Patent Grant
11718296
The embodiments herein relate generally to highway vehicle platoon maintenance management. More specifically, particular embodiments relate to commercial highway vehicle platoon maintenance management where it is desirable to determine traffic conditions around vehicles of the platoon, to share the determined traffic conditions with the other vehicles of the platoon, and to determine and share adaptive cruise control (ACC) parameters between the platooning vehicles for adjusting platoon inter-vehicle following distances based on the determined traffic conditions. Although the embodiments will be described with reference to selected particular examples, it is to be appreciated that the claimed invention is also amenable to other applications and can be equivalently extended to other embodiments and environments.
It is known that two or more vehicles moving along a roadway can cooperate as a road train or a “platoon” for mutually providing to the vehicles within the platoon various safety and efficiency benefits. A typical vehicle platoon includes a leader vehicle and one or more follower vehicles arranged serially along a single roadway lane. Larger platoons can involve many follower vehicles for providing enhanced efficiency, but ensuring the safety of to both the platooned vehicles as well as of the other non-platooning vehicles on the roadway most usually dictate the short single lane platoon incarnation.
The aerodynamic geometry of the vehicles within a platoon is a significant factor used in determining an ordering of the vehicles. As a general rule, a physically smaller vehicle following a physically larger vehicle will provide a greater benefit. Since commercial box trucks and tractors towing box trailers are in general taller and wider than most flatbed tractor trailer combinations, a maximum aerodynamic benefit and resultant fuel savings is realized by ordering vehicles classified this way such that the commercial box truck and tractors towing box trailers take the leader position(s) in the platoon, while the flatbed tractor trailer rigs take the follower position(s) in the platoon.
In addition to the above, maintaining a small distance or spacing between platooned vehicles gives greater benefit in terms of reduced energy consumption. However, holding a tight distance or spacing between platooned vehicles requires that careful attention be paid to various functional or environmental and operational characteristics and capabilities of the vehicles and other external conditions including the overall size of the platoon, weather conditions, relative braking abilities between vehicle pairs, relative acceleration abilities, relative load or cargo size and weight including required stopping distance, and the like. Special attention must also be paid to non-platooning vehicle traffic conditions near the platoon and to characteristics of the roadway such as roadway incline, decline, and turn radii. These various parameters implicate directly or indirectly the inter-vehicle safety considerations as well as the overall safety of multiple vehicle platoons.
In the single lane platoon incarnation described above, the vehicles participating in a platoon typically mutually cooperate to maintain a relatively fixed and constant (even or the same) distance between adjacent vehicles by exchanging deceleration command and other signals between adjacent vehicles of the platoon. On flat roadways, the even distance maintained between the vehicles is often fixed and constant in accordance with control protocols using combinations of global positioning systems (GPS) data sharing, deceleration command signal exchanges, and safety and efficiency algorithms. On graded roadways, the relatively even distance maintained between the vehicles is often modified to improve or otherwise maintain or enhance the overall safety and efficiency of the platoon. For example, the even distance maintained between the vehicles can be decreased during conditions of the platoon traversing an incline wherein the tendency of the overall platoon is to decrease speed slightly. Conversely, the even distance maintained between the vehicle can be increased during conditions of high non-platoon traffic when sudden deceleration might become necessary and in conditions of the platoon traversing a decline wherein the tendency of the overall platoon is to increase speed slightly. In any case, the relative distance between the vehicles of the platoon preferably remains substantially even, constant or the same in accordance with platoon control mechanisms and protocols in place.
For maintaining the preferred relatively fixed and constant (even or the same) distance between adjacent vehicles, many commercial vehicles that participate in platoons are highly sophisticated and are also equipped with adaptive cruise control (ACC) systems including forward and rearward sensors used for maintaining a safe relative distance between a host vehicle and a forward vehicle, and collision mitigation (CM) systems for avoiding or lessening the severity of impacts between a host and forward and rearward vehicles using various combinations of transmission, vehicle retarder, and foundation brake controls.
