Vehicle-to-vehicle congestion monitoring using ad hoc control

• US 9,852,637 B2
• Filed: 01/09/2015
• Issued: 12/26/2017
• Est. Priority Date: 01/10/2014
• Status: Active Grant

• Current Assignee: Regents of The University of Minnesota (University of Minnesota)
• Original Assignee: Regents of The University of Minnesota (University of Minnesota)
• Inventors: Hayee, M. Imran, Ibrahim, Umair
• Primary Examiner(s): Khatib, Rami
• Assistant Examiner(s): Foster, Gerrad A
• Application Number:
  US14/593,172
• Publication Number:
  US 20150199905A1
• Time in Patent Office: 1,082 Days
• Field of Search: None
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/162 event-triggered
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A vehicle-to-vehicle communication unit includes a vehicle communication transceiver that transmits and receives messages to and from other vehicles. The messages include at least one safety message from another vehicle that indicates that the other vehicle has decreased its velocity. The vehicle-vehicle communication unit also includes a processor that based on the safety message generates a message for other vehicles indicating that the vehicle-to-vehicle communication unit has designated itself as an ad hoc host for determining information about a congested area on a roadway.

Claims

1. A vehicle-to-vehicle communication unit comprising:

a vehicle communication transceiver that transmits messages from a first vehicle that the vehicle communication transceiver is installed in to other vehicles and that receives, while the first vehicle is moving on a roadway, at least one safety message from a second vehicle positioned ahead of the first vehicle on the roadway that indicates that the second vehicle has decreased its velocity;

a processor that, based on the safety message, generates a message for the other vehicles indicating that the vehicle-to-vehicle communication unit has designated itself as an ad hoc host for determining information about a congestion area on a roadway and provides the generated message to the vehicle communication transceiver, which transmits the generated message to the other vehicles.

2. The vehicle-to-vehicle communication unit of claim 1 wherein the vehicle communication transceiver further receives a message indicating that a vehicle-to-vehicle communication unit previously acting as an ad hoc host has abandoned its role as ad hoc host.

3. The vehicle-to-vehicle communication unit of claim 1 wherein before designating itself as an ad hoc host, the processor determines that the vehicle-to-vehicle unit is at least a set distance from the second vehicle.

4. The vehicle-to-vehicle communication unit of claim 3 wherein before designating itself as an ad hoc host, the processor determines that the first vehicle that the vehicle-to-vehicle communication unit is installed in is travelling at least as fast as the second vehicle before the second vehicle decreased its velocity.

5. The vehicle-to-vehicle communication unit of claim 4 wherein before designating itself as an ad hoc host, the processor determines that the vehicle-to-vehicle unit is heading within a set angle of the heading of the second vehicle.

6. The vehicle-to-vehicle communication unit of claim 1 wherein after designating itself as ad hoc host, the processor periodically transmits messages indicating a position for a start of the congestion area as determined by a previous ad hoc host, a position for an end of the congestion area as determined by the previous ad hoc host and a travel time for passing through the congestion as determined by the previous ad hoc host.

7. The vehicle-to-vehicle communication unit of claim 6 wherein the periodically transmitted messages further comprise a name of a road that the congestion area is located on.

8. The vehicle-to-vehicle communication unit of claim 7 wherein the periodically transmitted messages further comprise a direction of travel.

9. The vehicle-to-vehicle communication unit of claim 6 wherein after designating itself as ad hoc host, the processor stores the position where the first vehicle carrying the vehicle-to-vehicle communication unit slows as a new position for the start of the congestion area.

10. The vehicle-to-vehicle communication unit of claim 9 wherein after storing the new position for the start of the congestion area, the processor stores a position where the first vehicle carrying the vehicle-to-vehicle communication unit speeds up as a new position for the end of the congestion area.

11. The vehicle-to-vehicle communication unit of claim 10 wherein after storing the new position of the end of the congestion area, the processor stores the time the first vehicle carrying the vehicle-to-vehicle communication unit required to travel from the new position of the start of the congestion area to the new position of the end of the congestion area as a new travel time for the congestion area.

12. The vehicle-to-vehicle communication unit of claim 11 wherein the processor generates a new congestion message providing the new position of the start of the congestion area, the new position of the end of the congestion area and the new travel time and wherein the vehicle communication transceiver broadcasts the new congestion message to at least one other vehicle.

