Vehicle platooning systems and methods

• US 10,481,614 B2
• Filed: 05/08/2017
• Issued: 11/19/2019
• 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., Gerdes, Joseph Christian, Berdichevsky, Eugene
• Primary Examiner(s): Weber, Tamara L
• Application Number:
  US15/589,124
• Publication Number:
  US 20170308097A1
• Time in Patent Office: 925 Days
• Field of Search: None
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2530/209 Fuel quantity remaining in tank
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• 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 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• 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: 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 4/44 for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
• CPC Class Codes: H04W 84/005 Moving wireless networks

Abstract

Systems and methods for coordinating and controlling vehicles, for example heavy trucks, to follow closely behind each other, or linking, in a convenient, safe manner and thus to save significant amounts of fuel while increasing safety. In an embodiment, on-board controllers in each vehicle interact with vehicular sensors to monitor and control, for example, relative distance, relative acceleration/deceleration, and speed. Additional safety features in at least some embodiments include providing each driver with one or more visual displays of forward and rearward looking cameras. Long-range communications are provided for coordinating vehicles for linking, and for communicating analytics to fleet managers or others.

Claims

1. A computerized vehicular convoying control system, useful in association with a plurality of vehicles to identify one or more opportunities to form a convoy of a lead vehicle and at least one following vehicle, the control system comprising, on the at least one following vehicle:

a first computerized controller, responsive to remotely-transmitted information, from a source remote from the lead vehicle and the at least one following vehicle, regarding the lead vehicle and the at least one following vehicle, and configured to compute a smooth trajectory for the at least one following vehicle as part of the identification of the opportunity to convoy, the information regarding the lead vehicle and the at least one following vehicle being selected from the group consisting of;

vehicle location, vehicle destination, vehicle load, vehicle type, and trailer type;

a first inter-vehicular transceiver configured to enable communications between the first computerized controller and a second computerized controller on the lead vehicle;

a first vehicular separation sensor configured to detect a distance between the lead vehicle and the at least one following vehicle, and further configured to detect a relative speed between the lead vehicle and the at least one following vehicle, and to provide such distance and relative speed to the first computerized controller; and

a first user interface configured to receive an input from the first computerized controller and to provide vehicular data to a driver;

the system further comprising, on the lead vehicle;

a second computerized controller that is responsive to remotely-transmitted information regarding the lead vehicle and the at least one following vehicle, and configured to compute a smooth trajectory for the lead vehicle as part of the identification of the opportunity to convoy, the information regarding the lead vehicle and the at least one following vehicle being selected from the group consisting of;

vehicle location, vehicle destination, vehicle load, vehicle type, and trailer type;

a second long-range vehicular transceiver configured to communicate between the source, comprising a central server, and the second computerized controller;

a second user interface configured to receive an input from the second computerized controller and to provide vehicular data to a driver;

a second inter-vehicular transceiver configured to enable communications between the second computerized controller and the first computerized controller; and

a forward-facing camera configured to substantially capture a substantially frontal image as viewed from the lead vehicle and to provide such frontal image to the second computerized controller, wherein the substantially frontal image is provided to the first computerized controller via the first and second inter-vehicular transceivers.

2. The convoying control system of claim 1 further comprising:

a first braking actuation sensor configured to measure brake actuation and to provide such brake actuation measurements to the first computerized controller;

a first supplemental braking actuator responsive to inputs from the first computerized controller to vary braking of the at least one following vehicle;

a first acceleration actuation sensor for measuring acceleration actuation and providing such measured acceleration to the first computerized controller; and

a first supplemental acceleration actuator responsive to the first computerized controller to vary acceleration of the at least one following vehicle.

3. The convoying control system of claim 1, further comprising:

a long-range vehicular transceiver configured to communicate between the source, comprising a central server, and the first computerized controller.

4. The convoying control system of claim 1, further comprising:

a global positioning system (GPS) receiver providing positioning information to the first computerized controller.

5. The convoying control system of claim 1, wherein

the second inter-vehicular transceiver is coupled to, and further configured to operate, a rear brake light of the lead vehicle independently of the lead vehicle'"'"'s braking system as a transmitter of vehicular control signals from the lead vehicle to the at least one following vehicle.

6. The convoying control system of claim 1, wherein

the first inter-vehicular transceiver and the second inter-vehicular transceiver are configured to communicate using a radio frequency.

7. The convoying control system of claim 1, wherein

the first computerized controller detects at least one hazardous condition selected from the group consisting of:

lane drift, an obstacle in a lane of travel, a wet road surface, an icy road surface, a tire blowout, presence of pedestrians in the lane of travel, and the presence of a construction zone;

and wherein the first computerized controller safely brakes the at least one following vehicle upon detection of the at least one hazardous condition, and alerts the driver upon detection of the at least one hazardous condition.

8. The convoying control system of claim 7, wherein

the first computerized controller alerts the driver by providing a deceleration impulse.

