SELF-ORDERING OF FLEET VEHICLES IN A PLATOON

• US 20180188746A1
• Filed: 12/30/2016
• Published: 07/05/2018
• 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)
• Granted Patent: US 10,503,176 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0287 involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• 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

Abstract

Highway vehicle platoon management is provided. Driver quality parameters are used together with vehicle physical characteristic and performance information to select an ordering of the vehicles within the platoon. The vehicles within the platoon mutually self-order to select the ordering of the vehicles within the platoon for enhanced safety and efficiency. The driver quality parameters together with the vehicle physical characteristic and performance information is also used to reward best drivers with preferred locations within the platoon. The vehicles within the platoon mutually self-order to reward best drivers with preferred locations within the platoon. An existing vehicle platoon is selectively split into two or more smaller platoons for improving overall safety and efficiency. Two or more smaller vehicle platoons are selectively aggregated into a larger single platoon for improving overall safety and efficiency.

Claims

1. A method of self-ordering a first vehicle relative to one or more other vehicles to operate the first and one or more other vehicles in a platoon, the method comprising:

within the first vehicle;

monitoring through intra-vehicle communication a first quality parameter of a first driver of the first vehicle;

monitoring, through inter-vehicle communication between the first vehicle and a second vehicle of the one or more other vehicles, a second quality parameter of a second driver of the second vehicle;

determining a best driver from among the first and second drivers in accordance with a comparison between the first quality parameter of the first driver and the second quality parameter of the second driver; and

in accordance with a result of the comparison between first quality parameter of the first driver and the second quality parameter of the second driver;

for a first result of the comparison, determining the first vehicle to be a leading vehicle relative to the second vehicle and generating a LEADER signal for use by the first vehicle to assume a leading position in the platoon relative to the second vehicle, or

for a second result of the comparison, determining the first vehicle to be a following vehicle relative to the second vehicle and generating a FOLLOWER signal for use by the first vehicle to assume or maintain a following position in the platoon relative to the second vehicle.

2. The method according to claim 1, wherein:

the generating the LEADER signal for use by the first vehicle to assume the leading position in the platoon relative to the second vehicle comprises;

generating an Overtake_Request signal for use by the second vehicle to concede a leading position in the platoon relative to the first vehicle; and

sending via the inter-vehicle communication the Overtake_Reqest signal to the second vehicle.

3. The method according to claim 2, further comprising:

receiving via the inter-vehicle communication an Overtake_Granted signal; and

responsive to receiving the Overtake_Granted signal by the first vehicle, assuming the leading position by the first vehicle in the platoon relative to the second vehicle.

4. The method according to claim 1, further comprising:

within the first the first vehicle;

sending, via the inter-vehicle communication to the second vehicle, the monitored first quality parameter of the first driver of the first vehicle.

5. The method according to claim 1, further comprising:

within the first the first vehicle;

sending, via the inter-vehicle communication to a third vehicle, the monitored first quality parameter of the first driver of the first vehicle;

receiving via the inter-vehicle communication from the third vehicle an Overtake_Request signal;

sending via the inter-vehicle communication to the third vehicle an Overtake_Granted signal conceding to the third vehicle by the second vehicle a leading position of the second vehicle in the platoon relative to the third vehicle.

6. A method of platoon management by a first vehicle relative to one or more other vehicles travelling together to selectively operate the first and one or more other vehicles in a platoon, the method comprising:

within the first vehicle;

monitoring through intra-vehicle communication a first safety and/or efficiency parameter of the first vehicle;

monitoring, through inter-vehicle communication between the first vehicle and a second vehicle of the one or more other vehicles leading the first vehicle, a second safety and/or efficiency parameter of the second vehicle;

determining as a relative capabilities parameter a magnitude of a difference between the first safety and/or efficiency parameter of the first vehicle and the second safety and/or efficiency parameter of the second vehicle;

comparing the relative capabilities parameter with a predetermined capabilities threshold; and

in accordance with a result of the comparison between the relative capabilities parameter and predetermined capabilities threshold;

for a first result of the comparison, determining the second vehicle leading the first vehicle while travelling together to be a capable platoon leader vehicle relative to the first vehicle and generating a JOIN signal for use by the first vehicle to assume a following role in a platoon relative to the second vehicle, or

for a second result of the comparison, determining the second vehicle leading the first vehicle while travelling together to be an incapable platoon leader vehicle relative to the first vehicle and generating a SPLIT signal for use by the first vehicle to discontinue the following role in the platoon relative to the second vehicle.

7. The method according to claim 6, wherein:

the generating the JOIN signal for use by the first vehicle to assume the following role in the platoon relative to the second vehicle comprises;

generating a Platooning_Request signal for use by the second vehicle to permit the following role by the first vehicle in the platoon relative to the second vehicle; and

sending via the inter-vehicle communication the Platooning_Reqest signal to the second vehicle.

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

receiving via the inter-vehicle communication a Platooning_Granted signal; and

responsive to receiving the Platooning_Granted signal by the first vehicle, assuming the following role position by the first vehicle in the platoon relative to the second vehicle.

9. The method according to claim 6, further comprising:

within the first the first vehicle;

sending, via the inter-vehicle communication to the second vehicle, the monitored first safety and/or efficiency parameter of the first vehicle.

10. The method according to claim 6, further comprising:

within the first vehicle;

monitoring, through the inter-vehicle communication between the first vehicle and a plurality of other vehicles travelling with the first vehicle in a platoon, efficiency parameters of each of the plurality of other vehicles travelling with the first vehicle in the platoon;

using the monitored efficiency parameters of each of the plurality of other vehicles travelling with the first vehicle in the platoon, determining an overall efficiency of the platoon comprising the first vehicle and a plurality of other vehicles travelling with the first vehicle in the platoon;

determining an overall split platoon efficiency by determining a first efficiency of a first portion of the platoon comprising the first vehicle and a plurality of other vehicles having a following role relative to the first vehicle, determining a second efficiency of a second portion of the platoon comprising the second vehicle and a plurality of other vehicles having a leading role relative to the second vehicle, and combining the first and second efficiencies;

comparing the overall efficiency of the platoon with the determined overall split platoon efficiency; and

in accordance with a result of the comparing of the overall efficiency of the platoon with the determined overall split platoon efficiency;

selectively generating a SPLIT signal for use by the first vehicle to discontinue the following role in the platoon relative to the second vehicle.

11. The method according to claim 10 wherein:

the generating the SPLIT signal for use by the first vehicle to discontinue the following role in the platoon relative to the second vehicle comprises;

generating an Split_Platoon_Request signal for use by the second vehicle to concede a leading position in the platoon relative to the first vehicle; and

sending via the inter-vehicle communication the Split_Platoon_Reqest signal to the second vehicle.

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

receiving via the inter-vehicle communication a Split_Platoon_Granted signal; and

responsive to receiving the Split_Platoon_Granted signal by the first vehicle, assuming the leading role by the first vehicle in the first portion of the platoon comprising the first vehicle and the plurality of other vehicles having the following role relative to the first vehicle.

13. The method according to claim 6, further comprising:

within the first vehicle;

monitoring, through the inter-vehicle communication between the first vehicle and a plurality of other vehicles travelling with the first vehicle in separate first and second platoons, efficiency parameters of each of the plurality of other vehicles travelling with the first vehicle in the platoon;

determining an overall split platoon efficiency by determining a first efficiency of the first portion comprising the first vehicle and a plurality of other vehicles having a following role relative to the first vehicle, determining a second efficiency of the second platoon comprising the second vehicle and a plurality of other vehicles having a leading role relative to the second vehicle, and combining the first and second efficiencies;

using the monitored efficiency parameters of each of the plurality of other vehicles travelling with the first vehicle in the first and second platoons, determining an overall efficiency of a single merged platoon comprising the first vehicle and a plurality of other vehicles travelling with the first vehicle in the single merged platoon;

comparing the overall efficiency of the single merged platoon with the determined overall split platoon efficiency; and

in accordance with a result of the comparing of the overall efficiency of the single merged platoon with the determined overall split platoon efficiency;

selectively generating a JOIN signal for use by the first vehicle to assume a following role relative to the second vehicle to thereby form the single merged platoon.

14. The method according to claim 13 wherein:

the generating the JOIN signal for use by the first vehicle to assume the following role in the platoon relative to the second vehicle comprises;

generating an Merge_Platoon_Request signal for use by the second vehicle to assume a leading role relative to the first vehicle; and

sending via the inter-vehicle communication the Merge_Platoon_Reqest signal to the second vehicle.

15. The method according to claim 14, further comprising:

receiving via the inter-vehicle communication a Merge_Platoon_Granted signal; and

responsive to receiving the Merge_Platoon_Granted signal by the first vehicle, assuming the following role by the first vehicle relative to the second vehicle thereby forming the single merged platoon.

