System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles

• US 10,474,166 B2
• Filed: 03/20/2018
• Issued: 11/12/2019
• Est. Priority Date: 07/06/2011
• Status: Expired due to Fees

• Current Assignee: Peloton Technology, Inc.
• Original Assignee: Peloton Technology, Inc.
• Inventors: Switkes, Joshua P., Erlien, Stephen M., Laubinger, Lorenz
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US15/926,813
• Publication Number:
  US 20180210464A1
• Time in Patent Office: 602 Days
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• 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 2510/0638 Engine speed
• CPC Class Codes: B60W 2510/0657 Engine torque
• CPC Class Codes: B60W 2510/0671 Engine manifold pressure
• 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 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 : Relative longitudinal speed
• CPC Class Codes: B60W 2555/20 : Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/65 : Data transmitted between vehicles
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 2720/10 : Longitudinal speed
• CPC Class Codes: B60W 2754/30 : Longitudinal distance
• CPC Class Codes: B60W 2754/50 : Relative longitudinal speed
• CPC Class Codes: B60W 30/165 : Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 50/16 : Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: B62D 15/026 : combined with automatic distance control, i.e. electronic tow bar
• CPC Class Codes: G05D 1/00 : Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/02 : Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0217 : in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0223 : involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• 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: G08G 1/163 : involving continuous checking
• CPC Class Codes: G08G 1/164 : Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• 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: H04L 67/125 : involving control of end-device applications over a network
• CPC Class Codes: H04W 84/005 : Moving wireless networks

Abstract

A system and method for mitigating or avoiding risks due to hazards encountered by platooning vehicles. The system and method involve interrogating, with one or more sensors, a space radially extending from a lead vehicle as the lead vehicle travels over the road surface, perceiving the environment within the space, ascertaining a hazard caused by an object in the space, and causing a following vehicle, operating in a platoon with the lead vehicle, to take a preemptive braking action to avoid or mitigate risks resulting from the hazard caused by the object in the space.

Claims

1. A system arranged to operate on a following vehicle in a platoon with a lead vehicle, the system configured to:

receive a notice at the following vehicle from the lead vehicle of a braking event by the lead vehicle;

in response to the notice, coordinating deceleration between the following vehicle and the lead vehicle such that;

the following vehicle brakes before the lead vehicle decelerates; and

the following vehicle reduces velocity more than the lead vehicle,

wherein the combination of the braking of the following vehicle before the lead vehicle and the following vehicle reducing velocity more than the lead vehicle results in an increase of a gap between the lead vehicle and the following vehicle.

2. The system of claim 1, further comprising, in response to the notice, coordinating the braking between the lead vehicle and the following vehicle such that the following vehicle reduces speed by (X) meters per second and the lead vehicle reduces speed by (Y) meters per second, where (X) is greater than (Y).

3. The system of claim 1, further comprising, in response to the notice, coordinating the braking between the lead vehicle and the following vehicle by pressurizing pneumatic brakes on the following vehicle and applying the brakes on the following vehicle before the lead vehicle.

4. The system of claim 1, wherein the braking event by the lead vehicle is initiated by one of the following:

(a) a driver of the lead vehicle;

(b) an active cruise control system operating on the lead vehicle;

(c) an automated driving unit operating on the lead vehicle.

5. The system of claim 1, wherein the lead vehicle and the following vehicle are both tractor-trailer trucks.

6. The system of claim 1, further comprising:

a first communication gateway on the lead vehicle;

a second communication gateway on the following vehicle, wherein the first and second communication gateways establish a data link between the lead and the following vehicles and the notice is communicated from the lead vehicle to the following vehicle over the data link.

7. The system of claim 6, wherein the data link is wireless.

8. The system of claim 6, wherein data link is implemented using one of the following:

a Dedicated Short-Range Communications (DSRC) data link;

a cellular data link;

a WiFi data link.

9. The system of claim 1, wherein the lead vehicle is further configured to communicate to the following vehicle, in addition to the notice, data indicative of one or more of the following:

(a) brake application pressure;

(b) brake air supply reservoir pressure;

(c) engine torque;

(d) engine speed;

(e) engine Manifold Air Pressure (MAP);

(f) speed of the lead vehicle; and

/or

(g) radar or lidar imagining.

10. The system of claim 9, wherein the following vehicle is further arranged to use any of (a) through (g) to ascertain a rate of velocity reduction for the following vehicle, relative to the lead vehicle, in response to the notice.

11. A system configured to operate on a following vehicle in a platoon behind a lead vehicle, the system configured to:

receive data generated by one or more sensors arranged to interrogate a space radially extending from the lead vehicle as the lead vehicle travels over a road surface;

ascertain from the data a hazard caused by an object in the space; and

coordinating preemptive action, in response to the ascertained hazard, between the lead vehicle and the following vehicle while operating in the platoon, the coordinated preemptive action causing the following vehicle to take a first preemptive action to avoid or mitigate a risk resulting from the hazard caused by the object in the space, the first preemptive action taken by the following vehicle coordinated to occur prior to the lead vehicle taking any second action to avoid or mitigate the risk resulting from the hazard caused by the object in the space.

