Lane change system for platoon of vehicles

• US 10,614,722 B2
• Filed: 10/29/2018
• Issued: 04/07/2020
• Est. Priority Date: 07/08/2015
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Boegel, Ruediger K.
• Primary Examiner(s): Anwari, Maceeh
• Application Number:
  US16/173,084
• Publication Number:
  US 20190073910A1
• Time in Patent Office: 526 Days
• Field of Search: 701117
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2900/00 Indexing codes relating to the purpose of, or problem solved of road vehicle drive control systems not otherwise provided for in groups B60W30/00
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A platoon control system includes a platoon control in communication with a plurality of individual platoon vehicle controls associated with respective platoon vehicles of a platoon of vehicles traveling along an initial traffic lane. The platoon control determines if there is sufficient clearance in another lane for the platoon of vehicles. Responsive to the platoon control, the individual platoon vehicle controls control the respective platoon vehicles to maneuver the platoon vehicles from the initial traffic lane to the other lane in a manner that limits or substantially precludes other vehicles from interrupting the platoon of vehicles. Responsive to the platoon control, the individual platoon vehicle controls control the respective platoon vehicles to allow a new platoon vehicle to enter the platoon of vehicles and/or to regroup following departure of a platoon vehicle from the platoon of vehicles.

Claims

1. A platoon control system for controlling a plurality of vehicles traveling together as a platoon of vehicles, said platoon control system comprising:

a platoon control in wireless communication with a plurality of individual platoon vehicle controls;

a platoon vehicle control disposed at a respective platoon vehicle of a platoon of vehicles traveling along an initial traffic lane;

wherein the platoon of vehicles comprises at least (i) a lead platoon vehicle, (ii) a middle platoon vehicle following the lead platoon vehicle and (iii) a last platoon vehicle following the middle platoon vehicle;

wherein at least one sensor is disposed at each platoon vehicle of the platoon of vehicles for sensing a region of another traffic lane immediately adjacent to the initial traffic lane to determine if another vehicle is present in the other traffic lane at or near the respective platoon vehicle;

wherein, responsive to wireless communications from said individual platoon vehicle controls that are indicative of the at least one sensor disposed at the respective platoon vehicles sensing the region of the other traffic lane, said platoon control determines if the platoon of vehicles can change lane to the other traffic lane;

wherein, responsive to said platoon control determining that the platoon of vehicles can change lane to the other traffic lane, said platoon control communicates control signals to said individual platoon vehicle controls;

wherein, responsive to the control signals communicated by said platoon control, said individual platoon vehicle controls control the respective platoon vehicles to maneuver the platoon vehicles from the initial traffic lane traveled by the platoon of vehicles to the other traffic lane in a manner that limits other vehicles from interrupting the platoon of vehicles; and

wherein, responsive to wireless communication from the individual platoon vehicle control of the middle platoon vehicle that is indicative of the middle platoon vehicle departing from the platoon of vehicles, said platoon control communicates to the individual platoon vehicle controls of the remaining platoon vehicles and, responsive to that communication from said platoon control, said individual platoon vehicle control of at least one of the remaining platoon vehicles controls the at least one respective platoon vehicle to regroup the platoon of vehicles and close a gap caused by the departure of the middle platoon vehicle.

2. The platoon control system of claim 1, wherein, responsive to a wireless communication from another vehicle that is approaching the platoon of vehicles to join the platoon of vehicles, said platoon control communicates to the individual platoon vehicle controls of the respective platoon vehicles and, responsive to that communication from said platoon control, said individual platoon vehicle controls of at least some of the platoon vehicles control the respective platoon vehicles to create a gap between two of the platoon vehicles to accommodate the other vehicle in the platoon of vehicles at the gap.

3. The platoon control system of claim 1, wherein the wireless communications comprise cloud-telematics communications.

4. The platoon control system of claim 1, wherein, responsive to a communication from said platoon control, said individual platoon vehicle controls control the respective platoon vehicles so that the platoon vehicles enter the other traffic lane in order from the last platoon vehicle to the lead platoon vehicle.

5. The platoon control system of claim 4, wherein, responsive to a communication from said platoon control, said individual platoon vehicle controls control the speeds of the respective platoon vehicles to decelerate together to allow traffic in the other traffic lane that is ahead of the last platoon vehicle after the last platoon vehicle has changed traffic lanes to pass the platoon vehicles.

