Method for controlling an own vehicle to participate in a platoon

Patent metadata

Field	Value
Publication number	US-10089882-B2
Application number	US-201615271273-A
Country	US
Kind code	B2
Filing date	Sep 21, 2016
Priority date	Sep 21, 2016
Publication date	Oct 2, 2018
Grant date	Oct 2, 2018

Abstract

A method for controlling an own vehicle to participate in platoon with at least one other vehicle, wherein the own vehicle and the at least one other vehicle each having communication devices configured to wirelessly transmit DSRC-signals over a vehicle-to-vehicle communication link between each other. The method includes checking initiation conditions to determine if the own vehicle is ready for platooning, identifying at least one other vehicle in signal-transmittal-range to determine if the at least one other vehicle is ready for platooning and the at least one other vehicle is a valid platooning partner, and requesting to an adaptive cruise control system to hold a following-distance between the own vehicle and the at least one other vehicle to form a platoon if the at least other vehicle is ready for platooning and is a valid platooning partner and if the own vehicle is assigned as a following vehicle.

First claim

What is claimed is:

1. A method for controlling an own vehicle to participate in platoon with at least one other vehicle, wherein the own vehicle and the at least one other vehicle each having communication devices configured to wirelessly transmit DSRC-signals over a vehicle-to-vehicle communication link between each other, the method comprising:
checking initiation-conditions to determine if the own vehicle is ready for platooning, wherein the checking of the initiation-conditions comprises monitoring on-board messages transmitted over an on-board-communication system of the own vehicle;
identifying at least one other vehicle in signal-transmittal-range to determine if the at least one other vehicle is ready for platooning and the at least one other vehicle is a valid platooning partner, wherein the identification of the at least one other vehicle comprises monitoring DSRC-messages wirelessly transmitted over the vehicle-to-vehicle-communication between the at least one other vehicle and the own vehicle by the DSRC-signal;
requesting to an adaptive cruise control system to hold a following-distance between the own vehicle and the at least one other vehicle to form a platoon if the at least other vehicle is ready for platooning and is a valid platooning partner and if the own vehicle is assigned as a following vehicle, wherein an assignment as a following vehicle is made if a brake-performance-value of the own vehicle transmitted as an on-board message over the on-board-communication system contains a higher stopping distance performance rank as the brake-performance-value of the at least other vehicle transmitted as an DSRC-message over the vehicle-to-vehicle-communication.

2. The method according to claim 1 , wherein checking of the initiation-conditions, identifying the at least one other vehicle, determining if the own vehicle is a following vehicle and requesting the following-distance is controlled by the communication device by:
receiving and monitoring a brake-configuration-message, a geographical-position-message, a vehicle-identification-message, a platoon-status-message, and a platoon-position-message as DSRC-messages wirelessly transmitted by the DSRC-signal,
receiving and monitoring a diagnose-message, an unique identifier of the own vehicle, a brake-performance-value of the own vehicle and a geographical position of the own vehicle transmitted by the on-board-communication system, and
receiving and monitoring external-messages transmitted by an external communication system.

3. The method according to claim 1 , wherein checking initiation-conditions comprises:
determining if the electronic braking system of the own vehicle is working properly by determining if the anti-lock braking system, the electronic stability control, and the adaptive cruise control system combined with the advanced emergency braking system are working fault free by monitoring a diagnose-message transferred over the on-board-communication system of the own vehicle.

4. The method according to claim 1 , wherein checking initiation-conditions further comprises the steps of:
determining if the anti-lock braking system and the electronic stability control are fully operational;
determining if the cruise control system of the own vehicle is activated.

5. The method according to claim 1 , wherein checking initiation-conditions further comprises determining if no disengagement-condition is met, wherein a disengagement-condition is met if the driver presses the braking pedal or if the adaptive cruise control system shuts off or is overridden or if there is a forward collision warning or any other collision warnings outputted by the advanced emergency braking system or if there is a lane departure warning or if a turn-signal or a hazard light signal is activated or if a restriction-value sends “no approval” or if the diagnose-message is indicating that the electronic braking system is not working fault free any more or if the following-distance derived from a geographical-position-value is not matching the following-distance outputted from the adaptive cruise control system of the own vehicle within a tolerance-distance or if the geographical-positioning-value indicates that the own vehicles and the at least one other vehicle are not driving in the same lane of travel any more for more than 2s or if there is a failure in data transmission of the DSRC-signal.

6. The method according to claim 1 , wherein checking initiation-conditions further comprises determining if the driver of the own vehicle is drowsy.

7. The method according to claim 1 , wherein identifying the at least one other vehicle further comprises the step of determining a platoon-status-value contained in the platoon-status-message wirelessly received from the at least one other vehicle over the DSRC-signal, wherein the at least one other vehicle is classified as a valid partner if the at least one other vehicle is ready and initiated.

8. The method according to claim 1 , wherein identifying the at least one other vehicle further comprises:
monitoring the brake-performance-value of the at least one other vehicle wirelessly broadcasted over the DSRC-signal, wherein the at least one other vehicle is classified as a valid partner if the at least one other vehicle driving in front has transmitted a lower stopping distance performance rank over the DSRC-signal relative to the stopping distance performance rank of the own vehicle transmitted over the vehicle-to-vehicle-communication, or the at least one other vehicle driving behind has transmitted a higher stopping distance performance rank over the DSRC-signal relative to the stopping distance performance rank of the own vehicle transmitted over the vehicle-to-vehicle-communication.

9. The method according to claim 1 , wherein identifying the at least one other vehicle further comprises the step of determining the unique identifier contained in the vehicle-identification-message wirelessly broadcasted over the DSRC-signal, wherein the at least one other vehicle is classified as a valid partner, if the same or a friendly unique identifier is wirelessly broadcasted by the at least one other vehicle.

10. The method according to claim 1 , wherein identifying the at least one other vehicle further comprises determining if the same or a friendly unique identifier is wirelessly broadcasted by more than two vehicles in signal-transmittal-range, wherein in this case filtering of the own vehicle and the at least one other vehicle is done based on their geographical-position-value contained in the geographical-position-message broadcasted over the DSRC-signal to identify the position of the own vehicle relative to the at least one other vehicle, wherein the at least one other vehicle is classified as a valid partner, if the at least other vehicle is driving in the same lane of travel.

11. The method according to claim 1 , wherein identifying the at least one other vehicle further comprises the step of comparing the following-distance derived from the geographical-position-value to the following-distance outputted from the adaptive cruise control system.

12. The method according to claim 1 , wherein requesting the adaptive cruise control system to hold a following-distance is done only if:
the own vehicle is driving at a vehicle-speed equal to or less than a maximum vehicle-speed or equal or higher than a minimum vehicle-speed;
the own vehicle and the other vehicle are ready for platooning and the other vehicle is classified as a valid partner; and
transmission of DSRC-signals is consistent over a verification-time.

13. The method according to claim 1 , wherein before requesting the

Assignees

• Wabco Europe Bvba

Inventors

• Pandy Ananda

Classifications

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W10/04

  including control of propulsion units · CPC title

• B60W30/09

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W2720/10

  Longitudinal speed · CPC title