In addition to the above, vehicles participating in a platoon typically share their positions with other vehicles of the platoon by communicating their GPS coordinate data with other vehicles using vehicle-to-vehicle (V2V) communications (“V2V Unicast” communications), and/or vehicle-2-vehicles (V2x) communications (“V2V Multicast” communications), and/or any other suitable communications that might be available. One SAE standard is J2945 directed in general to Dedicated Short Range Communication (DSRC), and a work in process portion of that standard is J2945/6 is directed to performance requirements for cooperative adaptive cruise control and platooning. J2945/6 is intended to define the data exchange that will be necessary for coordinated platoon maneuvers, and that definition of the categories should start with differentiating between platooning and ACC, then determining message sets and performance to realize cooperative vehicles.
Currently, the technique for vehicles participating in a platoon to share their position with other vehicles of the platoon involves determining, by each vehicle, its own GPS coordinate data, broadcasting by each vehicle its own GPS coordinate data to all of the other vehicles of the platoon using over-the-air communications (such as the J2945/6 communications), and receiving the GPS position data from all of the other vehicles of the platoon. In this way, each vehicle of the platoon knows the position(s) of each other vehicle of the platoon. The GPS coordinate data is then used by each vehicle to, among other things, establish the relatively even distance coordinated between the vehicles as generally described above.
Platooning vehicles follow each other on the roadway in close proximity to each other and often at highway speeds as explained above, and for this they typically use a Radar to control the inter-vehicle distance(s). For the lateral control using automatic steering control, Lane Departure Systems track the lane markings and actively steer the vehicles between the detected lane lines and/or marks. For emergency braking situations such as Autonomous Emergency Braking (AEB) events for example, forward-directed cameras on a following vehicle detect the actuation by a forward vehicle of a rearward facing brake light so that appropriate emergency stopping or other actions can suitably be initiated.
Vehicles that operate on public roadways, however, sometimes encounter conditions that adversely affect the platoon including for example traffic that may be visible to some vehicles of the platoon but not visible to others. For example, a lead vehicle of a platoon might be unaware of a fast approaching vehicle from behind the platoon, while the last vehicle of the platoon could easily recognize this condition. Similarly, non-platooning vehicles alongside the center of the platoon might be viewable by only the mid-platoon vehicles at the center of the platoon while being blocked from view by the leading and trailing vehicles at the front and rear ends of the platoon, respectively.
Given the above, therefore, it would be helpful to provide a system and method for determining travel condition information, such as non-platooning vehicle traffic information for example, by one or more of the platooning vehicles.
It would further be helpful to share the non-platooning vehicle traffic information determined by one or more of the platooning vehicles with other vehicles of the platoon to provide more complete information on conditions of the roadway including the roadway traffic information.
It would also further be helpful to receive and use the shared information such as the traffic condition information to adjust one or more operating conditions or parameters of control of the platoon.
It would further be helpful use the shared traffic condition information to adjust one or more operating conditions or parameters of ACC control of the platoon to ensure that the platooning vehicles remain spaced apart by a safe distance that is adjustable based on the shared traffic condition information.
It would further be helpful use the shared traffic condition information to adjust one or more operating conditions or parameters of Autonomous Emergency Braking (AEB) control of the platoon to ensure that the platooning vehicles can adapt their braking actions to safely reduce their respective speeds that is adjustable based on the shared traffic condition information.
The embodiments herein provide for new and improved systems and methods for determining travel condition information, such as non-platooning vehicle traffic information for example, by one or more of the platooning vehicles.
The embodiments herein further provide for new and improved systems and methods for sharing non-platooning vehicle traffic information determined by one or more platooning vehicles with other vehicles of the platoon to provide more complete information on conditions of the roadway including the roadway traffic information.
The embodiments herein still further provide for new and improved systems and methods for receiving and using shared information such as the traffic condition information to adjust one or more operating conditions or parameters of control of the platoon.
The embodiments herein provide further for new and improved systems and methods for adjusting one or more operating conditions or parameters of ACC control of a platoon to ensure that platooning vehicles remain spaced apart by a safe distance that is adjustable based on the shared traffic condition information.
