Devices, systems, and methods for remote authorization of autonomous vehicle operation

• US 10,078,338 B2
• Filed: 02/25/2018
• Issued: 09/18/2018
• Est. Priority Date: 08/26/2015
• Status: Active Grant

• Current Assignee: Peloton Technology, Inc.
• Original Assignee: Peloton Technology, Inc.
• Inventors: Smartt, Brian E., Price, Charles A., Switkes, Joshua P.
• Primary Examiner(s): Kan, Yuri
• Application Number:
  US15/904,415
• Publication Number:
  US 20180210457A1
• Time in Patent Office: 205 Days
• CPC Class Codes: B60W 2300/145 Semi-trailers
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2510/0676 Engine temperature
• CPC Class Codes: B60W 2510/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2530/209 Fuel quantity remaining in tank
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/25 Road altitude
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 2556/35 Data fusion
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: G05D 1/0027 : involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0285 : using signals transmitted via a public communication network, e.g. GSM network
• 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: G06F 21/30 : Authentication, i.e. establishing the identity or authorisation of security principals
• CPC Class Codes: G06F 21/44 : Program or device authentication
• CPC Class Codes: G08G 1/161 : Decentralised systems, e.g. inter-vehicle communication
• 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 12/04 : Key management, e.g. using generic bootstrapping architecture [GBA]
• CPC Class Codes: H04W 12/08 : Access security
• CPC Class Codes: H04W 4/023 : using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 4/029 : Location-based management or tracking services
• CPC Class Codes: H04W 4/38 : for collecting sensor information
• CPC Class Codes: H04W 4/46 : for vehicle-to-vehicle communication [V2V]

Abstract

Systems and methods for coordinating and controlling vehicles, for example heavy trucks, to follow closely behind each other, or linking to form a platoon. In one aspect, on-board controllers in each vehicle interact with vehicular sensors to monitor and control, for example, relative distance, relative acceleration or deceleration, and speed. In some aspects, vehicle onboard systems supply various data (breadcrumbs) to a Network Operations Center (NOC), which in turn provides data (authorization data) to the vehicles to facilitate platooning. The NOC suggests vehicles for platooning based on, for example, travel forecasts and analysis of relevant roadways to identify platoonable roadway segments. The NOC also can provide traffic, roadway, weather, or system updates, as well as various instructions. In some aspects, a mesh network ensures improved communication among vehicles and with the NOC. In some aspects, a vehicle onboard system may provide the authorization data.

Claims

1. A method of remotely authorizing vehicle automation for one or more vehicles out of a plurality of vehicles, the vehicle automation including autonomous operation of the one or more vehicles, the method comprising:

analyzing, at a network operations center (NOC), external conditions in a vicinity of one or more of the plurality of vehicles, the external conditions being selected from the group consisting of location, time of day, road conditions, weather, and traffic; and

responsive to the analyzing of the external conditions, authorizing, at the NOC, the autonomous operation of at least one of the plurality of vehicles;

the authorizing enabling the at least one vehicle to engage in autonomous operation which enables forming a platoon between at least two of the plurality of vehicles, the platoon including a lead vehicle and one or more following vehicles,

the autonomous operation comprising specifying which of the plurality of vehicles are authorized to form the platoon and which of those vehicles will be the lead vehicle and which will be the one or more following vehicles.

2. The method of claim 1, further comprising:

analyzing, at the NOC, internal conditions relating to the one or more of the plurality of vehicles, the internal conditions being selected from the group consisting of vehicle characteristics, vehicle position, vehicle route, vehicle destination, heading, and platooning availability; and

wherein the authorizing, at the NOC, is responsive to the analyzing of the external and internal conditions.

3. The method of claim 1, wherein the authorizing further comprises transmitting one or more data packets containing information to:

specify a gap between the lead and the one or more following vehicles.

4. The method of claim 3, wherein the authorizing comprises transmitting one or more further data packets containing information to change one or more of the first location, the second location, or the gap.

5. The method of claim 1, wherein the road conditions comprise one or more items selected from the group consisting of road type, road geometry, road grade, road width, road conditions, road regulatory information, topography, absolute position, altitude, and altitude changes.

6. The method of claim 2, wherein vehicle characteristics comprise one or more items selected from the group consisting of vehicle weight, vehicle dimensions, vehicle type, and vehicle condition.

7. The method of claim 6, wherein vehicle condition comprises one or more items selected from the group consisting of vehicle age, mileage, brake condition, transmission condition, engine temperature, odometer reading, load information, and driver status.

8. The method of claim 7, wherein load information comprises one or more items selected from the group consisting of customer, load type, time when the load was placed in the vehicle, and length of time that the load has been on the vehicle.

9. The method of claim 7, wherein driver status comprises one or more items selected from the group consisting of driver age, length of time the driver has been behind the wheel of the vehicle, and time remaining for the driver to be behind the wheel of the vehicle.

10. The method of claim 1, wherein the plurality of vehicles are trucks.

11. The method of claim 1, wherein authorizing the autonomous operation further comprises transmitting at least one authentication key to enable secure communication between the NOC and the at least one vehicle.

