehicle platooning and/or vehicle convoying applications, including truck platooning and convoying controllers. In one aspect, a power plant (such as an engine) is controlled using a control scheme arranged to attain and maintain a first target gap between the vehicles. Brakes (such as wheel brakes) are controlled in a manner configured to attain and maintain a second (shorter) target gap. Such control allows a certain degree of encroachment on the targeted gap (sometimes referred to as a gap tolerance) before the brakes are actuated. The described approaches facilitate a safe and comfortable rider experience and reduce the likelihood of the brakes being actuated unnecessarily.
38 Citations
20 Claims
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1. A method of controlling a first vehicle to at least partially automatically maintain separation from a second vehicle while driving, the first vehicle having a power plant and brakes, the method comprising:
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automatically controlling an output of the power plant during driving in accordance with a power plant output control scheme arranged to attain and maintain a first target gap between the first and the second vehicles; and automatically controlling the brakes during driving in accordance with a braking control scheme arranged to attain and maintain a second target gap during first selected operating conditions, the second target gap being shorter than the first target gap. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of controlling a trailing vehicle to at least partially automatically maintain separation from a leading vehicle, the trailing vehicle having an engine and wheel brakes, the method comprising:
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automatically controlling an output of the engine during driving in accordance with an engine control scheme arranged to attain and maintain a first target gap between the leading and trailing vehicles, the engine output control scheme having a target engine output control line that defines a relative velocity versus gap relationship desired for use in controlling the trailing vehicle to attain the first target gap; and automatically controlling the wheel brakes during driving in accordance with a braking control scheme during first selected operating conditions arranged to attain and maintain a second target gap between the leading and trailing vehicles, the braking control scheme having a target braking control line that defines a relative velocity versus gap relationship desired for use in controlling braking of the first vehicle to attain the second target gap, wherein the second target gap is shorter than the first target gap and wherein the difference between the first and second control lines is a gap tolerance; and wherein automatically controlling the wheel brakes in a manner arranged to attain and maintain the second target gap during the first selected operating conditions causes wheel brake braking requests to be generated during the first selected operating conditions only when the trailing vehicle has encroached upon the leading vehicle by at least the gap tolerance relative to a desired gap defined by the target engine output control line at a current actual relative velocity of the trailing vehicle relative to the leading vehicle. - View Dependent Claims (12, 13, 14)
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15. A platoon controller for at least partially automatically controlling a host vehicle to attain and maintain a first target gap separation between the host vehicle and a second vehicle while the host vehicle is driving, the platoon controller comprising:
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a torque request controller configured to determine torque requests suitable for attaining and maintaining the first target gap between the host and second vehicles while the host vehicle is driving under first selected operating conditions; a brake request controller configured to determine brake requests suitable for attaining and maintaining a second target gap between the host and second vehicles while the host vehicle is driving under the first selected operating conditions, the second target gap being shorter than the first target gap. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification