"V" SHAPED AND WIDE PLATOON FORMATIONS

• US 20190310625A1
• Filed: 06/24/2019
• Published: 10/10/2019
• 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)
• Inventors: Cremona, Michael D., Hayes, Thomas J., Kasper, Phillip J.
• Granted Patent: US 11,429,096 B2
• Time in Patent Office: Days
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• 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

Platoon management control systems and methods rearrange three of more vehicles cooperatively travelling seriatim as a platoon along an associated roadway into a platoon arrangement other than the linear or single file formation. Multi roadway lane platoon management control systems and methods control the three or more vehicles cooperatively travelling as a multi-lane platoon along an associated multi-lane roadway into a platoon arrangement other than the linear or single file formation. Larger platoon sizes are provided thereby enabling more vehicles to participate in the larger multi-lane platoon. A platoon management control uses a combination of the GPS position of the lead vehicle representative of the position of the vehicle relative to the associated geographical area, and braking performance data representative of the braking capabilities of following vehicles to rearrange the vehicles into the non-columnar formation.

Claims

1. A system operable in associated platooning vehicles comprising an associated leading vehicle (10) and a plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ) cooperatively travelling as a linear column platoon (P) in an associated geographical area on an associated roadway in a first direction (D) along a forward path (F) for controlling reorganization of the platooning vehicles from the linear column platoon (P) to a non-linear platoon (VSP1, VSP2, VSP3, VSP4), the system comprising:

a platoon control unit configured to be disposed in the associated leading vehicle (10), 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 selectively reorganize the platooning vehicles;

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

receive performance capability signals (Perform_Sig) from one or more of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), the performance capability signals (Perform_Sig) comprising performance data (Perform_Data) representative of one or more performance characteristics of the one or more of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . );

a global position sensor (GPS) receiver operatively coupled with the platoon control unit, the GPS receiver being operable to;

receive a global position signal (GPS_Sig) from an associated source of global position information, the global position signal comprising global position data (GPS_Data) representative of a position of the associated leading vehicle (10) relative to the associated geographical area; and

a communication transmitter operatively coupled with the platoon control unit, the transmitter comprising;

a first communication interface, the first communication interface being responsive to a reorganization initiate signal (Reorg) to selectively transmit, to a first set (R1) of first and second following vehicles (20, 30) of the plurality of following vehicles (20, 30, 40, 50, 60, . . . );

a first lateral offset distance signal (1^st_Lat_Off_Sig) comprising first lateral offset distance data (1^st_Lat_Off) representative of first lateral offset distances (1^st_Offsets) in a direction perpendicular to the forward path (F) and offset from the forward path (F) to be maintained in the non-linear platoon (VSP1) by each of the first and second vehicles (20, 30) of the first set (R1) relative to the forward path (F); and

a first longitudinal overlap distance signal (1^st_Interleave_Sig) comprising first longitudinal overlap distance data (1^st_Interleave) representative of longitudinal overlap distances (1^st_Overlaps) in a direction along the first direction (D) to be maintained in the non-linear platoon (VSP4) by the each of the first and second vehicles (20, 30) of the first set (R1) interleaved in the first direction (D) relative to the leader vehicle (10),

wherein the logic of the platoon control unit is executable by the processor to generate the first lateral offset distance data (1^st_Lat_Off) and the first longitudinal overlap distance data (1^st_Interveave) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area, the performance data (Perform_Data) representative of the one or more performance characteristics of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), and the reorganization initiate signal (Reorg).

2. The system according to claim 1, wherein:

the communication receiver is operable to receive, as the performance capability signals (Perform_Sig), braking performance capability signals (BRK_Perform_Sig) from the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), the braking performance capability signals (BRK_Perform_Sig) comprising braking performance data (BRK_Perform_Data) representative of braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ); and

the logic of the platoon control unit is executable by the processor to generate the first lateral offset distance data (1^st_Lat_Off) and the first longitudinal overlap distance data (1^st_Interleave) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the braking performance data (BRK_Perform_Data) representative of the braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

3. The system according to claim 2, wherein:

the first communication interface is operable to transmit, to the first set (R1) of first and second following vehicles (20, 30);

the first lateral offset distance data (1^st_Lat_Off) representative of a single lateral offset distance (1^st_Offset) in a direction perpendicular to the forward path (F) and offset on opposite sides of the forward path (F) to be maintained in the non-linear platoon (VSP1) by each of the first and second vehicles (20, 30) of the first set (R1) relative to the forward path (F); and

the first longitudinal overlap distance data (1^st_Interleave) representative of a single longitudinal overlap distance (920, 922) in a direction along the forward direction (D) to be maintained in the non-linear platoon (VSP1) by the each of the first and second vehicles (20, 30) of the first set (R1) relative to the leader vehicle (10).

