Platoon travel system

• US 9,799,224 B2
• Filed: 04/10/2014
• Issued: 10/24/2017
• Est. Priority Date: 04/17/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Okamoto, Kazuya
• Primary Examiner(s): Beaulieu, Yonel
• Assistant Examiner(s): Weeks, Martin
• Application Number:
  US14/249,700
• Publication Number:
  US 20140316671A1
• Time in Patent Office: 1,293 Days
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A platoon travel system organizes a platoon having plural platoon vehicles traveling in two vehicle groups, in which a preset inter-vehicle distance is reserved between each of the platoon vehicles. When a new vehicle joins in the platoon, the platoon travel system adjusts the inter-vehicle distance by decelerating, among all platoon vehicles, deceleration target vehicles that are the platoon vehicles behind a join position in the platoon, which are included in a latter one of the two vehicle groups.

Claims

1. A platoon travel system for organizing plural vehicles into platoon vehicles and performing a platoon travel of the platoon vehicles at a preset travel speed and a preset inter-vehicle distance from each other, the system comprising:

at least one processor located in an Engine Control Unit (ECU), the at least one processor is configured to;

(i) organize, in a platoon organization unit, a platoon by acquiring, from each of the plural vehicles, projection area information indicative of a projection area of each vehicle and (ii) position, from a front of the platoon, vehicles in a larger projection area vehicle first manner in which the vehicles are arranged in a descending order of the projection areas from the front of the platoon;

determine whether a particular departing vehicle is departing from the platoon;

determine whether a particular joining vehicle is joining in the platoon; and

adjust, in an inter-vehicle distance adjustment unit, an inter-vehicle distance between the platoon vehicles at a vehicle joining time and at a vehicle departure time;

the vehicle joining time defined as when the particular joining vehicle is determined to be joining in the platoon;

in the vehicle joining time, the at least one processor is configured to adjust the inter-vehicle distance to the preset inter-vehicle distance by controlling, to be decelerated, deceleration target vehicles in the platoon which are traveling behind a particular join position that is reserved for the particular joining vehicle; and

the vehicle departure time defined as when the particular departing vehicle is determined to be departing from the platoon;

in the vehicle departure time, the at least one processor is configured to adjust the inter-vehicle distance to the preset inter-vehicle distance by controlling, to be decelerated, deceleration target vehicles in the platoon which are traveling ahead of the particular departing vehicle.

2. The platoon travel system of claim 1, wherein the at least one processor is further configured to:

acquire, in a first acquisition unit, in each of the platoon vehicles, the inter-vehicle distance to a front vehicle, wherein

adjust, by the inter-vehicle distance adjustment unit, the inter-vehicle distance acquired by the first acquisition unit to the preset inter-vehicle distance.

3. The platoon travel system of claim 2, further comprising:

a first transmission unit, in each of the platoon vehicles,

wherein the at least one processor is further configured to;

transmit, via the first transmission unit, in each of the platoon vehicles, the inter-vehicle distance acquired by the first acquisition unit to a just-ahead vehicle that is immediately ahead of a self-vehicle; and

detect, by a departure detection unit, in each of the platoon vehicles, the particular departing vehicle in the platoon, wherein

the inter-vehicle distance adjustment unit adjusts, by controlling, to be decelerated, a deceleration target vehicle which is the just-ahead vehicle that is detected by the departure detection unit as traveling immediately ahead of the particular departing vehicle, a transmitted inter-vehicle distance between the just-ahead vehicle of the particular departing vehicle and a just-behind vehicle that is immediately behind the particular departing vehicle which has been transmitted by the first transmission unit, to the preset inter-vehicle distance.

4. The platoon travel system of claim 2, wherein the at least one processor is further configured to

transmit, via a first transmission unit, in each of the platoon vehicles, the inter-vehicle distance acquired by the first acquisition unit to a just-ahead vehicle that is immediately ahead of a self-vehicle;

and

detect, by a departure detection unit, in each of the platoon vehicles, t departing vehicle in the platoon, wherein

the inter-vehicle distance adjustment unit adjusts, by controlling, to be decelerated, the deceleration target vehicles in the platoon which are traveling ahead of the particular departing vehicle, a transmitted inter-vehicle distance between each of the platoon vehicles which has been transmitted by the first transmission unit, to the preset inter-vehicle distance.

5. The platoon travel system of claim 4, wherein the at least one processor is further configured to

adjust, by the inter-vehicle distance adjustment unit, when the inter-vehicle distance between the just-ahead vehicle of the particular departing vehicle and the just-behind vehicle of the particular departing vehicle becomes the preset inter-vehicle distance, the inter-vehicle distance between each of the platoon vehicles to the preset inter-vehicle distance by controlling a travel speed of each of the deceleration target vehicles to return to the preset travel speed.

6. The platoon travel system of claim 2, wherein the at least one processor is further configured to

detect, by a join-in detection unit, in each of the platoon vehicles, the particular join position in the platoon,

control, via the inter-vehicle distance adjustment unit to decelerate the deceleration target vehicles which are all vehicles in the platoon behind the particular join position detected by the join-in detection unit, the inter-vehicle distance between each of the platoon vehicles to the preset inter-vehicle distance while adjusting an inter-vehicle distance between a just-ahead vehicle immediately ahead of the particular join position and a just-behind vehicle that is immediately behind the particular join position to a join-in allow distance.

7. The platoon travel system of claim 3, further comprising:

a second acquisition unit, in each of the platoon vehicles,

wherein the at least one processor is further configured to;

acquire, via the second acquisition unit, the inter-vehicle distance to a behind vehicle located behind the self vehicle, wherein

the inter-vehicle distance adjustment unit adjusts the inter-vehicle distance acquired by the second acquisition unit to the preset inter-vehicle distance.

