Systems and methods for semi-autonomous vehicular convoys

• US 9,665,102 B2
• Filed: 05/30/2014
• Issued: 05/30/2017
• Est. Priority Date: 07/06/2011
• Status: Active Grant

• Current Assignee: Peloton Technology, Inc.
• Original Assignee: Peloton Technology, Inc.
• Inventors: Gerdes, Joseph Christian, Switkes, Joshua P., Berdichevsky, Eugene
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US14/292,583
• Publication Number:
  US 20140303870A1
• Time in Patent Office: 1,096 Days
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G01S 13/92 for velocity measurement
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• 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: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/202 Dispatching vehicles on the basis of a location, e.g. taxi dispatching
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

The present invention relates to systems and methods for vehicles to safely closely follow one another through partial automation. Following closely behind another vehicle has significant fuel savings benefits, but is unsafe when done manually by the driver. On the opposite end of the spectrum, fully autonomous solutions require inordinate amounts of technology, and a level of robustness that is currently not cost effective.

Claims

1. A computerized vehicular convoying control system, useful in association with a lead vehicle and at least one follower vehicle, the control system onboard at least one of the lead vehicle and the at least one follower vehicle and comprising:

at least one vehicular motion sensor configured to measure acceleration and deceleration of the lead vehicle and the at least one follower vehicle while moving;

a vehicular separation sensor configured to detect a separation distance between at least the rear of the lead vehicle and the front of the at least one follower vehicle;

a transceiver for communicating among the lead vehicle and the at least one follower vehicle including communicating the measured acceleration and deceleration and the separation distance;

a computerized controller configured to receive the measured acceleration and deceleration and the separation distance and to control acceleration and deceleration of one of the lead vehicle and the at least one follower vehicle to thereby maintain a safe vehicular spacing between the lead vehicle and the at least one follower vehicle;

the computerized controller further responsive to data from a remotely-located server regarding position of at least one of the lead vehicle and the at least one follower vehicle, to identify an opportunity to form a convoy; and

a user interface, configured to provide vehicular data to a driver.

2. The convoying control system of claim 1 wherein the controller is coupled to an engine control unit (ECU) of one of the lead vehicle and the at least one follower vehicle.

3. The convoying control system of claim 1 wherein the vehicular separation sensor includes at least one of a distance sensor and a relative speed sensor.

4. The convoying control system of claim 1 wherein the vehicular separation sensor is further configured to detect a relative speed between the lead vehicle and the at least one follower vehicle.

5. The computerized vehicular convoying control system of claim 1 further comprising at least one forward-facing camera for capturing a forward-looking view as seen from at least the lead vehicle.

6. The computerized vehicular convoying control system of claim 1 further comprising a long-range vehicular transceiver configured to communicate between a central server and one of the lead vehicle and the at least one follower vehicle.

7. A computerized vehicular convoying control system, useful in association with a lead vehicle, the control system comprising:

a braking actuation sensor configured to detect braking of lead vehicle;

a computerized controller responsive to remotely-located data from a remotely-located server regarding position of at least one of the lead vehicle and at least one follower vehicle, to identify an opportunity to form a convoy;

a transceiver configured to facilitate communications between the lead vehicle and the at least one follower vehicle having a corresponding computerized vehicular convoying control system configured to maintain a safe vehicular spacing between the lead vehicle and the at least one follower vehicle; and

a user interface configured to provide a linking request from the at least one follower vehicle to a driver of the lead vehicle to form the convoy.

8. A first vehicle equipped with a computerized vehicular convoying control system, the first vehicle comprising:

a chassis and a body;

an engine coupled to a drive train;

a braking system;

an engine controller unit (ECU) coupled to the engine, the drive train and the braking system;

a computerized convoying controller coupled to the ECU and configured to monitor and control separation distance, acceleration and deceleration of the first vehicle with respect to at least a second vehicle, the computerized convoying controller responsive to data from a remotely-located server regarding position of at least one of the lead vehicle and at least one follower vehicle, to identify an opportunity to form a convoy;

a user interface to provide vehicular data from the convoying controller to a driver;

a transceiver configured to manage communications between the first vehicle and at least the second vehicle;

a vehicular separation sensor configured to detect a separation distance between the first vehicle and at least the second vehicle and to provide such distance data to the computerized convoying controller; and

a vehicular motion sensor configured to measure acceleration and deceleration of at least one of the first and second vehicles and to provide such acceleration and deceleration measurements to the computerized convoying controller to enable a close following distance to be safely maintained between at least the two vehicles while moving.

9. The first vehicle of claim 8 wherein the vehicular separation sensor is further configured to detect a relative speed between the first vehicle and at least a second vehicle.

10. The first vehicle of claim 8 wherein the vehicular separation sensor includes at least one of a distance sensor and a relative speed sensor.

11. The first vehicle of claim 8 further comprising at least one aerodynamic feature to optimize airflow between the first vehicle and at least the second vehicle when the vehicles are in a convoy.

12. The first vehicle of claim 11 wherein the aerodynamic feature is adjustable and wherein the controller is further configured to control the adjustable aerodynamic feature.

13. In a computerized vehicular convoying control system, a vehicular convoying method for controlling a lead vehicle and at least one follower vehicle, the convoying method comprising:

in a computerized controller, responding to data from a remotely-located server regarding position of at least one of the lead vehicle and at least one follower vehicle, to identify an opportunity to form a convoy between the lead vehicle and the at least one follower vehicle;

in a computerized controller, monitoring and controlling acceleration and deceleration of one of a lead vehicle and at least one follower vehicle, thereby dynamically and semi-autonomously maintaining a safe vehicular spacing between the lead vehicle and the at least one follower vehicle;

providing vehicular data from the computerized controller to a driver;

communicating monitoring and control signals between the lead vehicle and the at least one follower vehicle; and

detecting and controlling a distance between the lead vehicle and the at least one follower vehicle.

14. The convoying method of claim 13 further comprising detecting a relative speed between the lead vehicle and the at least one follower vehicle.