4. The system according to claim 1, wherein:

the communication transmitter comprises;

a second communication interface operable to transmit, to a second set (R2) of third, fourth, and fifth following vehicles (40, 50, 60) of the plurality of following vehicles;

a second lateral offset distance signal (2^nd_Lat_Off_Sig) comprising second lateral offset distance data (2^nd_Lat_Off) representative of second lateral offset distances (2^nd_Offsets) in a direction perpendicular to the forward path (F) and offset from the forward path (F) to be maintained in the non-linear platoon (VSP3) by each of the third, fourth, and fifth following vehicles (40, 50, 60) of the second set (R2); and

a longitudinal gap distance signal (2^nd_Long_Off_Sig) comprising longitudinal gap distance data (2^nd_Long_Off) representative of longitudinal gap distances (2^nd_Gaps) in a direction along the first direction (D) to be maintained in the non-linear platoon (VSP3) by the each of the third, fourth, and fifth following vehicles (40, 50, 60) of the second set (R2) relative to the first and second vehicles (20, 30) of the first set (R1);

the logic of the platoon control unit is executable by the processor to generate the second lateral offset distance data (2^nd_Lat_Off), the longitudinal gap distance data (2nd_Long_Off), and the reorganization initiation signal (Reorg) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the performance data (Perform_Data) representative of the one or more performance characteristics of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

5. The system according to claim 4, wherein:

the communication receiver is operable to receive, as the performance capability signals (Perform_Sig), braking performance capability signals (BRK_Perform_Sig) from the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), the braking performance capability signals (BRK_Perform_Sig) comprising braking performance data (BRK_Perform_Data) representative of braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ); and

the logic of the platoon control unit is executable by the processor to generate the first lateral offset distance data (1^st_Lat_Off), the first longitudinal overlap distance data (1^st_Interleave), the second lateral offset distance data (2^nd_Lat_Off), the longitudinal gap distance data, and the reorganization initiation signal (Reorg) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the braking performance data (BRK_Perform_Data) representative of the braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

6. The system according to claim 4, wherein:

the communication transmitter comprises;

a third communication interface operable to transmit, to the first set (R1) of first and second following vehicles (20, 30) of the plurality of following vehicle and to the second set (R2) of third, fourth, and fifth following vehicles (40, 50, 60) of the plurality of following vehicles;

an emergency brake command signal (Emerg_Brake_Sig) comprising emergency brake command data (Emerg_Brake) representative of deceleration command data selectively usable by the first and second sets of following vehicles (R1, R2) to effect an emergency deceleration operation; and

an emergency brake command direction signal (Emerg_Brake_Dir_Sig) comprising emergency brake command direction data (Emerg_Brake_Dir) representative of deceleration command direction data (820, 830, 840, 850, 860) selectively usable by the first and second sets of following vehicles (R1, R2) to implement the emergency deceleration operation;

the logic of the platoon control unit is executable by the processor to generate the emergency brake command data (Emerg_Brake), and the emergency brake command direction data (Emerg_Brake_Dir) in accordance with a predetermined combination of the one or more conditions of the associated roadway and/or the associated geographical area.

7. The system according to claim 4, wherein:

the communication receiver is operable to receive, as the performance capability signals (Perform_Sig), braking performance capability signals (BRK_Perform_Sig) from the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), the braking performance capability signals (BRK_Perform_Sig) comprising braking performance data (BRK_Perform_Data) representative of braking capabilities of the plurality of associated following vehicles; and

the logic of the platoon control unit is executable by the processor to generate the first lateral offset distance data (1^st_Lat_Off), the first longitudinal overlap distance data (1^st_Interleave), the longitudinal gap distance data (2^nd_Long_Off), and the second lateral offset distance data (2^nd_Lat_Off) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the braking performance data (BRK_Perform_Data) representative of the braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