8. The platoon travel system of claim 7, further comprising:

a second transmission unit, in each of the platoon vehicles,

wherein the at least one processor is further configured to;

transmit, via the second transmission unit, in each of the platoon vehicles, the inter-vehicle distance acquired by the second acquisition unit to a just-behind vehicle that is immediately behind a self-vehicle; and

detect, via a join-in detection unit, in each of the platoon vehicles, the particular join position in the platoon, wherein

the inter-vehicle distance adjustment unit adjusts, by decelerating the deceleration target vehicle which is a just-behind position vehicle that is detected by the join-in detection unit as traveling immediately behind the particular join position, a transmitted inter-vehicle distance between a just-ahead in position vehicle and a just-behind join position vehicle to a join-in allow distance that allows the join-in of the particular joining vehicle.

9. The platoon travel system of claim 8, wherein the at least one processor is further configured to

adjust, by the inter-vehicle distance adjustment unit, by controlling to be decelerated, the deceleration target vehicles which are all vehicles in the platoon behind the particular join position, the transmitted inter-vehicle distance between each of the platoon vehicles, which has been transmitted by the second transmission unit, to the preset inter-vehicle distance while adjusting the transmitted inter-vehicle distance between the just-ahead join position vehicle and the just-behind join position vehicle to the join-in allow distance.

10. The platoon travel system of claim 9, wherein the processor is further configured to

adjust, by the inter-vehicle distance adjustment unit, when the inter-vehicle distance between the just-ahead join position vehicle and the just-behind join position vehicle becomes the join-in allow distance, the inter-vehicle distance between each of the platoon vehicles to the preset inter-vehicle distance by returning a travel speed of each of the deceleration target vehicles to the preset travel speed.

11. The platoon travel system of claim 7, wherein the at least one processor is further configured to

detect, by a departure detection unit, in each of the platoon vehicles, the particular departing vehicle in the platoon, wherein

the inter-vehicle distance adjustment unit adjusts, by decelerating the deceleration target vehicles which are all platoon vehicles ahead of the particular departing vehicle that is detected by the departure detection unit, the inter-vehicle distance between each of the platoon vehicles to the preset distance while adjusting the inter-vehicle distance which has been increased by the departure of the particular departing vehicle back to the preset inter-vehicle distance.

12. The platoon travel system of claim 1, wherein

the inter-vehicle distance adjustment unit is further configured to

create, in a creation unit, deceleration plan information for decelerating the deceleration target vehicles,

share, by a share unit, the deceleration plan information among the deceleration target vehicles, and

decelerate, by a deceleration unit, the deceleration target vehicles according to the deceleration plan information while synchronizing the deceleration target vehicles with each other.

13. The platoon travel system of claim 12, wherein

the deceleration plan information includes

(i) deceleration start time information indicative of a speed reduction start time when deceleration of a vehicle speed starts,

(ii) return start time information indicative of a return start time when returning of the vehicle speed to a pre-deceleration speed starts, and

(iii) return end time information indicative of a return end time when returning of the vehicle speed to the pre-deceleration speed ends.

14. The platoon travel system of claim 1, wherein the at least one processor is further configured to

determine the positioning, from the front of the platoon, of the vehicles in the larger projection area vehicle first manner based on the projection area information of the plural vehicles.

15. The platoon travel system of claim 1, further comprising

a wireless short-range antenna in each of the plural vehicles in the platoon, and

the at least one processor is in a self-vehicle, the at least one processor is further configured to

communicate, via the wireless short-range antenna, with the plural vehicles in the platoon, to acquire the projection area information of each vehicle, and

communicate, via the wireless short-range antenna, with the plural vehicles in the platoon, deceleration plan information to deceleration target vehicles in the platoon which are traveling, and

control, responsive to deceleration plan information that specifies a deceleration of the self-vehicle, a travel system component which comprises a drive, an engine, a motor generator, and a brake to decelerate the self-vehicle.

16. The platoon travel system of claim 13, further comprising

a wireless short-range antenna in each of the plural vehicles in the platoon, and

the at least one processor is in a self-vehicle, the at least one processor is further configured to

communicate, via the wireless short-range antenna, with the plural vehicles in the platoon, to acquire the projection area information of each vehicle, and

communicate, via the wireless short-range antenna, with the plural vehicles in the platoon, the deceleration plan information which has been created to deceleration target vehicles in the platoon which are traveling, and

control, responsive to deceleration plan information that specifies a deceleration of the self-vehicle, a travel system component which comprises a drive, an engine, a motor generator, and a brake to:

(i) decelerate the self-vehicle at the speed reduction start time, (ii) start returning the self-vehicle to the pre-deceleration speed at the return start time, and (iii) end returning the self-vehicle to the pre-deceleration speed at the return end time.

17. The platoon travel system of claim 1, further comprising:

a wireless short-range antenna in each of the plural vehicles in the platoon; and

a first information sensor, in a self-vehicle, that detects the inter-vehicle distance to a front vehicle before the self-vehicle;

wherein the at least one processor is in the self-vehicle, the at least one processor is further configured to

receive, via the wireless short-range antenna, a join-in allow distance;

acquire, from the first information sensor, the inter-vehicle distance to the front vehicle,

control, responsive to the join-in allow distance received via the wireless short-range antenna, a travel system component which comprises a drive, an engine, a motor generator, and a brake to;

(i) decelerate the self-vehicle to adjust the inter-vehicle distance to the join-in allow distance, (ii) return the self-vehicle to the pre-set travel speed when the inter-vehicle distance acquired from the first information sensor becomes the join-in allow distance.