Vehicle-to-vehicle cooperation to marshal traffic

• US 9,928,746 B1
• Filed: 09/16/2016
• Issued: 03/27/2018
• Est. Priority Date: 09/16/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: MacNeille, Perry Robinson, Wisniewski, Joseph, DeCia, Nunzio
• Primary Examiner(s): Nguyen, Cuong H
• Application Number:
  US15/268,484
• Publication Number:
  US 20180082590A1
• Time in Patent Office: 557 Days
• Field of Search: 701 96, 701117-118, 701469, 701538, 701 24
• CPC Class Codes: G08G 1/0133 for classifying traffic situation
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

Apparatus and methods are disclosed for vehicle-to-vehicle cooperation to marshal traffic. An example disclosed cooperative vehicle includes an example vehicle-to-vehicle communication module and an example cooperative adaptive cruise control module. The example cooperative adaptive cruise control module determines a location of a traffic cataract. The example cooperative adaptive cruise control module also coordinates with other cooperative vehicles to form a platoon of standard vehicles. Additionally, the example cooperative adaptive cruise control module coordinates with other the cooperative vehicles to move the formed platoon through the traffic cataract at a constant speed.

Claims

1. A cooperative vehicle comprising:

a vehicle-to-vehicle communication module; and

an cooperative adaptive cruise control module to;

determine a location of a traffic cataract;

coordinate with other cooperative vehicles to form a platoon of standard vehicles; and

coordinate with the other cooperative vehicles to move the formed platoon through the traffic cataract at a constant speed.

2. The cooperative vehicle of claim 1, wherein the standard vehicles are not equipped with a vehicle-to-vehicle communication module.

3. The cooperative vehicle of claim 1, wherein the cooperative adaptive cruise control module is to detect an existence of the traffic cataract.

4. The cooperative vehicle of claim 3, wherein to detect the existence of the traffic cataract, the cooperative adaptive cruise control module is to detect traffic transitioning from a free flow state to a synchronous flow state.

5. The cooperative vehicle of claim 4, wherein to detect the traffic transitioning from the free flow state to the synchronous flow state, the cooperative adaptive cruise control module is to monitor headway and change in the headway.

6. The cooperative vehicle of claim 4, wherein to detect the traffic transitioning from the free flow state to the synchronous flow state, the cooperative adaptive cruise control module is to monitor a rate of gap availability.

7. The cooperative vehicle of claim 1, wherein to coordinate with the other cooperative vehicles to form the platoon of the standard vehicles, the cooperative adaptive cruise control module is to, in conjunction with the other cooperative vehicles, determine a target location and a target time period for the cooperative vehicle.

8. The cooperative vehicle of claim 7, wherein the cooperative adaptive cruise control module is to adjust a speed of the cooperative vehicle to reach the target location at the target time period.

9. The cooperative vehicle of claim 1, wherein to determine the location of the traffic cataract, the cooperative adaptive cruise control module is to receive, via the vehicle-to-vehicle communication module, a message from another cooperative vehicle that has traversed the traffic cataract, the message including the location of the traffic cataract.

20. The cooperative vehicle of claim 1, wherein the to coordinate with other cooperative vehicles to form a platoon of standard vehicles, the cooperative adaptive cruise control module is to move the cooperative vehicle, in coordination with the other cooperative vehicles, to form two rows across all lanes of traffic in a travel direction so that the standard vehicles are between two rows.

10. A method of controlling a cooperative vehicle comprising:

determining, with a processor, a location of a traffic cataract;

coordinating, with a vehicle-to-vehicle communication module, with other cooperative vehicles to form a platoon of standard vehicles; and

coordinating with the other cooperative vehicles to move the formed platoon through the traffic cataract at a constant speed.

11. The method of claim 10, wherein the standard vehicles are not equipped with a vehicle-to-vehicle communication module.

12. The method of claim 10, including detecting an existence of the traffic cataract.

13. The method of claim 12, wherein detecting the existence of the traffic cataract includes detecting traffic transitioning from a free flow state to a synchronous flow state.

14. The method of claim 13, wherein detecting the traffic transitioning from the free flow state to the synchronous flow state includes monitoring headway and change in the headway.

15. The method of claim 13, wherein detecting the traffic transitioning from the free flow state to the synchronous flow state includes monitoring a rate of gap availability.

16. The method of claim 10, wherein coordinating with the other cooperative vehicles to form the platoon of the standard vehicles includes, in conjunction with the other cooperative vehicles, determining a target location and a target time period for the cooperative vehicle.

17. The method of claim 16, including adjusting a speed of the cooperative vehicle to reach the target location at the target time period.

18. The method of claim 10, wherein determining the location of the traffic cataract, includes receiving, via the vehicle-to-vehicle communication module, a message from another cooperative vehicle that has traversed the traffic cataract, the message including the location of the traffic cataract.

19. A tangible computer readable medium comprising instructions that, when executed, cause a cooperative vehicle to:

determine, via a vehicle-to-vehicle communication module, a location of a traffic cataract based on a message from a second cooperative vehicle proximate to the traffic cataract;

coordinate, via the vehicle-to-vehicle communication module, with a plurality of third cooperative vehicles to form a platoon of standard vehicles; and

coordinate, via the vehicle-to-vehicle communication module, with the plurality of third cooperative vehicles to move the formed platoon through the traffic cataract at a constant speed, wherein no coordination messages are communicated to the standard vehicles.