Platooning method, apparatus and system of autonomous driving platoon

Patent metadata

Field	Value
Publication number	US-2024242614-A1
Application number	US-202418618476-A
Country	US
Kind code	A1
Filing date	Mar 27, 2024
Priority date	Dec 14, 2018
Publication date	Jul 18, 2024
Grant date	—

Abstract

The present disclosure provides a method and a server for platooning. The method provides: obtaining, based on a platooning request message, a first vehicle type and first kinematic information of a vehicle to join a platoon, a second vehicle type and second kinematic information of a current tail of the platoon, first sensor operating status information of the vehicle to join the platoon, and second sensor operating status information of the current tail vehicle; performing vehicle kinematic determination to obtain a kinematic determination result; performing sensor determination to obtain a sensor determination result; transmitting a confirmation request message to a vehicle of the platoon when the determination results are both successful; and controlling, upon receiving a request approval message, the vehicle to join the platoon to establish a V2V communication connection with each vehicle in the platoon. The method can achieve platoon without any road side unit.

First claim

What is claimed is:

1 . A method for platooning, comprising:
receiving, from a first vehicle, a platooning request message for joining a platoon; obtaining, based on the platooning request message, a first vehicle type, first kinematic information and first sensor operating status information of the first vehicle, a second vehicle type, second kinematic information and second sensor operating status information of a second vehicle currently at a tail of the platoon, comprising:
retrieving a vehicle registration message of the first vehicle based on a vehicle electronic tag of the first vehicle, to obtain the first vehicle type and the first kinematic information of the first vehicle, the first kinematic information comprising a minimum turning radius and a braking preparation time length of the first vehicle, wherein the platooning request message comprises the vehicle electronic tag of the first vehicle;
obtaining a vehicle electronic tag of the second vehicle currently at the tail; and
retrieving a vehicle registration message of the second vehicle currently at the tail, to obtain the second vehicle type and the second kinematic information of the second vehicle currently at the tail, the second kinematic information comprising a minimum turning radius and a braking preparation time length of the second vehicle currently at the tail;
performing vehicle kinematic determination based on the first vehicle type, the first kinematic information, the second vehicle type, and the second kinematic information, to obtain a kinematic determination result; performing sensor determination based on the first sensor operating status information and the second sensor operating status information, to obtain a sensor determination result; transmitting a confirmation request message to a third vehicle in response to the kinematic determination result and the sensor determination result meeting a first predetermined condition, wherein the third vehicle is in the platoon; and controlling, upon receiving a request approval message from the third vehicle, the first vehicle to establish a Vehicle-to-Vehicle (V2V) communication connection with each vehicle in the platoon.

2 . The method of claim 1 , further comprising:
receiving, from a fourth vehicle, a vehicle registration message for joining the platoon, the vehicle registration message containing a vehicle license plate number, a third vehicle type, a vehicle electronic tag, vehicle driver information, vehicle power system information, and vehicle sensor information; and allowing the fourth vehicle to join the platoon in response to the vehicle registration message meeting a second predetermined condition.

3 . The method of claim 2 , further comprising:
receiving position information, destination information, and platoon information from the fourth vehicle; and determining navigation path information for the fourth vehicle based on the position information and the destination information.

4 . The method of claim 3 , further comprising:
transmitting, to the first vehicle, vehicle display information for the fourth vehicle, the vehicle display information containing the vehicle license plate number, the third vehicle type, the position information, the destination information, and the platoon information of the fourth vehicle and a distance for the fourth vehicle to move together with the first vehicle.

5 . The method of claim 4 , wherein the vehicle display information comprises a plurality of pieces of vehicle display information, and the platooning request message comprises a selected one of the plurality of pieces of vehicle display information, and receiving, from the first vehicle, the platooning request message comprises:
in response to the platoon information in the selected piece of vehicle display information being empty, determining that the second vehicle currently at the tail of the platoon corresponds to the selected piece of vehicle display information; and in response to the platoon information in the selected piece of vehicle display information being not empty, determining the platoon based on the platoon information.

6 . The method of claim 1 , wherein performing the vehicle kinematic determination based on the first vehicle type, the first kinematic information, the second vehicle type, and the second kinematic information, to obtain the kinematic determination result comprises:
obtaining a first vehicle level to which the first vehicle type corresponds and a second vehicle level to which the second vehicle type corresponds based on the first vehicle type and the second vehicle type, respectively, wherein the first vehicle level is associated with a first vehicle volume and a first vehicle weight, the second vehicle level is associated with a second vehicle volume and a second vehicle weight; determining whether the first vehicle level is lower than or equal to the second vehicle level; comparing the minimum turning radius of the first vehicle with the minimum turning radius of the second vehicle currently at the tail; comparing the braking preparation time length of the first vehicle with the braking preparation time length of the second vehicle currently at the tail; and determining the kinematic determination result meets the first predetermined condition in response to the first vehicle level being lower than or equal to the second vehicle level, the minimum turning radius of the first vehicle being smaller than or equal to the minimum turning radius of the second vehicle currently at the tail, and the braking preparation time length of the first vehicle being smaller than or equal to the braking preparation time length of the second vehicle currently at the tail.

7 . The method of claim 1 , wherein obtaining, based on the platooning request message, the first vehicle type, the first kinematic information and the first sensor operating status information of the first vehicle, the second vehicle type, the second kinematic information and the second sensor operating status information of the second vehicle currently at the tail of the platoon, further comprises:
transmitting a sensor operating status request message to the first vehicle and the second vehicle currently at the tail respectively; and receiving the first sensor operating status information from the first vehicle and the second sensor operating status information from the second vehicle currently at the tail, the first sensor operating status information and the second sensor operating status information each comprising an operating status of a minimum perception information sensor, operating status and accuracy of a positioning sensor, and operating status and accuracy of a forward distance sensor.

8 . The method of claim 7 , wherein performing sensor determination based on the first sensor operating status information and the second sensor operating status information, to obtain the sensor determination result comprises:
determining whether the operating status of the minimum perception information sensor on the first vehicle and the operating status of the minimum perception information sensor on the second vehicle currently at the tail are operating normally or operating with redundancy, whether the operating status and accuracy of the positioning sensor on the first vehicle and the operating status and accuracy of the positioning sensor on the second vehicle currently at the tail are normal, and whether the operating status and accuracy of the forward distance sensor on the first vehicle and the operating status and accuracy of the forward distance sensor on the second vehicle currently at the tail are normal; and determining the sensor determination result meets the first predetermined condition in

Assignees

• Beijing Tusen Zhitu Tech Co Ltd

Inventors

• Li Wenrui
• Wu Nan
• Peng Rui
• Bi Qingxin
• Jin Yuhe
• Li Yiming

Classifications

• B60K35/22

  Display screens · CPC title

• B60K35/85

  Arrangements for transferring vehicle- or driver-related data · CPC title

• B60K35/10

  Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor · CPC title

• B60K2360/166

  Navigation · CPC title

• B60K35/28

  characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver · CPC title