Platoon running control system

• US 5,680,122 A
• Filed: 08/08/1996
• Issued: 10/21/1997
• Est. Priority Date: 09/11/1995
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Mio, Masahiro
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): TWEEL JR, JOHN ALEXANDER
• Application Number:
  US08/694,382
• Time in Patent Office: 439 Days
• Field of Search: 340/932, 340/904, 340/903, 340/902, 340/901, 340/436, 180/267, 180/167
• US Class Current: 340/932
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A platoon running control system which is able to recognize the position of a vehicle within a platoon and to appropriately respond to a change, for example, when another vehicle leaving the platoon. If the vehicle is not in a platoon running mode, a communication control ECU assigns an ID=1 to the vehicle, and a vehicle control ECU operates the vehicle in an auto-drive mode based on a signal such as from a magnetic sensor or a CCD camera. During platoon-running mode, a light receiver receives data including ID information from a preceding vehicle, and the controlled vehicle is assigned an ID according to a rule in which the ID of the vehicle=ID of the preceding vehicle+1. Then, the vehicle starts platoon running using data from the preceding vehicle. When the system received information that the preceding vehicle will leave the platoon, platoon-leaving data is transmitted to the vehicle, which then transmits such data to the following vehicle. The vehicle changes its ID to 1 when it does not receive any more data from the preceding vehicle. In a case where its ID has been changed to 1 from 3 or greater, the vehicle accelerates so as to re-form the platoon.

Claims

1. A running control system for controlling platoon-running installed on a vehicle, the system comprising:

(a) receiving means for receiving data which is transmitted from a preceding vehicle;

(b) transmitting means for transmitting data to a following vehicle;

(c) identification code setting means for assigning to the vehicle an identification code, wherein the identification code setting means either assigns a code indicating that the vehicle is a leading vehicle if the receiving means has not received any data from any preceding vehicle, or an identification code obtained by converting an identification code of a preceding vehicle contained in data received from the preceding vehicle according to a predetermined rule, if the receiving means has received data from the preceding vehicle; and

(d) control means for controlling operation of the vehicle based on the identification code of the vehicle assigned by the identification code setting means,

wherein the identification code indicates a position of the vehicle within a platoon.

2. The running control system according to claim 1, wherein the identification code indicative of the leading vehicle is 1, and the predetermined rule is expressed by the following expression:

space="preserve" listing-type="equation">Identification code of the vehicle=Identification code of the preceding vehicle+1.

3.

3. The running control system according to claim 1, wherein the control means controls the vehicle on the basis of the data from the preceding vehicle received by the receiving means, if the identification code of the vehicle is not the identification code indicative of the leading vehicle.

4. The running control system according to claim 1, wherein the control means controls the vehicle to accelerate and catch up with a currently preceding vehicle if a present identification code of the vehicle is indicative of a leading vehicle and a previous identification of the vehicle indicated that the vehicle was previously running in the third or later position within the platoon.

5. The running control system according to claim 1, further comprising:

(e) communication control means for superimposing platoon-leading information onto data to be transmitted to the following vehicle.

6. The running control system according to claim 1, wherein the identification code setting means also assigns to the vehicle the identification code indicative of the leading vehicle, if the receiving means has received platoon-leaving information from the preceding vehicle.

7. The running control system according to claim 1, wherein the control means determines whether or not a preceding vehicle which has left the platoon was the leading vehicle based on a previous identification code of the vehicle, and controls the vehicle to accelerate and catch up with a currently preceding vehicle if the vehicle which has left the platoon was not the leading vehicle.