6. The platoon control system of claim 1, wherein, responsive to a communication from said platoon control, said individual platoon vehicle controls control the respective platoon vehicles so that the last platoon vehicle of the platoon of vehicles enters the other traffic lane first and then the other platoon vehicles enter the other traffic lane ahead of the last platoon vehicle in a predetermined controlled manner.

7. The platoon control system of claim 1, wherein, responsive to a communication from said platoon control, said individual platoon vehicle controls control the respective platoon vehicles so that the platoon vehicles enter the other traffic lane in a different order than they were in the initial traffic lane.

8. The platoon control system of claim 7, wherein the middle platoon vehicle comprises a first middle platoon vehicle following the lead platoon vehicle when the platoon of vehicles is traveling in the initial traffic lane, and wherein the platoon of vehicles comprises (i) a second middle platoon vehicle following the first middle platoon vehicle when the platoon of vehicles is traveling in the initial traffic lane and (ii) a third middle platoon vehicle following the second middle platoon vehicle, and wherein the last platoon vehicle follows the third middle platoon vehicle when the platoon of vehicles is traveling in the initial traffic lane.

9. The platoon control system of claim 8, wherein, responsive to a communication from said platoon control, said individual platoon vehicle controls control the respective platoon vehicles so that the last platoon vehicle and one or more of the middle platoon vehicles ahead of the last platoon vehicle enter the other traffic lane, whereby the speeds of the respective platoon vehicles are controlled to generate gaps between the platoon vehicles that have moved into the other traffic lane and to align the platoon vehicles that are in the initial traffic lane with the gaps, and wherein, when the platoon vehicles in the initial traffic lane are aligned with the gaps, said individual platoon vehicle controls of the respective platoon vehicles in the initial traffic lane control those platoon vehicles to enter the other traffic lane in the gaps.

10. The platoon control system of claim 9, wherein said individual platoon vehicle controls adjust the speeds of the respective platoon vehicles to allow traffic in the other traffic lane ahead of the last platoon vehicle after the last platoon vehicle has changed traffic lanes to pass the platoon vehicles and to align the platoon vehicles remaining in the initial traffic lane with respective gaps between the platoon vehicles that have moved into the other traffic lane.

11. The platoon control system of claim 1, wherein, responsive to a communication from said platoon control, said individual platoon vehicle controls control the respective platoon vehicles to maneuver the platoon vehicles to the other traffic lane responsive to a determination of clearance in the other traffic lane as determined by a short range sensing system of the respective platoon vehicles.

12. The platoon control system of claim 1, wherein said individual platoon vehicle controls control the respective platoon vehicles to maneuver the platoon vehicles to the other traffic lane responsive to a determination of a vehicle or obstacle in the initial traffic lane ahead of the platoon of vehicles.

13. The platoon control system of claim 12, wherein the determination of the vehicle or obstacle in the traffic lane ahead of the platoon of vehicles is responsive to at least one of (i) a long range sensing system of the lead platoon vehicle and (ii) a vehicle-to-vehicle communication system.

14. The platoon control system of claim 12, wherein the determination of the vehicle or obstacle in the traffic lane ahead of the platoon of vehicles is made by said platoon control.

15. The platoon control system of claim 1, wherein each of said individual platoon vehicle controls control (i) an accelerator of the respective platoon vehicle, (ii) steering of the respective platoon vehicle, (iii) a brake system of the respective platoon vehicle and (iv) a turn signal indicator of the respective platoon vehicle.

16. The platoon control system of claim 1, wherein said platoon control is disposed at one of the platoon vehicles.

17. The platoon control system of claim 1, wherein said platoon control comprises one of said individual platoon vehicle controls.