8. A method in a 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 for controlling reorganization of associated platooning vehicles comprising an associated leading vehicle (10) and a plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ) cooperatively travelling as a linear column platoon (P) in an associated geographical area on an associated roadway in a first direction (D) along a forward path (F) from the linear column platoon (P) to a non-linear platoon (VSP1, VSP2, VSP3, VSP4), the method comprising:

receiving, by a communication receiver operatively coupled with the platoon control unit, performance capability signals (Perform_Sig) from the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), the performance capability signals (Perform_Sig) comprising performance data (Perform_Data) representative of one or more performance characteristics of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . );

receiving, by a global position sensor (GPS) receiver operatively coupled with the platoon control unit, a global position signal (GPS_Sig) from an associated source of global position information, the global position signal comprising global position data (GPS_Data) representative of a position of the associated leading vehicle (10) relative to the associated geographical area; and

responsive to a reorganization initiate signal (Reorg), selectively transmitting to a first set (R1) of first and second following vehicles (20, 30) of the plurality of following vehicles (20, 30, 40, 50, 60, . . . ), by a first communication interface of a communication transmitter operatively coupled with the platoon control unit;

a first lateral offset distance signal (1^st_Lat_Off_Sig) comprising first lateral offset distance data (1^st_Lat_Off) representative of first lateral offset distances (1^st_Offsets) in a direction perpendicular to the forward path (F) and offset from the forward path (F) to be maintained in the non-linear platoon (VSP1) by each of the first and second vehicles (20, 30) of the first set (R1) relative to the forward path (F); and

a first longitudinal overlap distance signal (1^st_Interleave_Sig) comprising first longitudinal overlap distance data (1^st_Interleave) representative of longitudinal overlap distances (1^st_Overlaps) in a direction along the first direction (D) to be maintained in the non-linear platoon (VSP4) by the each of the first and second vehicles (20, 30) of the first set (R1) interleaved in the first direction (D) relative to the leader vehicle (10); and

executing the logic of the platoon control unit the processor to generate the first lateral offset distance data (1^st_Lat_Off) and the first longitudinal overlap distance data (1^st_Interleave) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area, and the performance data (Perform_Data) representative of the one or more performance characteristics of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), and the reorganization initiate signal (Reorg).

9. The method according to claim 8, wherein:

the receiving by communication receiver the performance capability signals (Perform_Sig) comprises receiving braking performance capability signals (BRK_Perform_Sig) from the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), the braking performance capability signals (BRK_Perform_Sig) comprising braking performance data (BRK_Perform_Data) representative of braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ); and

the executing the logic by the processor comprises executing the logic to generate the first lateral offset distance data (1^st_Lat_Off) and the first longitudinal overlap distance data (1^st_Interleave) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the braking performance data (BRK_Perform_Data) representative of the braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

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

transmitting to the first set (R1) of first and second following vehicles (20, 30) by the first communication interface;

the first lateral offset distance data (1^st_Lat_Off) representative of a single lateral offset distance (1^st_Offset) in a direction perpendicular to the forward path (F) and offset on opposite sides of the forward path (F) to be maintained in the non-linear platoon (VSP1) by each of the first and second vehicles (20, 30) of the first set (R1) relative to the forward path (F); and

the first longitudinal overlap distance data (1^st_Interleave) representative of a single longitudinal overlap distance (920, 922) in a direction along the forward direction (D) to be maintained in the non-linear platoon (VSP1) by the each of the first and second vehicles (20, 30) of the first set (R1) relative to the leader vehicle (10).

11. The method according to claim 8, further comprising transmitting, to a second set (R2) of third, fourth, and fifth following vehicles (40, 50, 60) of the plurality of following vehicles by a second communication interface of the communication transmitter:

a second lateral offset distance signal (2^nd_Lat_Off_Sig) comprising second lateral offset distance data (2^nd_Lat_Off) representative of second lateral offset distances (2^nd Offsets) in a direction perpendicular to the forward path (F) and offset from the forward path (F) to be maintained in the non-linear platoon (VSP3) by each of the third, fourth, and fifth following vehicles (40, 50, 60) of the second set (R2); and

a longitudinal gap distance signal (2^nd_Long_Off_Sig) comprising longitudinal gap distance data (2^nd_Long_Off) representative of longitudinal gap distances (2^nd_Gaps) in a direction along the first direction (D) to be maintained in the non-linear platoon (VSP3) by the each of the third, fourth, and fifth following vehicles (40, 50, 60) of the second set (R2) relative to the first and second vehicles (20, 30) of the first set (R1); and

executing the logic of the platoon control unit the processor to generate the second lateral offset distance data (2^nd_Lat_Off), the longitudinal gap distance data (2^nd_Long_Off), and the reorganization initiation signal (Reorg) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the performance data (Perform_Data) representative of the one or more performance characteristics of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

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

receiving, by the communication receiver from the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ) as the performance capability signals (Perform_Sig), braking performance capability signals (BRK_Perform_Sig), the braking performance capability signals (BRK_Perform_Sig) comprising braking performance data (BRK_Perform_Data) representative of braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ); and

executing the logic of the platoon control unit by the processor to generate the first lateral offset distance data (1^st_Lat_Off), the first longitudinal overlap distance data (1^st_Interleave), the second lateral offset distance data (2^nd_Lat_Off), the longitudinal gap distance data (2^nd_Long_Off), and the reorganization initiation signal (Reorg) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the braking performance data (BRK_Perform_Data) representative of the braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