9. The convoying control system of claim 1, wherein

the first computerized controller computes an ordering of the lead vehicle and the at least one following vehicle in accordance with at least one of:

a vehicle weight, a vehicle load, weather condition, road condition, fuel remaining, fuel saving, accrued linking time, braking technology, brake pad wear, a vehicular linking location, and a destination address.

10. The convoying control system of claim 1, wherein

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

11. A computerized vehicular convoying control system, useful in association with a lead vehicle and at least one follower vehicle to implement a convoy, the control system comprising, on the at least one follower vehicle:

a first computerized controller, responsive to remotely-transmitted information, from a source remote from the lead vehicle and the at least one follower vehicle, regarding the lead vehicle and the at least one follower vehicle, and configured to monitor and control acceleration and deceleration of the at least one follower vehicle, thereby maintaining a safe vehicular spacing between the lead vehicle and the at least one follower vehicle while moving, the information regarding the lead vehicle and the at least one follower vehicle being selected from the group consisting of;

vehicle location, vehicle destination, vehicle load, vehicle type, and trailer type;

a first user interface configured to receive an input from the lead computerized controller and to provide vehicular data to a driver;

a first inter-vehicular transceiver configured to communicate between the first computerized controller and a second computerized controller on the lead vehicle;

a vehicular separation sensor configured to detect a distance between the lead vehicle and the at least one follower vehicle, and further configured to detect a relative speed between the lead vehicle and the at least one follower vehicle, and to provide such distance and relative speed to the first computerized controller;

wherein

the second computerized controller is responsive to remotely-transmitted information regarding the lead vehicle and the at least one follower vehicle, and configured to monitor acceleration and deceleration of the at least one follower vehicle, thereby maintaining a safe vehicular spacing between the lead vehicle and the at least one follower vehicle while moving, the information regarding the lead vehicle and the at least one follower vehicle being selected from the group consisting of;

vehicle location, vehicle destination, vehicle load, vehicle type, and trailer type;

the system further comprising, on the lead vehicle;

a second user interface configured to receive an input from the second computerized controller and to provide vehicular data to a driver; and

a second inter-vehicular transceiver configured to communicate between the second computerized controller and the first computerized controller;

the system further comprising a forward-facing camera configured to substantially capture a substantially frontal image as viewed from the lead vehicle and to provide such frontal image to the second computerized controller;

wherein the substantially frontal image is provided to the first computerized controller via the first and second inter-vehicular transceivers.

12. The convoying control system of claim 11, further comprising:

a first braking actuation sensor configured to measure brake actuation and to provide such brake actuation measurements to the first computerized controller;

a first supplemental braking actuator responsive to inputs from the first computerized controller to vary braking of the at least one follower vehicle;

a first acceleration actuation sensor for measuring acceleration actuation and providing such measured acceleration to the first computerized controller;

a first supplemental acceleration actuator responsive to the first computerized controller to vary acceleration of the at least one follower vehicle.

13. The convoying control system of claim 11, wherein

the second inter-vehicular transceiver is coupled to, and further configured to operate, a rear brake light of the lead vehicle independently of the lead vehicle'"'"'s braking system as a transmitter of vehicular control signals from the lead vehicle to the at least one following vehicle.

14. The convoying control system of claim 11, wherein

the first inter-vehicular transceiver and the second inter-vehicular transceiver are configured to communicate using a radio frequency.

15. The convoying control system of claim 11 wherein

the first computerized controller computes at least one vehicular trajectory for smoothly linking the at least one follower vehicle with the lead vehicle.

16. The convoying control system of claim 11, wherein

the first computerized controller detects at least one hazardous condition selected from the group consisting of:

lane drift, an obstacle in a lane of travel, a wet road surface, an icy road surface, a tire blowout, the presence of pedestrians in the lane of travel, and the presence of a construction zone;

and wherein the at least one computerized controller safely brakes at least one of the lead vehicle and the at least one follower vehicle upon detection of the at least one hazardous condition, and alerts the driver upon detection of the at least one hazardous condition.

17. The convoying control system of claim 16, wherein

the first computerized controller alerts the driver by providing a deceleration impulse.

18. The convoying control system of claim 11, wherein

the first computerized controller computes an ordering of the lead vehicle and the at least one follower vehicle in accordance with at least one of:

a vehicle weight, a vehicle load, weather condition, road condition, fuel remaining, fuel saving, accrued linking time, braking technology, brake pad wear a vehicular linking location, and a destination address.

19. The convoying control system of claim 11, wherein

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

20. A computerized vehicular convoying control system, useful in association with a lead vehicle and at least one follower vehicle, the control system comprising:

at least one computerized controller configured to monitor and control acceleration and deceleration of one of a lead vehicle and at least one follower vehicle;

a user interface configured to receive an input from the at least one computerized controller and to provide vehicular data to a driver;

a long-range vehicular transceiver configured to communicate between a central server, remote from the lead vehicle and the at least one follower vehicle, and the at least one computerized controller;

communications between the long-range vehicular transceiver and the at least one computerized controller including information regarding the lead vehicle and the at least one follower vehicle,

an inter-vehicular transceiver configured to communicate between the computerized controller and at least one of the lead vehicle and the at least one follower vehicle;

a vehicular separation sensor configured to detect a distance between the lead vehicle and the at least one follower vehicle, and further configured to detect a relative speed between the lead vehicle and the at least one follower vehicle, and to provide such distance and relative speed to the at least one computerized controller; and

a forward-facing camera configured to substantially capture a substantially frontal image as viewed from the lead vehicle and to provide the substantially frontal image to the at least one computerized controller, and to the at least one follower vehicle via the inter-vehicular transceiver.