The embodiments herein provide for new and improved systems and methods for using shared traffic condition information to adjust one or more operating conditions or parameters of Autonomous Emergency Braking (AEB) control of the platoon to ensure that the platooning vehicles can adapt their braking actions to safely reduce their respective speeds that is adjustable based on the shared traffic condition information
A system is provided supporting platoon adaptive cruise control between an associated platooning vehicle and a set of at least one other associated platooning vehicle travelling cooperatively as a platoon along an associated roadway. The system of an example includes a platoon control unit configured to be disposed in the associated platooning vehicle, a sensor unit operatively coupled with the platoon control unit, and a communication transmitter operatively coupled with the platoon control unit. The platoon control unit is in operative communication with an associated electronic control unit (ECU) of the associated platooning vehicle, and includes a processor, a non-transient memory device operatively coupled with the processor, and logic stored in the non-transient memory and executable by the processor to support the platoon ACC between the associated platooning vehicle and the set of at least one other associated vehicle travelling as the platoon along the associated roadway. The sensor unit is operable to sense a presence of one or more extra-platoon traffic vehicles relative to the associated platooning vehicle, and selectively generate extra-platoon traffic vehicle data representative of the one or more extra-platoon traffic vehicles being sensed by the sensor unit. The communication transmitter is operable to receive the extra-platoon traffic vehicle data from the platoon control unit, convert the extra-platoon traffic vehicle data into an extra-platoon traffic vehicle signal, and transmit the extra-platoon traffic vehicle signal from the associated following vehicle to the set of at least one other associated platooning vehicle travelling cooperatively as the platoon.
The sensor unit of the system of an example may include a forward distance sensor disposed on a forward-directed end/side of the associated platooning vehicle and operatively coupled with the platoon control unit for sensing a presence of an associated forward vehicle forward of the associated platooning vehicle, a rearward distance sensor disposed on a rearward-directed end/side of the associated platooning vehicle and operatively coupled with the platoon control unit for sensing a presence of an associated forward vehicle travelling behind the associated platooning vehicle.
In a further embodiment the sensor unit of the system may include a Light Detection and Ranging (LIDAR) sensor disposed on the associated platooning vehicle, wherein the LIDAR sensor is configured to sense a presence of one or more extra-platoon traffic vehicles adjacent to corresponding left and/or right lateral sides of the associated platooning vehicle.
In accordance with an aspect a speed sensor is operatively coupled with the platoon control unit and is operable to determine a velocity of the associated platooning vehicle and to generate a speed signal representative of the determined velocity of the associated platooning vehicle. Adaptive cruise control logic stored in the non-transient memory device is executable by the processor to determine, in accordance with the speed signal, the forward distance signal, and the extra-platoon traffic vehicle data: a nominal platooning following distance in accordance with the extra-platoon traffic vehicle data being representative of no extra-platoon traffic vehicles being sensed by the sensor unit or a de-rated nominal platooning following distance in accordance with the extra-platoon traffic vehicle data being representative of one or more extra-platoon traffic vehicles being sensed by the sensor unit.
In the example, the de-rated nominal platooning following distance is less than the nominal platooning following distance in a predetermined proportion based on a level of the extra-platoon traffic vehicles in accordance with the extra-platoon traffic vehicle data. Further, the platoon control unit operates to communicate the nominal platooning following distance or the de-rated nominal platooning following distance to the associated electronic control unit (ECU) of the associated platooning vehicle, for controlling a following distance from the associated platooning vehicle to a vehicle of the set of at least one other associated platooning vehicle ahead of the associated platooning vehicle.
Other embodiments, features and advantages of the example embodiments will become apparent from the following description of the embodiments, taken together with the accompanying drawings, which illustrate, by way of example, the principles of the example embodiments.
In the accompanying drawings which are incorporated in and constitute a part of the specification, embodiments of the invention are illustrated, which, together with a general description of the invention given above, and the detailed description given below, serve to exemplify the embodiments of this invention.
In the following description of the present invention reference is made to the accompanying figures which form a part thereof, and in which is shown, by way of illustration, exemplary embodiments illustrating the principles of the present invention and how it is practiced. Other embodiments can be utilized to practice the present invention and structural and functional changes can be made thereto without departing from the scope of the present invention.
