Coordinated control of vehicle cohorts

Patent metadata

Field	Value
Publication number	US-11442469-B2
Application number	US-202117160489-A
Country	US
Kind code	B2
Filing date	Jan 28, 2021
Priority date	Oct 31, 2017
Publication date	Sep 13, 2022
Grant date	Sep 13, 2022

Abstract

Exemplary embodiments include unique apparatuses, methods and systems providing coordinated control of vehicle cohorts. Certain embodiments perform an optimization of a vehicle cohort model and a plurality of vehicle models to determine vehicle cohort operating parameters and individual vehicle operating parameters in order to minimize total vehicle cohort power or a total vehicle cohort energy over a route of travel. Such embodiments further determine vehicle operating commands executable by vehicles of the cohort to implement the vehicle cohort operating parameters and individual vehicle operating parameters. Such vehicle operating commands may be transmitted to, received by and, executed by vehicles of the vehicle cohort.

First claim

The invention claimed is:

1. A method comprising:
receiving with a vehicle cohort controller vehicle cohort information comprising at least one of internal vehicle information for a plurality of vehicles, external static vehicle information for the plurality of vehicles, and external dynamic vehicle information for the plurality of vehicles;
performing an optimization with the vehicle cohort controller, the optimization optimizing at least one of total cohort power and total cohort energy over a horizon for operating the vehicle cohort, the optimization being computed by the vehicle cohort controller as a function of a plurality of vehicle quantities each corresponding to a respective vehicle of the cohort over the horizon, the plurality of vehicle quantities being computed as a function of vehicle cohort information corresponding to the respective vehicle, the optimization providing optimized vehicle cohort operating parameters and optimized individual vehicle operating parameters;
determining with the vehicle cohort controller a plurality of operating commands structured to control operation of respective vehicles of the cohort to provide the optimized vehicle cohort operating parameters and optimized individual vehicle operating parameters;
receiving with the plurality of vehicles in the cohort the plurality of operating commands; and
controlling operation of one or more respective vehicles of the cohort in accordance with one or more of the plurality of operating commands corresponding to the one or more respective vehicles.

2. The method of claim 1 wherein the optimization utilizes a vehicle cohort model including a plurality of vehicle models.

3. The method of claim 1 wherein the optimization is configured to optimize one of total vehicle cohort energy and total vehicle cohort power over a route of travel.

4. The method of claim 1 wherein the optimization utilizes look-ahead information to predict future operating and environmental conditions for the cohort and for the plurality of vehicles and performs a net optimization over a horizon of the look-ahead information.

5. The method of claim 1 wherein the act of optimizing comprises a sequential optimization in which optimal vehicle cohort operating parameters are first determined and optimal vehicle operating parameters which provide or are consistent with the optimal vehicle cohort operating parameters are second determined.

6. The method of claim 1 wherein the act of optimizing comprises a parallel optimization in which optimal vehicle cohort operating parameters and optimal vehicle operating parameters are determined in parallel.

7. An apparatus comprising:
an electronic control system including a vehicle cohort controller configured to execute instructions stored on at least one non-transitory memory medium to perform the acts of:
receiving vehicle cohort information comprising at least one of internal vehicle information for a plurality of vehicles, external static vehicle information for the plurality of vehicles, and external dynamic vehicle information for the plurality of vehicles;
performing an optimization, the optimization optimizing at least one of total cohort power and total cohort energy over a horizon for operating the vehicle cohort, the optimization being computed by the vehicle cohort controller as a function of a plurality of vehicle quantities each corresponding to a respective vehicle of the cohort over the horizon, the plurality of vehicle quantities being computed as a function of vehicle cohort information corresponding to the respective vehicle, the optimization providing optimized vehicle cohort operating parameters and optimized individual vehicle operating parameters;
determining a plurality of operating commands structured to control operation of respective vehicles of the cohort to provide the optimized vehicle cohort operating parameters and optimized individual vehicle operating parameters;
transmitting the plurality of operating commands to a plurality of vehicles in the cohort, the plurality of operating commands being configured to and effective to control operation of one or more respective vehicles of the cohort in accordance with one or more of the plurality of operating commands corresponding to the one or more respective vehicles.

8. The apparatus of claim 7 wherein the optimization utilizes a vehicle cohort model including a plurality of vehicle models.

9. The apparatus of claim 7 wherein the optimization is configured to optimize one of total vehicle cohort energy and total vehicle cohort power over a route of travel.

10. The apparatus of claim 7 wherein the optimization utilizes look-ahead information to predict future operating and environmental conditions for the cohort and for the plurality of vehicles and performs a net optimization over a horizon of the look-ahead information.

11. The apparatus of claim 7 wherein the act of optimizing comprises a sequential optimization in which optimal vehicle cohort operating parameters are first determined and optimal vehicle operating parameters which provide or are consistent with the optimal vehicle cohort operating parameters are second determined.

12. The apparatus of claim 7 wherein the act of optimizing comprises a parallel optimization in which optimal vehicle cohort operating parameters and optimal vehicle operating parameters are determined in parallel.

13. A system comprising:
a vehicle cohort controller including an off-vehicle component configured to
receive vehicle cohort information comprising at least one of internal vehicle information for a plurality of vehicles, external static vehicle information for the plurality of vehicles, and external dynamic vehicle information for the plurality of vehicles;
perform an optimization, the optimization optimizing at least one of total cohort power and total cohort energy over a horizon for operating the vehicle cohort, the optimization being computed by the vehicle cohort controller as a function of a plurality of vehicle quantities each corresponding to a respective vehicle of the cohort over the horizon, the plurality of vehicle quantities being computed as a function of vehicle cohort information corresponding to the respective vehicle, the optimization providing optimized vehicle cohort operating parameters and optimized individual vehicle operating parameters;
determine a plurality of operating commands structured to control operation of respective vehicles of the cohort to provide the optimized vehicle cohort operating parameters and optimized individual vehicle operating parameters;
receiving with the plurality of vehicles in the cohort the plurality of operating commands; and
transmit the plurality of operating commands to a plurality of vehicles in the cohort, the plurality of operating commands being configured to and effective to control operation of one or more respective vehicles of the cohort in accordance with one or more of the plurality of operating commands corresponding to the one or more respective vehicles.

14. The system of claim 13 wherein the optimization utilizes a vehicle cohort model including a plurality of vehicle models.

15. The system of claim 13 wherein the optimization is configured to optimize one of total vehicle cohort energy and total vehicle cohort power over a route of travel.

16. The system of claim 13 wherein the optimization utilizes look-ahead information to predict future operating and environmental conditions for the cohort and for the plurality of vehicles and performs a net optimization over a horizon of the look-ahead information.

Assignees

• Cummins Inc

Inventors

• Tulpule Pinak Jayant

Classifications

• G08G1/22 Primary

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

• G05B13/042

  in which a parameter or coefficient is automatically adjusted to optimise the performance · CPC title

• G05D1/0217

  in accordance with energy consumption, time reduction or distance reduction criteria · CPC title

• G05D1/0011

  associated with a remote control arrangement · CPC title

• G05D1/0291 Primary

  Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127) · CPC title