12. The system of claim 11, wherein the first preemptive action comprises one or more of the following:

(a) flashing or operating warning lights on the following vehicle;

(b) operating a horn on the following vehicle;

(c) operating visual warnings on the following vehicle;

(d) operating haptic actuators on the following vehicle;

(e) manipulating a radio on the following vehicle;

(f) preparations for braking;

or

(g) pre-tensioning seat belt(s).

13. The system of claim 11, wherein the first preemptive action comprises one or more of the following:

(a) braking;

(b) steering;

(c) engine retard braking;

(d) transmission gear shifts;

(e) adjusting throttle or

(f) a torque request;

(g) spoiler adjustments;

or

(h) differential steering.

14. The system of claim 11, wherein the one or more sensors on the lead vehicle comprise one or more of the following:

(a) a radar detection system;

(b) a LIDAR or laser detection system;

(c) a camera or imaging system;

(d) a radio system;

(e) an automated braking system;

(f) an automated collision avoidance system;

(g) a GPS system;

(h) cruise control system;

(i) passive sensors; and

(j) active sensors.

15. The system of claim 11, further comprising a threat level detection element arranged to interpret the data and to ascertain a hazard severity level caused by the object in the space.

16. The system of claim 11, further comprising a machine learning element configured to ascertain a hazard severity level caused by the object by using pattern recognition and a learning algorithm that aids in identifying the object and the severity of the threat caused by the object.

17. The system of claim 11, wherein the first preemptive action involves generating an actuator command for actuating an actuator on the following vehicle.

18. The system of claim 11, further comprising a first platoon controller for the lead vehicle and a second platoon controller for the following vehicle, the first and second platoon controllers communicating so that:

(a) a desired gap is maintained between the two vehicles during platooning; and

(b) as a result of the coordinated preemptive action, the platoon is dissolved.

19. The system of claim 11, wherein the data is generated by the one or more sensors on the lead vehicle, while the system on the following vehicle is responsible for:

(a) ascertaining the hazard caused by the object; and

(b) determining the first preemptive action to be taken by the following vehicle.

20. The system of claim 11, wherein the lead vehicle is configured to be driven by one of the following:

(a) a driver;

(b) an autonomous driving system;

or

(c) a combination of both (a) and (b).

21. The system of claim 11, wherein the platoon can be dissolved by a decision on either the lead vehicle or the following vehicle.

22. The system of claim 11, wherein the lead vehicle and the following vehicle are both tractor-trailer trucks.

23. A The system of claim 11, wherein the first preemptive action taken by the following vehicle causes the platoon to dissolve.

24. A The system of claim 23, wherein the first preemptive action taken by the following vehicle to cause the platoon to dissolves involves initiating a reduction in velocity of the following vehicle with respect to the lead vehicle prior to the lead vehicle taking the second action to avoid or mitigate the risk resulting from the hazard caused by the object in the space.

25. The system of claim 24, wherein initiating the reduction in the velocity of the following vehicle is accomplished by one or more of the following:

(a) applying brakes on the following vehicle;

(b) applying a retarder on the following vehicle;

(c) adjusting the engine torque on the following vehicle;

(d) adjusting a tractive force;

or

(d) any combination of (a) through (d).

26. The system of claim 11, wherein the first preemptive action involves reducing the velocity of the following vehicles relative to the lead vehicle, wherein the reduced velocity ranges from (−

0.1 to −

2.0) meters per second relative to the lead vehicle.

27. The system of claim 11, wherein a gap is maintained between the lead vehicle and the following vehicle while operating in the platoon and the first preemptive action taken by the following vehicle causes an increase in the gap between the lead vehicle and the following vehicle without dissolving the platoon.

28. The system of claim 27, wherein the gap is increased between the lead vehicle and the following vehicle by reducing the velocity of the following vehicle relative to the lead vehicle.

29. The system of claim 27, further configured to:

(a) ascertain when the hazard caused by the object is no longer a threat; and

(b) decrease the gap between the lead and following vehicles after the hazard caused by the object is no longer a threat.

30. The system of claim 11, further configured to:

define a plurality of tiered severity threat levels, each of the plurality of tiered severity threat levels defining one or more preemptive action(s) respectively;

selecting one of the plurality of tiered severity threat levels commensurate with the ascertained hazard caused by the object in the space; and

arranging for the following vehicle to implement the first preemptive action, the first preemptive action commensurate with the selected tiered severity threat level.

31. The system of claim 30, wherein the plurality of tiered threat levels include:

(a) a first warning threat level;

(b) a second gap increase level without dissolving the platoon;

(c) a third platoon dissolve level; and

(d) a fourth platoon dissolve level with braking by the following vehicle.

32. A system operating on a lead vehicle in a platoon with a following vehicle, the system configured to:

(a) ascertain a hazard caused by an object in a space adjacent the lead vehicle from data generated by one or more sensors on the lead vehicle;

(b) determine a preemptive action for the following vehicle on the lead vehicle, the preemptive action for avoiding or mitigating a risk associated with the hazard; and

(c) relay one or more commands to the following vehicle indicative of the determined preemptive action,

wherein the following vehicle is arranged to implement the preemptive action in response to the relayed one or more commands.