Referring now to the drawings, wherein the showings are for the purpose of illustrating the example embodiments of using non-platooning vehicle traffic data for platoon ACC control only, and not for purposes of limiting the same,
In the example embodiment illustrated, the electronic control systems 12, 12′ of the respective vehicles 10, 20 are configured for mutually communicating signals and exchanging data between each other, and also for communicating signals and exchanging data with various other communication systems including for example a remote wireless communication system 50 and a remote satellite system 60. These remote systems 50, 60 can provide, for example, global position system (GPS) data to the vehicles 10, 20 as desired. Other information may be provided or exchanged between the vehicles and the remote systems as well such as, for example, fleet management and control data from a remote fleet management facility, or the like (not shown). Although this functionality is provided, the embodiments herein find this remote communication, though useful, not necessarily essential wherein the embodiments herein are directed to using shared traffic information to support cooperative platoon lane changing by the platooning vehicles, autonomous emergency braking (AEB) among the platooning vehicles, adaptive cruise control (ACC) between the platooning vehicles, inter-vehicle platoon distance and/or spacing management i.e. platoon ordering and spacing, and other coordinated platoon control operations beneficially without the need to consult with or act under the direction of or in concert with the remote wireless communication system 50, the remote satellite system 60, the remote fleet management facility, a Network Operations Center (NOC), a Central Command Center (CCC), or the like.
In addition to the above, the electronic control systems 12, 12′ of each vehicle 10, 20 operates to perform various vehicle-to-(single)vehicle (V2V Unicast) communication (communication between a broadcasting vehicle and a single responding vehicle), as well as various vehicle-to-(multiple)vehicle (V2V Broadcast) communication (communication between a broadcasting vehicle and two or more responding vehicles), and further as well as various vehicle-to-infrastructure (V2I) communication. Preferably, the local V2V Unicast and V2V Broadcast communication follows the J2945 DSRC communications specification. In this regard, the vehicles forming the basic platoon P can communicate with each other locally for self-ordering and spacing into a platoon without the need for input from the NOC in accordance with the embodiments herein. The vehicles forming the basic platoon P can also communicate with one or more other vehicles locally without the need for input from the NOC for negotiating the one or more other vehicles into the platoon in accordance with the embodiments herein. The vehicles forming the basic platoon P can further communicate with a fleet management facility remotely as may be necessary and/or desired for ordering into a platoon in accordance with further example embodiments herein.
As noted above, preferably, the local V2V Unicast and V2V Broadcast communication between vehicles as will be described herein follows the J2945 DSRC communications specification. This specification at present, does not define one-to-one vehicle communications. Rather, operationally, each communication-capable vehicle sends the needed information by a broadcast to every other communication-capable vehicle within range, and the receiving vehicle(s) decide if they want to process the received message. For example only vehicles who are platoon capable and the driver has indicated, via a dashboard switch, touchscreen interface or the like, that joining a platoon is desired, that vehicle will start broadcasting and listening for the Platoon protocol messages. All other vehicles in the area will receive and ignore the platoon information. Accordingly, as will be used herein and for purposes of describing the example embodiments, “V2V Unicast” communication will refer to communication between a broadcasting vehicle and a single responding vehicle, and “V2V Broadcast communication” will refer to communication between a broadcasting vehicle and two or more responding vehicles. It is to be appreciated that “V2V Unicast” communication also refers to one-to-one direct vehicle communications as the J2945 DSRC communications specification is further developed or by use of any one or more other standards, specifications, or technologies now known or hereinafter developed.
With reference next to
In the exemplary embodiment of
The data collection and communication module 200 may also include a logic applying arrangement 230, such as a microprocessor or controller, in communication with the one or more devices or systems 214. The controller 230 may include one or more inputs for receiving input data from the devices or systems 214. The controller 230 may be adapted to process the input data, compare the raw or processed input data to one or more stored threshold value(s), transform the input data into one or more other forms for further processing or for vehicle and/or platoon control or for presentation to the vehicle operator, or process the input data using logic executed by to processor of the controller, or the like. The controller 230 may also include one or more outputs for delivering control signals to one or more vehicle systems 223 based on the comparison. The control signals may instruct the systems 223 to intervene in the operation of the vehicle to initiate corrective action, and then report this corrective action to a wireless service (not shown) or simply store the data locally to be used for determining a driver quality. For example, the controller 230 may generate and send a control signal to a steering wheel braking actuator 232 for adding resistance to the ability of the driver operating the vehicle for selectively making turning the vehicle to the left or right harder or easier in accordance with the result of operations performed by turn warning logic based on inputs indicating that traffic may be located in the direction that the driver would like to turn. The controller 230 may generate and send a control signal to an engine electronic control unit or an actuating device to reduce the engine throttle 234 for slowing the vehicle down. Further, the controller 230 may send the control signal to a vehicle brake system 236, 238 to selectively engage the brakes. In a tractor-trailer arrangement, the controller 230 may engage the brakes on one or more wheels of a trailer portion of the vehicle 236 and/or the brakes on one or more wheels of a tractor portion of the vehicle 238, and then report this corrective action to the wireless service or simply store the data locally to be used for determining a driver quality. A variety of corrective actions may be possible and multiple corrective actions may be initiated at the same time.
