Convoy travel apparatus

• US 8,718,908 B2
• Filed: 09/13/2012
• Issued: 05/06/2014
• Est. Priority Date: 09/27/2011
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kumabe, Seigou
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): PATEL, SHARDUL D
• Application Number:
  US13/614,005
• Publication Number:
  US 20130080040A1
• Time in Patent Office: 600 Days
• Field of Search: 701/117
• US Class Current: 701/117
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• 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 1/0293 Convoy travelling
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A convoy travel apparatus enables a convoy travel of a subject vehicle by regularly transmitting convoy travel information including the latest measurement of GPS positioning coordinates and predetermined number of preceding measurements of GPS positioning coordinates. By receiving the convoy travel information from other vehicles, the convoy travel apparatus of the subject vehicle identifies a sender vehicle of a current convoy travel information based on a comparison between a travel locus generated from the current convoy travel information and a past travel locus generated from a convoy travel information previously received. The identification of the sender vehicle leads to the identification of the information from a leader vehicle to be followed in the convoy travel control of the subject vehicle, thereby enabling a convoy travel of the subject vehicle based on the identified information.

Claims

1. A convoy travel apparatus disposed in a subject vehicle that is equipped with a position measurement unit for regularly having a measurement of satellite positioning coordinates of the subject vehicle, the convoy travel apparatus comprising:

a wireless communication unit regularly transmitting convoy travel information of the subject vehicle, the convoy travel information including latest satellite positioning coordinates of the subject vehicle and travel locus information made from one of (a) a predetermined number of latest measurements of the satellite positioning coordinates of the subject vehicle and (b) a travel locus defined by the predetermined number of latest measurements of the satellite positioning coordinates of the subject vehicle measured by the position measurement unit;

a convoy travel control unit performing convoy travel control of the subject vehicle based on the convoy travel information from other vehicles received by the wireless communication unit; and

a sender vehicle identification unit identifying a sender vehicle transmitting a convoy travel information currently received by the wireless communication unit, based on a comparison between the travel locus information included in the convoy travel information currently received and the travel locus information previously received, wherein the convoy travel control unit determines, based on the sender vehicle identified by the sender vehicle identification unit, the convoy travel information transmitted by a forward vehicle to be followed by the subject vehicle, and performs the convoy travel control based on the convoy travel information of the forward vehicle.

2. The convoy travel apparatus of claim 1, wherein the sender vehicle identification unit performs a comparison of the travel locus information by comparing a current travel locus that is determined based on the travel locus information included in the convoy travel information currently received from other vehicles with a travel locus that is determined based on the travel locus information previously received.

3. The convoy travel apparatus of claim 1, wherein the convoy travel control unit identifies the convoy travel information transmitted by the forward vehicle that is directly followed by the subject vehicle based on an identification result of the sender vehicle by the sender vehicle identification unit, and performs the convoy travel control based on the convoy travel information from the forward vehicle.

4. The convoy travel apparatus of claim 3, wherein the convoy travel control unit controls the wireless communication unit to transmit the convoy travel information of the subject vehicle to include a follower notice indicating a start of a following travel of the subject vehicle when the subject vehicle starts to perform a following travel control to follow the forward vehicle.

5. The convoy travel apparatus of claim 1, wherein the convoy travel control unit identifies the subject vehicle as a leader of a convoy and a variable convoy ID that is different at every generation time is generated, when the subject vehicle is not in a convoy and receives the convoy travel information that includes a follower notice indicating a start of a following travel of the sender vehicle, and the convoy travel information of the subject vehicle includes the generated variable convoy ID and is transmitted by the wireless communication unit of the subject vehicle while the subject vehicle is leading the convoy.

6. The convoy travel apparatus of claim 1, wherein the convoy travel control unit transmits, via the wireless communication unit, the convoy travel information including a maximum allowable number of vehicles in the convoy and a currently-included number of vehicles in the convoy, when the subject vehicle is a leader of a convoy, and the convoy travel control unit of the subject vehicle determines whether the subject vehicle can join a convoy based on a maximum allowable number of vehicles and a currently-included number of vehicles provided in the convoy travel information received, when the subject vehicle is in a non-convoy traveling state.

7. The convoy travel apparatus of claim 6, wherein, the convoy travel control unit increases the currently-included number of vehicles by one when the convoy travel information received by the wireless communication unit includes the follower notice while the subject vehicle is the leader of the convoy, and the convoy travel control unit identifies the convoy travel information from a vehicle having been traveling at a rear end position of the convoy based on an identification result of the sender vehicle by the sender vehicle identification unit, and performs a following travel control for following the vehicle at the rear end position of the convoy based on the convoy travel information identified, and transmits the convoy travel information including the follower notice to such vehicle, when the convoy travel control unit determines that the subject vehicle can join the convoy.