Methods and systems for semi-autonomous vehicular convoys

• US 10,042,365 B2
• Filed: 11/17/2017
• Issued: 08/07/2018
• Est. Priority Date: 07/06/2011
• Status: Active Grant

• Current Assignee: Peloton Technology, Inc.
• Original Assignee: Peloton Technology, Inc.
• Inventors: Switkes, Joshua P., Gerdes, Joseph Christian
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US15/817,038
• Publication Number:
  US 20180074514A1
• Time in Patent Office: 263 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 a method and system for enabling vehicles to closely follow one another through partial automation. Following closely behind another vehicle an have significant fuel savings benefits, but is unsafe when done manually by the driver. By directly commanding the engine torque and braking of the following vehicle while controlling the gap between vehicles using a sensor system, and additionally using a communication link between vehicles that allows information about vehicle actions, such as braking events, to be anticipated by the following vehicle, a Semi-Autonomous Vehicular Convoying System that enables vehicles to follow closely together in a safe, efficient and convenient manner may be achieved.

Claims

1. A method for convoying a plurality of vehicles, comprising:

receiving, by a computerized controller on a first vehicle from among the plurality of vehicles, information about a second vehicle from among the plurality of vehicles via a communication link between the first vehicle and the second vehicle;

receiving, by the computerized controller on the first vehicle, information from a sensor system regarding a gap distance between the first vehicle and the second vehicle; and

commanding, by the computerized controller on the first vehicle, engine torque of the first vehicle to maintain the gap distance to a predetermined value.

2. The method of claim 1, additionally comprising:

commanding, by the computerized controller on the first vehicle, braking of the first vehicle to maintain the gap distance to a predetermined value.

3. The method of claim 1, wherein:

the predetermined value for the gap distance is selected based on the information about the second vehicle and the information from the sensor system.

4. The method of claim 1, wherein:

the first vehicle is positioned to follow behind the second vehicle.

5. The method of claim 1, wherein

the communication link is a wireless radio frequency communication link.

6. The method of claim 1, wherein

the information about the second vehicle is information about a braking event.

7. The method of claim 3, wherein

the information about the second vehicle is selected from the group consisting of:

acceleration information, braking information, convoying system activation, convoying system deactivation, convoying system faults, second vehicle distance from the first vehicle, second vehicle speed relative to the first vehicle, one or more data streams used to control the second vehicle,

brake application pressure, brake air supply reservoir pressure, engine torque, engine revolutions per minute (RPM), compression brake application, accelerator pedal position, engine manifold pressure, computed delivered torque, vehicle speed, battery voltage, radar data, lidar data,

accelerometer data, tire pressure, information about obstacles or other vehicles in front of the second vehicle, and video from a camera on the second vehicle.

8. The method of claim 1, wherein

the sensor system is attached to the first vehicle.

9. The method of claim 1, wherein

the sensor system is a radar system.

10. The method of claim 1, wherein

the sensor system is a lidar system.

11. The method of claim 1, additionally comprising:

receiving, by the computerized controller on the first vehicle, data via a long range communication link before the step of controlling begins.

12. The method of claim 11, wherein:

the data received via the long range communication link provides an authorization to platoon.

13. The method of claim 11, wherein:

the data providing an authorization to platoon is received via the long range communication link from a central server.

14. The method of claim 1, wherein

the first vehicle and the second vehicle are both trucks.

15. A method for convoying a plurality of vehicles, comprising:

receiving, by a computerized controller on a first vehicle from among the plurality of vehicles, information about a second vehicle from among the plurality of vehicles via a communication link between the first vehicle and the second vehicle;

receiving, by the computerized controller on the first vehicle, information from a sensor system regarding a gap distance between the first vehicle and the second vehicle;

computing, by the computerized controller on the first vehicle, an amount of delivered torque for the first vehicle needed to maintain the gap distance to a predetermined value; and

commanding, by the computerized controller on the first vehicle, the torque for the first vehicle to match the computed amount of delivered torque.

16. The method of claim 15, additionally comprising:

commanding, by the computerized controller on the first vehicle, braking of the first vehicle to maintain the gap distance to a predetermined value.

17. The method of claim 15, wherein:

the first vehicle is positioned to follow behind the second vehicle.

18. The method of claim 15, additionally comprising:

receiving, by the computerized controller on the first vehicle before the step of controlling begins,

data via a long range communication link from a central server that provides an authorization to platoon.

19. The method of claim 15, wherein

the first vehicle and the second vehicle are both trucks.

20. A method for platooning a following vehicle behind a lead vehicle, comprising:

receiving, by a computerized controller on the following vehicle information about the lead vehicle via a communication link between the following vehicle and the lead vehicle;

receiving, by the computerized controller on the following vehicle, information from a sensor system on the following vehicle regarding a gap distance between the following vehicle and the lead vehicle; and

commanding, by the computerized controller on the following vehicle, engine torque of the following vehicle to maintain a close following distance behind the lead vehicle, the close following distance being sufficiently small to enable a measurable gain in fuel efficiency for both the lead vehicle and the following vehicle.

21. The method of claim 20, additionally comprising:

commanding, by the computerized controller on the following vehicle, braking of the first vehicle to maintain the close following distance behind the lead vehicle.

22. The method of claim 20, wherein:

the close following distance is selected based on the information about the lead vehicle and the information from the sensor system.

23. The method of claim 20, additionally comprising:

receiving, by the computerized controller on the first vehicle before the step of controlling begins, data via a long range communication link from a central server that provides an authorization to platoon.

24. The method of claim 20, wherein

the following vehicle and the lead vehicle are both trucks.

25. 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 at least one 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;

a computerized controller configured to receive the measured acceleration and deceleration and the separation distance

and to command engine torque and braking of one of the lead vehicle and the at least one follower vehicle to thereby maintain a close following distance between the lead vehicle and the at least one follower vehicle, the close following distance being sufficiently small to enable a measurable gain in fuel efficiency for both the lead vehicle and the following vehicle.

26. The convoying control system of claim 25, wherein

the computerized controller is coupled to an engine control unit (ECU) of one of the lead vehicle and the at least one follower vehicle.

27. The convoying control system of claim 25, wherein

the vehicular separation sensor includes at least one of a distance sensor and a relative speed sensor.

28. The convoying control system of claim 25, wherein

the vehicular separation sensor is further configured to detect a relative speed between the lead vehicle and the at least one follower vehicle.

29. The convoying control system of claim 25, additionally comprising:

a second transceiver to receive data via a long range communication link from a central server that provides an authorization to platoon.

30. The convoying control system of claim 25, wherein

both the lead vehicle and the at least one follower vehicle are trucks.