The controller 230 may also include a memory portion 240 for storing and accessing system information, and for storing information for effecting the platoon ACC support functionality using traffic information shared between the platooning vehicles such as for example system control logic 241 that is selectively executable by the processor or controller 230 for supporting the use of shared traffic information to support cooperative platoon lane changing by the platooning vehicles, autonomous emergency braking (AEB) among the platooning vehicles, adaptive cruise control (ACC) between the platooning vehicles, inter-vehicle platoon distance and/or spacing management i.e. platoon ordering and spacing, and other coordinated platoon control operations between the platooning vehicle and a set of one or more other vehicle(s) travelling as the platoon (P) along the associated roadway. The memory portion 240 may be separate from the controller 230 as shown or integral with the controller as may be necessary or desired. In addition, it is to be appreciated that the set of devices 214 in the form of various sensors as illustrated and controller 230 may be part of a preexisting system or use components of a preexisting system. For example, the Bendix® ABS-6™ Advanced Antilock Brake Controller with ESP® Stability System available from Bendix Commercial Vehicle Systems LLC may be installed on the vehicle. The Bendix® ESP® system may utilize some or all of the sensors described in
The controller 230 may also include a timer portion 243 operable to time stamp one or more events and/or determine one or more timer intervals between selected one or more events. In the example embodiment, the timer is operable together with other sensor devices to determine a relative speed between the vehicle and one or more other vehicles for control of cooperative platoon lane changing by the platooning vehicles, autonomous emergency braking (AEB) among the platooning vehicles, adaptive cruise control (ACC) between the platooning vehicles, inter-vehicle platoon distance and/or spacing management i.e. platoon ordering and spacing, and other coordinated platoon control operations.
The data collection and communication module 200 may also include a source of input data 242 indicative of a configuration/condition of a commercial vehicle. The controller 230 may sense or estimate the configuration/condition of the vehicle based on the input data, and may select a control tuning mode or sensitivity based on the vehicle configuration/condition. The controller 230 may compare the operational data received from the sensors or systems 214 to the information provided by the tuning. The tuning of the system may include, but not be limited to: the nominal center of gravity height of the vehicle, look-up maps for lateral acceleration level for rollover intervention, look-up maps for yaw rate differential from expected yaw rate for yaw control interventions, steering wheel angle allowance, tire variation allowance, and brake pressure rates, magnitudes and maximums to be applied during corrective action.
A vehicle configuration/condition may refer to a set of characteristics of the vehicle which may influence the vehicle's stability (roll and/or yaw) and/or the vehicle's braking ability. As an example, in a vehicle with a towed portion, the source of input data 242 may communicate the type of towed portion. In tractor-trailer arrangements, the type of trailer being towed by the tractor may influence the vehicle stability and braking ability. This is evident, for example, when multiple trailer combinations (doubles and triples) are towed. Vehicles with multiple trailer combinations may exhibit an exaggerated response of the rearward units when maneuvering (i.e. rearward amplification). To compensate for rearward amplification, the data collection and communication module 200 may select a tuning that makes the system more sensitive (i.e. intervene earlier than would occur for a single trailer condition). The control tuning may be, for example, specifically defined to optimize the performance of the data collection and communication module for a particular type of trailer being hauled by a particular type of tractor. Thus, the control tuning may be different for the same tractor hauling a single trailer, a double trailer combination, or a triple trailer combination.
The type of load the commercial vehicle is carrying and the location of the center of gravity of the load may also influence vehicle stability and/or braking ability. For example, moving loads such as liquid tankers with partially filled compartments and livestock may potentially affect the turning and rollover performance of the vehicle. Thus, a more sensitive control tuning mode may be selected to account for a moving load. Furthermore, a separate control tuning mode may be selectable when the vehicle is transferring a load whose center of gravity is particularly low or particularly high, such as for example with certain types of big machinery or low flat steel bars.
