Device and method for choosing leader vehicle of a vehicle platoon

• US 9,494,944 B2
• Filed: 02/27/2014
• Issued: 11/15/2016
• Est. Priority Date: 03/06/2013
• Status: Active Grant

• Current Assignee: Scania CV AB (Volkswagen AG)
• Original Assignee: Scania CV AB (Volkswagen AG)
• Inventors: Alam, Assad, Sokalla, Marek
• Primary Examiner(s): TARCZA, THOMAS H
• Assistant Examiner(s): Pipala, Edward J
• Application Number:
  US14/771,840
• Publication Number:
  US 20160026187A1
• Time in Patent Office: 992 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A method in a vehicle platoon including at least one leader vehicle and at least one additional vehicle, where the leader vehicle is intended to detect ambient conditions. The method includes the steps of: appointing (s410) the leader vehicle which is responsible for communicating information to the at least one additional vehicle; and under certain conditions, appointing (s450) a new leader vehicle which assumes the responsibility. A computer program product has program code (P) for a computer (200; 210) to implement a method according to the invention. The invention also pertains to a device in vehicle platoons and a motor vehicle equipped with such a device.

Claims

1. A method for choosing a leader vehicle in a vehicle platoon, wherein the platoon comprises at least one leader vehicle and at least one additional vehicle, and wherein said leader vehicle is configured to detect ambient conditions pertaining to said leader vehicle and said platoon,

the method comprising the steps of:

appointing said leader vehicle with responsibility for detecting ambient conditions, said leader vehicle detecting ambient conditions and communicating information about said detected ambient conditions to said at least one additional vehicle, wherein said information comprises said detected ambient conditions;

controlling driving of said at least one additional vehicle based on the communicated information,

wherein said information comprises at least one of route information for a first vehicle of the vehicle platoon and information of how a vehicle ahead in the vehicle platoon controls its speed in relation to one or more vehicles positioned behind in the vehicle platoon, and

appointing a new leader vehicle and said new leader vehicle assumes said responsibility in response to changes in the vehicle platoon relating to joining vehicles or leaving vehicles, or in response to defects in the communicated information.

2. A method according to claim 1, further comprising:

appointing said new leader vehicle at an initiative of an already appointed leader vehicle or at an initiative of the at least one additional vehicle.

3. A method according to claim 1, further comprising:

under certain conditions, distributing said responsibility to more than one vehicle, wherein said distributing comprises successive transfers of said responsibility.

4. A method according to claim 1, further comprising driving said leader vehicle first in said vehicle platoon.

5. A method according to claim 1, wherein said information comprises data relating to at least one of:

traffic road signs, fixed or moving objects, road, area ahead of the vehicle ahead, off-road area, road constructions, pedestrians, cyclists and lane changes.

6. A computer program product, comprising a non-volatile computer-readable storage medium and program code stored on said medium, wherein said computer program comprises program code for causing an electronic control device or another computer connected to said electronic control device to perform the method according to claim 1, wherein said program code is executed in an electronic control device or in another computer connected to said electronic control device.

7. A system for a vehicle platoon, the platoon comprising at least one leader vehicle and at least one additional vehicle in communication with said at least one leader vehicle, at least said at least one leader vehicle comprising a control device configured to detect ambient conditions and said at least one leader vehicle and said at least one additional vehicle comprising a respective computer device, the system comprising the control device and the computer devices,

wherein the computer device of the at least one additional vehicle is configured to control the driving of said at least one additional vehicle based on information relating to said ambient conditions received from said at least one leader vehicle, wherein said information comprises at least one of route information for a first vehicle of the vehicle platoon and information of how a vehicle ahead in the vehicle platoon controls its speed in relation to one or more vehicles positioned behind in the vehicle platoon, and

wherein the computer device of said at least one leader vehicle or the at least one additional vehicle is configured to appoint a new leader vehicle and to let said new leader vehicle assume said responsibility in response to changes in the vehicle platoon relating to joining vehicles or leaving vehicles, or in response to defects in the communicated information.

8. A device according to claim 7,

wherein the computer device of said at least one leader vehicle or said at least one additional vehicle is configured to appoint said new leader vehicle following an initiative of said at least one leader vehicle or

following an initiative of said at least one additional vehicle.

9. A device according to claim 7, wherein said system is

configured, under selected conditions, to distribute said responsibility over more than one vehicle.

10. A device according to claim 9, further comprising:

elements configured to distribute said responsibility through successive transfer of said responsibility.

11. A device according to claim 7, wherein said information comprises data relating to at least one of:

traffic road signs, fixed or moving objects, road, area ahead of the vehicle ahead, off-road area, road constructions, pedestrians, cyclists and lane changes.