21. The convoying control system of claim 20, further comprising:

a braking actuation sensor configured to measure brake actuation and to provide such brake actuation measurements to the at least one computerized controller;

a supplemental braking actuator responsive to inputs from the at least one computerized controller to vary braking of one of the lead vehicle and the at least one follower vehicle;

an acceleration actuation sensor for measuring acceleration actuation and providing such measured acceleration to the at least one computerized controller;

a supplemental acceleration actuator responsive to the at least one computerized controller to vary acceleration of one of the lead vehicle and the at least one follower vehicle.

22. The convoying control system of claim 20, further comprising:

a vehicular positioning sensor providing relative positioning measures to the first computerized controller.

23. The convoying control system of claim 22, wherein the vehicular positioning sensor is a global positioning system (GPS) sensor.

24. The convoying control system of claim 20 wherein

the inter-vehicular transceiver is configured to transmit using a radio frequency.

25. The convoying control system of claim 20, wherein

the inter-vehicular transceiver is coupled to, and further configured to operate, a rear brake light of the lead vehicle independently of the lead vehicle'"'"'s braking system.

26. The convoying control system of claim 25, wherein

the inter-vehicular transceiver is further configured to operate a rear brake light of the lead vehicle as a transmitter of vehicular control signals from the lead vehicle to the at least one follower vehicle.

27. The convoying control system of claim 20, wherein

the at least one computerized controller is further configured to compute an estimated gross weight of one of the lead vehicle and the at least one follower vehicle by measuring or estimating engine torque and measuring or estimating vehicle acceleration.

28. The convoying control system of claim 20, wherein

the at least one computerized controller computes at least one vehicular trajectory for smoothly linking the at least one follower vehicle with the lead vehicle.

29. The convoying control system of claim 20, wherein

the at least one computerized controller safely decelerates at least one of the lead vehicle and the at least one follower vehicle in the event of a malfunction of the convoying control system.

30. The convoying control system of claim 20, wherein

the at least one computerized controller detects at least one hazardous condition from the group consisting of:

a lane drift, a lane obstacle, a road surface hazard due to wet conditions, a road surface hazard due to icy conditions, a tire blowout, a presence of pedestrians or animals in the lane of travel, and the presence of a construction zones; and

wherein

the at least one computerized controller brakes at least one of the lead vehicle and the at least one follower vehicle upon detection of the at least one hazardous condition, and alerts the driver upon detection of the at least one hazardous condition.

31. The convoying control system of claim 30, wherein

the at least one computerized controller alerts the driver by providing a deceleration impulse.

32. The convoying control system of claim 20 wherein

the at least one computerized controller computes an ordering of the lead vehicle and the at least one follower vehicle in accordance with at least one of a vehicle weight, a vehicle load, weather condition, road condition, fuel remaining, fuel saving, accrued linking time, braking technology, brake pad wear, a vehicular linking location, and destination address.

33. The convoying control system of claim 20, wherein

the at least one computerized controller optimizes fuel consumption by activating a grade-aware cruise control algorithm.

34. The convoying control system of claim 20, wherein

the at least one computerized controller optimizes fuel consumption by providing at least one recommendation to the driver, the at least one recommendation including at least one of:

gear selection, speed reduction, and a recommended vehicular relative lateral position.

35. The convoying control system of claim 20, wherein

both the first vehicle and the second vehicle are trucks.

36. In a computerized vehicular convoying control system, a vehicular convoying method for controlling a lead vehicle and at least one follower vehicle, the convoying method comprising:

monitoring and controlling acceleration and deceleration of one of a lead vehicle and at least one follower vehicle;

communicating between a central server, remote from the lead vehicle and the at least one follower vehicle, and one of the lead vehicle and the at least one follower vehicle, information regarding the lead vehicle and the at least one follower vehicle;

communicating between the lead vehicle and the at least one follower vehicle;

detecting a distance between the lead vehicle and the at least one follower vehicle;

detecting a relative speed between the lead vehicle and the at least one follower vehicle; and

providing vehicular data to a driver; and

using the detected distance and the relative speed to maintain a vehicular spacing between the lead vehicle and the at least one follower vehicle; and

capturing a substantially frontal image as viewed from the lead vehicle and transmitting the image to the at least one follower vehicle.

37. The convoying method of claim 36, wherein

detecting the distance and the relative speed includes emitting a radar signal.

38. The convoying method of claim 36, further comprising:

providing one of supplemental braking and supplemental acceleration to one of the lead vehicle and the at least one follower vehicle to maintain the vehicular spacing.