Vehicle platooning systems and methods

• US 9,645,579 B2
• Filed: 03/17/2014
• Issued: 05/09/2017
• Est. Priority Date: 07/06/2011
• Status: Active Grant

• Current Assignee: Peloton Technology, Inc.
• Original Assignee: Peloton Technology, Inc.
• Inventors: Gerdes, Joseph Christian, Lyons, David Frederick, Berdichevsky, Eugene, Switkes, Joshua P, Boyd, Stephen Norris
• Primary Examiner(s): Tissot, Adam
• Assistant Examiner(s): WEBER, TAMARA L
• Application Number:
  US14/855,044
• Publication Number:
  US 20160054735A1
• Time in Patent Office: 1,149 Days
• Field of Search: None
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2530/209 Fuel quantity remaining in tank
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0293 Convoy travelling
• 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
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04W 4/44 for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
• CPC Class Codes: H04W 84/005 Moving wireless networks

Abstract

Systems and methods for coordinating and controlling vehicles, for example heavy trucks, to follow closely behind each other, or linking, in a convenient, safe manner and thus to save significant amounts of fuel while increasing safety. In an embodiment, on-board controllers in each vehicle interact with vehicular sensors to monitor and control, for example, relative distance, relative acceleration/deceleration, and speed. Additional safety features in at least some embodiments include providing each driver with one or more visual displays of forward and rearward looking cameras. Long-range communications are provided for coordinating vehicles for linking, and for communicating analytics to fleet managers or others.

Claims

1. A system for convoying vehicles whereby a following vehicle is caused to follow a lead vehicle as linked vehicles, the system comprising

a processing system for receiving data about a plurality of vehicles and selecting vehicles for linking in accordance with the data,

a long distance communications link for directing the selected vehicles into proximity to one another,

a short range communications link for communicating among the selected vehicles to cause the selected vehicles to move into a linked position as the linked vehicles, and

a vehicle control unit responsive to the short range communications link for managing vehicular functions to safely maintain a linked position among the linked vehicles;

wherein the selected vehicles transition into a linked position in a smooth trajectory.

2. The system of claim 1 wherein the data comprises data selected from the group consisting of routing data, weight data, braking capability data, destination data, load data, weather data, traffic condition data, vehicle type data, trailer type data, recent linking history data, fuel price data, and driver history data.

3. The system of claim 2 wherein the routing data includes identification of locations where linking is not desirable.

4. The system of claim 1 wherein the selecting is based at least in part on a weighted cost function of the distance between the plurality of vehicles and the distance between their destinations.

5. The system of claim 1 wherein the vehicle control unit manages automated steering of at least one of the one or more following vehicles.

6. The system of claim 1 wherein the vehicle control unit maintains relative speed and distance between the linked vehicles.

7. The system of claim 6 wherein relative distance between the linked vehicles is determined by at least one technique selected from the group consisting of radar, lidar, cameras, and precision GPS.

8. The system of claim 1 wherein the vehicle control unit can discontinue linking.

9. The system of claim 8 wherein at least one of the vehicle control units, in either the lead vehicle or the one or more following vehicles, receives characteristics of vehicle performance in determining whether to maintain or discontinue linking.

10. The system of claim 9 wherein the characteristics of vehicle performance comprise at least one characteristic selected from the group consisting of speed, relative distance to the other truck, braking application and/or pressure, engine or drivetrain torque, and system faults.

11. The system of claim 1 wherein the smooth trajectory comprises a beginning, a middle, and an end, and a change in the relative distance between the selected vehicles per unit of time is smallest at the beginning and the end of the transition, and largest in the middle.

12. The system of claim 1 wherein linking is terminated in response to one or more items selected from the group consisting of turn signal application, steering inputs larger or faster than a threshold, clutch pedal application, a gear change, Jake (compression) brake application, trailer brake application, ignition key-off, and driver input.

13. The system of claim 1 wherein each of the plurality of vehicles available for linking has associated therewith a unique indicium.

14. The system of claim 1 wherein the short range communications link comprises a low latency data link.

15. The system of claim 14 wherein the low latency data link is selected from the group consisting of WiFi, DSRC 802.11p, radio modem, and Zigbee.

16. The system of claim 1 wherein the processing system comprises a data processing system on each vehicle.

17. The system of claim 1 wherein the processing system selects an order of the linked vehicles.

18. The system of claim 17 wherein the selected order is based upon one or more characteristics selected from the group consisting of vehicle weight, vehicle load, weather conditions, road conditions, fuel savings, linking time accrued, braking technology on the vehicle, and destination.

19. The system of claim 17 wherein linking is only permitted when the linked vehicles are in the selected order.

20. The system of claim 1 wherein each of the plurality of vehicles available for linking at a specific time and location has temporarily associated therewith a unique indicium.

21. The system of claim 1, wherein the vehicle control unit receives data identifying neighboring vehicles, not available for linking, from among the plurality of vehicles, assigns a unique indicium to each of the neighboring vehicles, and monitors movements of the neighboring vehicles while the movements of the neighboring vehicles may require evasive or other safety related maneuvers.