18. A platoon control system for controlling a plurality of vehicles traveling together as a platoon of vehicles, said platoon control system comprising:

a platoon control in wireless communication with a plurality of individual platoon vehicle controls;

a platoon vehicle control disposed at a respective platoon vehicle of a platoon of vehicles traveling along an initial traffic lane;

wherein the platoon of vehicles comprises at least (i) a lead platoon vehicle, (ii) a middle platoon vehicle following the lead platoon vehicle and (iii) a last platoon vehicle following the middle platoon vehicle;

wherein at least one sensor is disposed at each platoon vehicle of the platoon of vehicles for sensing a region of another traffic lane immediately adjacent to the initial traffic lane to determine if another vehicle is present in the other traffic lane at or near the respective platoon vehicle;

wherein, responsive to wireless communications from said individual platoon vehicle controls that are indicative of the at least one sensor disposed at the respective platoon vehicles sensing the region of the other traffic lane, said platoon control determines if the platoon of vehicles can change lane to the other traffic lane;

wherein, responsive to said platoon control determining that the platoon of vehicles can change lane to the other traffic lane, said platoon control communicates control signals to said individual platoon vehicle controls;

wherein, responsive to the control signals communicated by said platoon control, said individual platoon vehicle controls control the respective platoon vehicles to maneuver the platoon vehicles from the initial traffic lane traveled by the platoon of vehicles to the other traffic lane in a manner that limits other vehicles from interrupting the platoon of vehicles;

wherein said individual platoon vehicle controls control the respective platoon vehicles to maneuver the platoon vehicles to the other traffic lane responsive to a determination of a vehicle or obstacle in the initial traffic lane ahead of the platoon of vehicles; and

wherein, responsive to a wireless communication from another vehicle that is approaching the platoon of vehicles to join the platoon of vehicles, said platoon control communicates to the individual platoon vehicle controls of the respective platoon vehicles and, responsive to that communication from said platoon control, said individual platoon vehicle controls of at least some of the platoon vehicles control the respective platoon vehicles to create a gap between two of the platoon vehicles to accommodate the other vehicle in the platoon of vehicles at the gap.

19. The platoon control system of claim 18, wherein, responsive to wireless communication from the individual platoon vehicle control of the middle platoon vehicle that is indicative of the middle platoon vehicle departing from the platoon of vehicles, said platoon control communicates to the individual platoon vehicle controls of the remaining platoon vehicles and, responsive to that communication from said platoon control, said individual platoon vehicle control of at least one of the remaining platoon vehicles controls the at least one respective platoon vehicle to regroup the platoon of vehicles and close a gap caused by the departure of the middle platoon vehicle.

20. The platoon control system of claim 18, wherein the wireless communications comprise cloud-telematics communications.

21. The platoon control system of claim 18, wherein, responsive to a communication from said platoon control, said individual platoon vehicle controls control the respective platoon vehicles so that the platoon vehicles enter the other traffic lane in a different order than they were in the initial traffic lane.

22. The platoon control system of claim 21, wherein the middle platoon vehicle comprises a first middle platoon vehicle following the lead platoon vehicle when the platoon of vehicles is traveling in the initial traffic lane, and wherein the platoon of vehicles comprises (i) a second middle platoon vehicle following the first middle platoon vehicle when the platoon of vehicles is traveling in the initial traffic lane and (ii) a third middle platoon vehicle following the second middle platoon vehicle, and wherein the last platoon vehicle follows the third middle platoon vehicle when the platoon of vehicles is traveling in the initial traffic lane.

23. The platoon control system of claim 22, wherein, responsive to a communication from said platoon control, said individual platoon vehicle controls control the respective platoon vehicles so that the last platoon vehicle and one or more of the middle platoon vehicles ahead of the last platoon vehicle enter the other traffic lane, and wherein the speeds of the respective platoon vehicles are controlled to generate gaps between the platoon vehicles that have moved into the other traffic lane and to align the platoon vehicles in the initial traffic lane with the gaps, and wherein, when the platoon vehicles that are in the initial traffic lane are aligned with the gaps, said individual platoon vehicle controls of the respective platoon vehicles in the initial traffic lane control those platoon vehicles to enter the other traffic lane in the gaps.

24. The platoon control system of claim 23, wherein said individual platoon vehicle controls adjust the speeds of the respective platoon vehicles to allow traffic in the other traffic lane ahead of the last platoon vehicle after the last platoon vehicle has changed traffic lanes to pass the platoon vehicles and to align the platoon vehicles remaining in the initial traffic lane with respective gaps between the platoon vehicles that have moved into the other traffic lane.

25. The platoon control system of claim 18, wherein the determination of the vehicle or obstacle in the initial traffic lane ahead of the platoon of vehicles is responsive to at least one of (i) a long range sensing system of the lead platoon vehicle and (ii) a vehicle-to-vehicle communication system.