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

transmitting, to the first set (R1) of first and second following vehicles (20, 30) of the plurality of following vehicle and to the second set (R2) of third, fourth, and fifth following vehicles (40, 50, 60) of the plurality of following vehicles by a third communication interface of the communication transmitter;

an emergency brake command signal (Emerg_Brake_Sig) comprising emergency brake command data (Emerg_Brake) representative of deceleration command data selectively usable by the first and second sets of following vehicles (R1, R2) to effect an emergency deceleration operation; and

an emergency brake command direction signal (Emerg_Brake_Dir_Sig) comprising emergency brake command direction data (Emerg_Brake_Dir) representative of deceleration command direction data (820, 830, 840, 850, 860) selectively usable by the first and second sets of following vehicles (R1, R2) to implement the emergency deceleration operation; and

executing the logic of the platoon control unit by the processor to generate the emergency brake command data (Emerg_Brake), and the emergency brake command direction data (Emerg_Brake_Dir) in accordance with a predetermined combination of the one or more conditions of the associated roadway and/or the associated geographical.

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

receiving, by the communication receiver from the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ) as the performance capability signals (Perform_Sig), braking performance capability signals (BRK_Perform_Sig) the braking performance capability signals (BRK_Perform_Sig) comprising braking performance data (BRK_Perform_Data) representative of braking capabilities of the plurality of associated following vehicles; and

executing the logic of the platoon control unit by the processor to generate the first lateral offset distance data (1^st_Lat_Off), the first longitudinal overlap distance data (1^st_Interleave), the longitudinal gap distance data (2^nd_Long_Off), and the second lateral offset distance data (2^nd_Lat_Off) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the braking performance data (BRK_Perform_Data) representative of the braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

15. A non-transitory computer-readable storage medium storing a set of instructions for controlling reorganization of a plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ) cooperatively travelling as a linear column platoon (P) in an associated geographical area on an associated roadway in a first direction (D) along a forward path (F) from the linear column platoon (P) to a non-linear platoon (VSP1, VSP2, VSP3, VSP4), the instructions, when executed by one or more processors, causing the one or more processors to perform a method comprising:

receiving performance capability signals (Perform_Sig) from the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), the performance capability signals (Perform_Sig) comprising performance data (Perform_Data) representative of one or more performance characteristics of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . );

receiving a global position signal (GPS_Sig) from an associated source of global position information, the global position signal comprising global position data (GPS_Data) representative of a position of the associated leading vehicle (10) relative to the associated geographical area; and

responsive to a reorganization initiate signal (Reorg), selectively transmitting to a first set (R1) of first and second following vehicles (20, 30) of the plurality of following vehicles (20, 30, 40, 50, 60, . . . );

a first lateral offset distance signal (1^st_Lat_Off_Sig) comprising first lateral offset distance data (1^st_Lat_Off) representative of first lateral offset distances (1^st_Offsets) in a direction perpendicular to the forward path (F) and offset from the forward path (F) to be maintained in the non-linear platoon (VSP1) by each of the first and second vehicles (20, 30) of the first set (R1) relative to the forward path (F); and

a first longitudinal overlap distance signal (1^st_Interleave_Sig) comprising first longitudinal overlap distance data (1^st_Interleave) representative of longitudinal overlap distances (1^st_Overlaps) in a direction along the first direction (D) to be maintained in the non-linear platoon (VSP4) by the each of the first and second vehicles (20, 30) of the first set (R1) interleaved in the first direction (D) relative to the leader vehicle (10); and

executing the set of instructions to generate the first lateral offset distance data (1^st_Lat_Off) and the first longitudinal overlap distance data (1^st_Interleave) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area, and the performance data (Perform_Data) representative of the one or more performance characteristics of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), and the reorganization initiate signal (Reorg).

16. The non-transitory computer-readable storage medium according to claim 15, wherein:

the receiving the performance capability signals (Perform_Sig) comprises receiving braking performance capability signals (BRK_Perform_Sig) from the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ), the braking performance capability signals (BRK_Perform_Sig) comprising braking performance data (BRK_Perform_Data) representative of braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ); and

the set of instructions comprises executing the set of instructions to generate the first lateral offset distance data (1^st_Lat_Off) and the first longitudinal overlap distance data (1^st_Interleave) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the braking performance data (BRK_Perform_Data) representative of the braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

17. The non-transitory computer-readable storage medium according to claim 16, further comprising:

transmitting to the first set (R1) of first and second following vehicles (20, 30);

the first lateral offset distance data (1^st_Lat_Off) representative of a single lateral offset distance (1^st_Offset) in a direction perpendicular to the forward path (F) and offset on opposite sides of the forward path (F) to be maintained in the non-linear platoon (VSP1) by each of the first and second vehicles (20, 30) of the first set (R1) relative to the forward path (F); and

the first longitudinal overlap distance data (1^st_Interleave) representative of a single longitudinal overlap distance (920, 922) in a direction along the forward direction (D) to be maintained in the non-linear platoon (VSP1) by the each of the first and second vehicles (20, 30) of the first set (R1) relative to the leader vehicle (10).