16. A system for platoon management by an associated first vehicle relative to one or more other vehicles travelling together to selectively operate the first and one or more other vehicles in a platoon, the system comprising:

a platoon control unit configured to be disposed in the associated first 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 determine authenticity of deceleration command signals,

wherein the logic of the platoon control unit is executable by the processor to;

monitor through intra-vehicle communication a first safety and/or efficiency parameter of the first vehicle;

monitor, through inter-vehicle communication between the first vehicle and a second vehicle of the one or more other vehicles leading the first vehicle, a second safety and/or efficiency parameter of the second vehicle;

determine as a relative capabilities parameter a magnitude of a difference between the first safety and/or efficiency parameter of the first vehicle and the second safety and/or efficiency parameter of the second vehicle;

compare the relative capabilities parameter with a predetermined capabilities threshold; and

in accordance with a result of the comparison between the relative capabilities parameter and predetermined capabilities threshold;

for a first result of the comparison, determine the second vehicle leading the first vehicle while travelling together to be a capable platoon leader vehicle relative to the first vehicle and generate a JOIN signal for use by the first vehicle to assume a following role in a platoon relative to the second vehicle, or

for a second result of the comparison, determine the second vehicle leading the first vehicle while travelling together to be an incapable platoon leader vehicle relative to the first vehicle and generate a SPLIT signal for use by the first vehicle to discontinue the following role in the platoon relative to the second vehicle.

17. The system according to claim 16, wherein the logic of the platoon control unit is further executable by the processor to:

monitor, through the inter-vehicle communication between the first vehicle and a plurality of other vehicles travelling with the first vehicle in a platoon, efficiency parameters of each of the plurality of other vehicles travelling with the first vehicle in the platoon;

using the monitored efficiency parameters of each of the plurality of other vehicles travelling with the first vehicle in the platoon, determine an overall efficiency of the platoon comprising the first vehicle and a plurality of other vehicles travelling with the first vehicle in the platoon;

determine an overall split platoon efficiency by determining a first efficiency of a first portion of the platoon comprising the first vehicle and a plurality of other vehicles having a following role relative to the first vehicle, determining a second efficiency of a second portion of the platoon comprising the second vehicle and a plurality of other vehicles having a leading role relative to the second vehicle, and combining the first and second efficiencies;

compare the overall efficiency of the platoon with the determined overall split platoon efficiency; and

in accordance with a result of the comparing of the overall efficiency of the platoon with the determined overall split platoon efficiency;

selectively generate a SPLIT signal for use by the first vehicle to discontinue the following role in the platoon relative to the second vehicle.

18. The system according to claim 17, further comprising:

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

generate, as the SPLIT signal, a Split_Platoon_Request signal for use by the second vehicle to concede a leading position in the platoon relative to the first vehicle; and

transmit the Split_Platoon_Reqest signal to the second vehicle.

19. The system according to claim 16, wherein the logic of the platoon control unit is further executable by the processor to:

monitor, through the inter-vehicle communication between the first vehicle and a plurality of other vehicles travelling with the first vehicle in separate first and second platoons, efficiency parameters of each of the plurality of other vehicles travelling with the first vehicle in the platoon;

determine an overall split platoon efficiency by determining a first efficiency of the first portion comprising the first vehicle and a plurality of other vehicles having a following role relative to the first vehicle, determining a second efficiency of the second platoon comprising the second vehicle and a plurality of other vehicles having a leading role relative to the second vehicle, and combining the first and second efficiencies;

using the monitored efficiency parameters of each of the plurality of other vehicles travelling with the first vehicle in the first and second platoons, determine an overall efficiency of a single merged platoon comprising the first vehicle and a plurality of other vehicles travelling with the first vehicle in the single merged platoon;

compare the overall efficiency of the single merged platoon with the determined overall split platoon efficiency; and

in accordance with a result of the comparing of the overall efficiency of the single merged platoon with the determined overall split platoon efficiency;

selectively generate a JOIN signal for use by the first vehicle to assume a following role relative to the second vehicle to thereby form the single merged platoon.

20. The system according to claim 19, further comprising:

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

generate, as the JOIN signal, a Merge_Platoon_Request signal for use by the second vehicle to assume a leading role relative to the first vehicle; and

transmit the Merge_Platoon_Request signal to the second vehicle.