26. The platoon control system of claim 18, wherein the determination of the vehicle or obstacle in the initial traffic lane ahead of the platoon of vehicles is made by said platoon control.

27. A platoon control system for controlling a plurality of vehicles traveling together as a platoon of vehicles, said platoon control system comprising:

a platoon control in wireless communication with a plurality of individual platoon vehicle controls;

a platoon vehicle control disposed at a respective platoon vehicle of a platoon of vehicles traveling along an initial traffic lane;

wherein the platoon of vehicles comprises at least (i) a lead platoon vehicle, (ii) a first middle platoon vehicle following the lead platoon vehicle, (iii) a second middle platoon vehicle following the first middle platoon vehicle, (iv) a third middle platoon vehicle following the second middle platoon vehicle and (v) a last platoon vehicle following the third middle platoon vehicle;

wherein at least one sensor is disposed at each platoon vehicle of the platoon of vehicles for sensing a region of another traffic lane immediately adjacent to the initial traffic lane to determine if another vehicle is present in the other traffic lane at or near the respective platoon vehicle;

wherein, responsive to wireless communications from said individual platoon vehicle controls that are indicative of the at least one sensor disposed at the respective platoon vehicles sensing the region of the other traffic lane, said platoon control determines if the platoon of vehicles can change lane to the other traffic lane;

wherein, responsive to said platoon control determining that the platoon of vehicles can change lane to the other traffic lane, said platoon control communicates control signals to said individual platoon vehicle controls;

wherein, responsive to communication from said platoon control, said individual platoon vehicle controls control the respective platoon vehicles so that the last platoon vehicle and one or more of the middle platoon vehicles ahead of the last platoon vehicle enter the other traffic lane;

wherein said individual platoon vehicle controls adjust the speeds of the respective platoon vehicles to allow traffic in the other traffic lane ahead of the last platoon vehicle after the last platoon vehicle has changed lanes to pass the platoon vehicles and to align the platoon vehicles remaining in the initial traffic lane with respective gaps between the platoon vehicles that have moved into the other traffic lane;

wherein the speeds of the respective platoon vehicles are controlled to generate gaps between the platoon vehicles that have moved into the other traffic lane and to align the platoon vehicles that are in the initial traffic lane with the gaps; and

wherein, when the platoon vehicles in the initial traffic lane are aligned with the gaps, said individual platoon vehicle controls of the respective platoon vehicles in the initial traffic lane control those platoon vehicles to enter the other traffic lane in the gaps.

28. The platoon control system of claim 27, wherein, responsive to wireless communication from the individual platoon vehicle control of one of the middle platoon vehicles that is indicative of that middle platoon vehicle departing from the platoon of vehicles, said platoon control communicates to the individual platoon vehicle controls of the remaining platoon vehicles and, responsive to that communication from said platoon control, said individual platoon vehicle control of at least one of the remaining platoon vehicles controls the at least one respective platoon vehicle to regroup the platoon of vehicles and close a gap caused by the departure of the middle platoon vehicle, and wherein, responsive to a wireless communication from another vehicle that is approaching the platoon of vehicles to join the platoon of vehicles, said platoon control communicates to the individual platoon vehicle controls of the respective platoon vehicles and, responsive to that communication from said platoon control, said individual platoon vehicle controls of at least some of the platoon vehicles control the respective platoon vehicles to create a gap between two of the platoon vehicles to accommodate the other vehicle in the platoon of vehicles at the gap.

29. The platoon control system of claim 27, wherein the wireless communications comprise cloud-telematics communications.

30. The platoon control system of claim 27, wherein said individual platoon vehicle controls control the respective platoon vehicles to maneuver the platoon vehicles to the other traffic lane responsive to a determination of a vehicle or obstacle in the initial traffic lane ahead of the platoon of vehicles.

31. The platoon control system of claim 30, wherein the determination of the vehicle or obstacle in the initial traffic lane ahead of the platoon of vehicles is responsive to at least one of (i) a long range sensing system of the lead platoon vehicle and (ii) a vehicle-to-vehicle communication system.

32. The platoon control system of claim 30, wherein the determination of the vehicle or obstacle in the initial traffic lane ahead of the platoon of vehicles is made by said platoon control.

33. The platoon control system of claim 27, wherein said platoon control is disposed at one of the platoon vehicles.