12. The method of claim 1, wherein authorizing the autonomous operation further comprises transmitting at least one authentication key to enable secure communication between the lead vehicle and the one or more following vehicles.

13. A system to remotely authorize vehicle automation for one or more vehicles out of a plurality of vehicles, the vehicle automation including autonomous operation of the one or more vehicles, the system comprising:

a network operations center (NOC) including at least one processor and associated non-volatile memory, the non-volatile memory containing instructions which, when executed, enable performance of the following;

analyzing, at the NOC, external conditions in a vicinity of one or more of the plurality of vehicles, the external conditions being selected from the group consisting of location, time of day, road conditions, weather, and traffic; and

responsive to the analyzing of the external conditions, authorizing, at the NOC, the autonomous operation of at least one of the plurality of vehicles;

the authorizing enabling the at least one vehicle to engage in autonomous operation which enables forming a platoon between at least two of the plurality of vehicles, the platoon including a lead vehicle and one or more following vehicles,

the autonomous operation comprising specifying which of the plurality of vehicles are authorized to form the platoon and which of those vehicles will be the lead vehicle and which will be the one or more following vehicles.

14. The system of claim 13, wherein the authorizing comprises transmitting one or more further data packets containing information to change one or more of the vehicles authorized to engage in autonomous operation, the time of the autonomous authorization, or the duration of the autonomous authorization.

15. The system of claim 13, wherein the non-volatile memory further contains instructions which, when executed, enable performance of the following:

analyzing, at the NOC, internal conditions relating to the one or more of the plurality of vehicles, the internal conditions being selected from the group consisting of vehicle characteristics, vehicle position, vehicle route, vehicle destination, heading, and platooning availability; and

wherein the authorizing, at the NOC, is responsive to the analyzing of the external and internal conditions.

16. The system of claim 13, wherein the authorizing comprises transmitting one or more further data packets containing information to change one or more of the first location or the second location.

17. The system of claim 13, wherein the road conditions comprise one or more items selected from the group consisting of road type, road geometry, road grade, road width, road conditions, road regulatory information, topography, absolute position, altitude, and altitude changes.

18. The system of claim 15, wherein vehicle characteristics comprise one or more items selected from the group consisting of vehicle weight, vehicle dimensions, vehicle type, and vehicle condition.

19. The system of claim 18, wherein vehicle condition comprises one or more items selected from the group consisting of vehicle age, mileage, brake condition, transmission condition, engine temperature, odometer reading, load information, and driver status.

20. The system of claim 19, wherein load information comprises one or more items selected from the group consisting of customer, load type, time when the load was placed in the vehicle, and length of time that the load has been on the vehicle.

21. The system of claim 19, wherein driver status comprises one or more items selected from the group consisting of driver age, length of time the driver has been behind the wheel of the vehicle, and time remaining for the driver to be behind the wheel of the vehicle.

22. The system of claim 13, wherein the plurality of vehicles are trucks.

23. The system of claim 13, wherein authorizing the autonomous operation further comprises transmitting at least one authentication key to enable secure communication between the NOC and the at least one vehicle.

28. The system of claim 13, wherein authorizing the autonomous operation further comprises transmitting at least one authentication key to enable secure communication between the lead vehicle and the one or more following vehicles.

24. In a system to remotely authorize vehicle automation for one or more vehicles out of a plurality of vehicles, the vehicle automation including autonomous operation of the one or more vehicles, a non-volatile memory containing instructions which, when executed, enable performance of the following:

analyzing, at a network operations center (NOC), external conditions in a vicinity of one or more of the plurality of vehicles, the external conditions being selected from the group consisting of location, time of day, road conditions, weather, and traffic; and

responsive to the analyzing of the external conditions, authorizing, at the NOC, the autonomous operation of at least one of the plurality of vehicles;

the authorizing enabling the at least one vehicle to engage in autonomous operation which enables forming a platoon between at least two of the plurality of vehicles, the platoon including a lead vehicle and one or more following vehicles,

the autonomous operation comprising specifying which of the plurality of vehicles are authorized to form the platoon and which of those vehicles will be the lead vehicle and which will be the one or more following vehicles.

25. The non-volatile memory of claim 24, wherein the plurality of vehicles are trucks.

26. The non-volatile memory of claim 24, wherein authorizing the autonomous operation further comprises transmitting at least one authentication key to enable secure communication between the NOC and the at least one vehicle.

27. The non-volatile memory of claim 24, further containing instructions which, when executed, enable performance of the following:

analyzing, at the NOC, internal conditions relating to the one or more of the plurality of vehicles, the internal conditions being selected from the group consisting of vehicle characteristics, vehicle position, vehicle route, vehicle destination, heading, and platooning availability; and

wherein the authorizing, at the NOC, is responsive to the analyzing of the external and internal conditions.

29. The non-volatile memory of claim 24, wherein authorizing the autonomous operation further comprises transmitting at least one authentication key to enable secure communication between the lead vehicle and the one or more following vehicles.