18. The non-transitory computer-readable storage medium according to claim 15, further comprising transmitting, to a second set (R2) of third, fourth, and fifth following vehicles (40, 50, 60) of the plurality of following vehicles:

a second lateral offset distance signal (2^nd_Lat_Off_Sig) comprising second lateral offset distance data (2^nd_Lat_Off) representative of second lateral offset distances (2^nd Offsets) in a direction perpendicular to the forward path (F) and offset from the forward path (F) to be maintained in the non-linear platoon (VSP3) by each of the third, fourth, and fifth following vehicles (40, 50, 60) of the second set (R2); and

a longitudinal gap distance signal (2^nd_Long_Off_Sig) comprising longitudinal gap distance data (2^nd_Long_Off) representative of longitudinal gap distances (2^nd_Gaps) in a direction along the first direction (D) to be maintained in the non-linear platoon (VSP3) by the each of the third, fourth, and fifth following vehicles (40, 50, 60) of the second set (R2) relative to the first and second vehicles (20, 30) of the first set (R1); and

executing the set of instructions to generate the second lateral offset distance data (2^nd_Lat_Off), the longitudinal gap distance data (2^nd_Long_Off), and the reorganization initiation signal (Reorg) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the performance data (Perform_Data) representative of the one or more performance characteristics of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

19. The non-transitory computer-readable storage medium according to claim 18, further comprising:

receiving, by the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ) as the performance capability signals (Perform_Sig), braking performance capability signals (BRK_Perform_Sig), the braking performance capability signals (BRK_Perform_Sig) comprising braking performance data (BRK_Perform_Data) representative of braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ); and

executing the set of instrucitons to generate the first lateral offset distance data (1^st_Lat_Off), the first longitudinal overlap distance data (1^st_Interleave), the second lateral offset distance data (2^nd_Lat_Off), the longitudinal gap distance data (2^nd_Long_Off), and the reorganization initiation signal (Reorg) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the braking performance data (BRK_Perform_Data) representative of the braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).

20. The non-transitory computer-readable storage medium according to claim 18, further comprising:

transmitting, to the first set (R1) of first and second following vehicles (20, 30) of the plurality of following vehicle and to the second set (R2) of third, fourth, and fifth following vehicles (40, 50, 60) of the plurality of following vehicles;

an emergency brake command signal (Emerg_Brake_Sig) comprising emergency brake command data (Emerg_Brake) representative of deceleration command data selectively usable by the first and second sets of following vehicles (R1, R2) to effect an emergency deceleration operation; and

an emergency brake command direction signal (Emerg_Brake_Dir_Sig) comprising emergency brake command direction data (Emerg_Brake_Dir) representative of deceleration command direction data (820, 830, 840, 850, 860) selectively usable by the first and second sets of following vehicles (R1, R2) to implement the emergency deceleration operation; and

executing the set of instructions to generate the emergency brake command data (Emerg_Brake), and the emergency brake command direction data (Emerg_Brake_Dir) in accordance with a predetermined combination of the one or more conditions of the associated roadway and/or the associated geographical.

21. The non-transitory computer-readable storage medium according to claim 18, further comprising:

receiving, from the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ) as the performance capability signals (Perform_Sig), braking performance capability signals (BRK_Perform_Sig) the braking performance capability signals (BRK_Perform_Sig) comprising braking performance data (BRK_Perform_Data) representative of braking capabilities of the plurality of associated following vehicles; and

executing the set of instructions to generate the first lateral offset distance data (1^st_Lat_Off), the first longitudinal overlap distance data (1^st_Interleave), the longitudinal gap distance data (2^nd_Long_Off), and the second lateral offset distance data (2^nd_Lat_Off) in accordance with a predetermined combination of the global position data (GPS_Data) representative of the position of the associated leading vehicle (10) relative to the associated geographical area and the braking performance data (BRK_Perform_Data) representative of the braking capabilities of the plurality of associated following vehicles (20, 30, 40, 50, 60, . . . ).