13. The vehicle-to-vehicle communication unit of claim 12 wherein generating the new congestion message comprises setting a status for the ad hoc host in the new congestion message that indicates that the vehicle-to-vehicle communication unit is abandoning its role as an ad hoc host.

14. A vehicle comprising:

a position system determining positions of the vehicle;

a speed system determining speeds of the vehicle;

a processor determining a position of a start of congestion from speeds provided by the speed system and a position provided by the position system, and determining a position of an end of congestion from speeds provided by the speed system and a position provided by the position system; and

a communication system receiving the position of the start of congestion and the position of the end of congestion from the processor and communicating directly to at least one other vehicle to provide the position of the start of congestion and the position of the end of congestion.

15. The vehicle of claim 14 further comprising a clock and wherein the processor further determines a time to travel from the position of the start of congestion to the position of the end of congestion based on times from the clock.

16. The vehicle of claim 15 wherein the communication system communicates directly to at least one other vehicle to provide the time to travel from the position of the start of congestion to the position of the end of congestion.

17. The vehicle of claim 14 wherein before determining the position of the start of congestion the communication system communicates directly to at least one other vehicle to convey that the vehicle has designated itself as an adhoc host for determining the position of the start of congestion and the position of the end of congestion.

18. The vehicle of claim 17 wherein before conveying that the vehicle has designated itself as an adhoc host, the processor determines if the vehicle is positioned before the start of congestion.

19. The vehicle of claim 18 wherein the processor determines if the vehicle is positioned before the start of congestion based on a message sent to the vehicle from another vehicle that indicates that the other vehicle is decelerating and the position where the other vehicle is decelerating.

20. The vehicle of claim 19 wherein the processor determines if the vehicle is positioned before the start of congestion by determining if the vehicle is within a threshold distance of where the other vehicle decelerated.

21. The vehicle of claim 20 wherein the processor determines if the vehicle is positioned before the start of congestion by determining a heading for the vehicle and a heading for the other vehicle and determining if an angle between the two headings is less than a threshold angle.

22. The vehicle of claim 21 wherein the processor determines if the vehicle is positioned before the start of congestion by determining if the speed of the vehicle is substantially similar to the speed of the other vehicle before the other vehicle decelerated.

23. A system of vehicles comprising:

a decelerating vehicle entering a congestion area and issuing, by a communication unit, a vehicle-to-vehicle message indicating the position of the vehicle and that the vehicle is decelerating; and

a free-flow vehicle that has yet to reach the congestion area, receiving, by a second communication unit, the vehicle-to-vehicle message and based on the message evaluating whether the free-flow vehicle is a candidate for evaluating the congestion and when the free flow vehicle is a candidate for evaluating the congestion, the free flow vehicle issuing a vehicle-to-vehicle message indicating that the free-flow vehicle has designated itself to begin evaluating the congestion and thereby becoming a host vehicle.

24. The system of claim 23 wherein after issuing the vehicle-to-vehicle message indicating that the host vehicle has designated itself to begin evaluating the congestion, the host vehicle issues a message indicating a start position of the congestion area, an end position of the congestion area and a travel time for passing through the congestion area that were determined by another vehicle.

25. The system of claim 24 wherein the free-flow vehicle determines if it is a candidate for evaluating the congestion by comparing a speed of the free-flow vehicle to a speed of the decelerating vehicle before the decelerating vehicle decelerated.

26. The system of claim 24 wherein the free-flow vehicle further determines if it is a candidate for evaluating the congestion by determining if a difference between a heading for the decelerating vehicle and a heading of the free-flow vehicle is less than a threshold.

27. The system of claim 23 wherein the free-flow vehicle determines a new starting position of the congestion area, a new ending position of the congestion area, and a new travel time for travelling from the new starting position of the congestion area to the new ending position of the congestion area.

28. The system of claim 27 wherein the host vehicle issues a vehicle-to-vehicle message indicating the new starting position of the congestion area, the new ending position of the congestion area and the new travel time and indicating that the host vehicle will no longer evaluate the congestion.

29. The system of claim 27 further comprising multiple host vehicles at a same time, wherein each host vehicle issues a vehicle-to-vehicle message indicating that the host vehicle has designated itself to begin evaluating the congestion.

30. The system of claim 29 wherein one of the host vehicles is designated as a master host vehicle and the remaining host vehicles are designated as slave host vehicles such that the master host vehicle but not the slave host vehicles issues a message indicating a start position of the congestion area, an end position of the congestion area and a travel time for passing through the congestion area that were determined by another vehicle.