Method for determining a dynamic vehicle distance between a following vehicle and a preceding vehicle of a platoon

Patent metadata

Field	Value
Publication number	US-11318940-B2
Application number	US-201716334758-A
Country	US
Kind code	B2
Filing date	Aug 22, 2017
Priority date	Sep 21, 2016
Publication date	May 3, 2022
Grant date	May 3, 2022

Abstract

A method for determining a dynamic vehicle distance between a following vehicle and a preceding vehicle of a platoon, wherein a V2V signal is configured to be transmitted in a wireless manner between the following vehicle and the preceding vehicle, includes determining a current maximum following vehicle deceleration of the following vehicle, determining a current transmission time for transmitting information from the preceding vehicle to the following vehicle, determining a current maximum preceding vehicle deceleration of the preceding vehicle, and determining the dynamic vehicle distance comprising a transmission distance and a braking distance difference. The transmission distance indicates a distance traveled by the following vehicle between the preceding vehicle initiating an emergency braking procedure and the following vehicle initiating an emergency braking procedure. The transmission distance is dependent upon the current transmission time.

First claim

The invention claimed is:

1. A method for determining a dynamic vehicle distance between a following vehicle and a preceding vehicle of a platoon, wherein a vehicle-to-vehicle (V2V) signal is configured to be transmitted in a wireless manner between the following vehicle and the preceding vehicle, the method comprising:
determining a current maximum following vehicle deceleration of the following vehicle;
determining a current transmission time for transmitting information from the preceding vehicle to the following vehicle;
determining a current maximum preceding vehicle deceleration of the preceding vehicle; and
determining the dynamic vehicle distance comprising a transmission distance and a braking distance difference,
wherein the transmission distance indicates a distance traveled by the following vehicle between the preceding vehicle initiating an emergency braking procedure and the following vehicle initiating an emergency braking procedure,
wherein the transmission distance is dependent upon the current transmission time,
wherein the braking distance difference indicates a difference between a preceding vehicle braking distance that is predetermined from the maximum preceding vehicle deceleration and a following vehicle braking distance that is predetermined from the maximum following vehicle deceleration, and
wherein the transmission distance is dependent upon a dead time comprising an amount of time for processing the determined V2V signals and for outputting a braking request on the following vehicle.

2. The method as claimed in claim 1 wherein the braking distance difference is obtained from a deceleration difference between the current maximum preceding vehicle deceleration and the current maximum following vehicle deceleration.

3. The method as claimed in claim 2 , wherein the dynamic vehicle distance is obtained from a distance curve stored in the following vehicle, and
wherein, for a determined transmission distance, the distance curve indicates a correlation between the deceleration difference and the dynamic vehicle distance.

4. The method as claimed in claim 1 , wherein the current maximum preceding vehicle deceleration of the preceding vehicle is transmitted via the V2V signal by the preceding vehicle to the following vehicle.

5. The method as claimed in claim 4 wherein the current maximum preceding vehicle deceleration is determined by the preceding vehicle.

6. The method as claimed in claim 1 , wherein if the preceding vehicle does not transmit a maximum preceding vehicle deceleration via the V2V signal or the V2V signal is not transmitted, a customary value for the preceding vehicle deceleration or the last transmitted maximum preceding vehicle deceleration is assumed as the current maximum preceding vehicle deceleration.

7. The method as claimed in claim 1 , wherein a first transmission time is determined as a current transmission time from a sent time at which the V2V signal is sent by the preceding vehicle, and from a received time at which the V2V signal is received by the following vehicle.

8. The method as claimed in claim 1 , wherein in the event that it is not possible to determine a first transmission time from the transmission of the V2V signal,
a last determined first transmission time is assumed as the current transmission time, or
a second transmission time is determined as the transmission time, the second transmission time characterizing a time for generating and detecting an optical warning signal that is output by a visible light communication (VLC) light source, or
a third transmission time is determined as the transmission time, the third transmission time characterizing a time for detecting a changing relative velocity by a distance sensor system.

9. The method as claimed in claim 1 , wherein in order to determine the transmission distance, in addition to the transmission time, a dead time and a response time are additionally taken into consideration.

10. The method as claimed in claim 1 , wherein the maximum following vehicle deceleration is determined by the following vehicle.

11. The method as claimed in claim 1 , wherein the determined dynamic vehicle distance between the preceding vehicle and the following vehicle is set by controlling the brakes and/or a drive of the following vehicle.

12. The method as claimed in claim 1 , wherein the transmission distance is dependent upon a response time comprising an amount of time after which a braking request is output until a braking pressure is actually built up at the brakes of the following vehicle.

13. A method for determining a dynamic vehicle distance between a following vehicle and a preceding vehicle of a platoon, wherein a vehicle-to-vehicle (V2V) signal is configured to be transmitted in a wireless manner between the following vehicle and the preceding vehicle, the method comprising:
determining a current maximum following vehicle deceleration of the following vehicle;
determining a current transmission time for transmitting information from the preceding vehicle to the following vehicle;
determining a current maximum preceding vehicle deceleration of the preceding vehicle; and
determining the dynamic vehicle distance comprising a transmission distance and a braking distance difference,
wherein the transmission distance indicates a distance traveled by the following vehicle between the preceding vehicle initiating an emergency braking procedure and the following vehicle initiating an emergency braking procedure, and
wherein the transmission distance is dependent upon:
the current transmission time, wherein the braking distance difference indicates a difference between a preceding vehicle braking distance that is predetermined from the maximum preceding vehicle deceleration and a following vehicle braking distance that is predetermined from the maximum following vehicle deceleration,
a dead time comprising an amount of time for processing the determined V2V signals and for outputting a braking request on the following vehicle, and
a response time comprising an amount of time after which the braking request is output until a braking pressure is actually built up at the brakes of the following vehicle.

Assignees

• Wabco Europe Bvba
• Zf Cv Systems Europe Bv

Inventors

• Broll Niklas
• Dieckmann Thomas
• Wolf Thomas

Classifications

• B60W30/18109

  Braking · CPC title

• B60W2556/65

  Data transmitted between vehicles · CPC title

• H04W4/46

  for vehicle-to-vehicle communication [V2V] · CPC title

• B60W30/16

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• G08G1/22

  Platooning, i.e. convoy of communicating vehicles · CPC title