In addition, the controller 230 is operatively coupled with one or more image capture devices shown in the example embodiment as a single camera 245 representation of one or more physical cameras disposed on the vehicle such as, for example, one camera on each corner of the vehicle. The one or more cameras 245 may be video cameras of the like as may be desired.
Still yet further, the data collection and communication module 200 may also include a transmitter/receiver (transceiver) module 250 such as, for example, a radio frequency (RF) transmitter including one or more antennas 252 for wireless communication of GPS data, one or more various vehicle configuration and/or condition data, and other information for sharing traffic information between platooning vehicles to support ACC according to principles of the example embodiment or for sharing the information with one or more wireless services 50, 60 (
The controller 230 is operative to communicate the acquired data to the one or more receivers in a raw data form, that is without processing the data, in a processed form such as in a compressed form, in an encrypted form or both as may be necessary or desired. In this regard, the controller 230 may determine extra-platoon traffic data in accordance with signals obtained from the set of sensors 260, 262, 264, 265, and deliver the extra-platoon traffic data to the transmitter/receiver (transceiver) module 250 for communication of the extra-platoon traffic data to the one or more other vehicles of the platoon. The controller may further combine selected ones of the vehicle parameter data values into processed data representative of higher level vehicle condition data such as, for example, data from the lateral acceleration sensor 218 may be combined with the data from the steering angle sensor 220 to determine excessive curve speed event data. Other hybrid event data relatable to the vehicle and driver of the vehicle and obtainable from combining one or more selected raw data items from the sensors includes, for example and without limitation, excessive braking event data, excessive curve speed event data, lane departure warning event data, excessive lane departure event data, lane change without turn signal event data, loss of video tracking event data, LDW system disabled event data, Autonomous Emergency Braking (AEB) data, following distance data, distance alert event data, forward collision warning event data, haptic warning event data, collision mitigation braking event data, ATC event data, ESC event data, RSC event data, ABS event data, TPMS event data, engine system event data, average following distance event data, average fuel consumption event data, and average ACC usage event data.
The example embodiments described herein are related to the use of the computer system 300 for determining traffic condition information and sharing the information with other platooning vehicles to adjust one or more operating conditions or parameters of ACC control of the platoon to ensure that the platooning vehicles remain spaced apart by a safe distance that is adjustable based on the shared traffic condition information. The traffic condition information may be used directly by the vehicle that determines the conditions for adjusting its own operating conditions and/or adjusting its own parameters of AEB control of the platoon. The traffic condition information may additionally be shared with the other platooning vehicles to enable those other platooning vehicles adjust one or more operating conditions or parameters of AEB control of the platoon to ensure that the platooning vehicles can adapt their braking actions to safely reduce their respective speeds that is adjustable based on the shared traffic condition information.
The computer system may further be used for accessing, aggregating, manipulating and displaying information from multiple remote resources such as, for example, indirectly from multiple fleet vehicles 10, 20 and directly from multiple wireless services 50, 60. Further, the embodiments described herein are related to the use of computer system 300 for accessing information from the multiple sources in selective combination with internal proprietary data such as driver sensitive data, sales, costs, expense records, travel data, and the like from within a firewall 340. According to one implementation, information from the multiple remote public, commercial, and/or internal proprietary resources is provided by computer system 300 in response to the processor 304 executing one or more sequences of one or more instructions contained in main memory 306. Such instructions may be read into main memory 306 from another computer-readable medium, such as storage device 310. Execution of the sequences of instructions contained in main memory 306 causes the processor 304 to perform the process steps described herein. In an alternative implementation, hard-wired circuitry may be used in place of or in combination with software instructions to implement the invention. Thus implementations of the example embodiments are not limited to any specific combination of hardware circuitry and software.
In accordance with the descriptions herein, the term “computer-readable medium” as used herein refers to any non-transitory media that participates in providing instructions to the processor 304 for execution. Such a non-transitory medium may take many forms, including but not limited to volatile and non-volatile media. Non-volatile media includes, for example, optical or magnetic disks. Volatile media includes dynamic memory for example and does not include transitory signals, carrier waves, or the like. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, or any other magnetic medium, a CD-ROM, any other optical medium, punch cards, papertape, any other physical medium with patterns of holes, a RAM, PROM, and EPROM, a FLASH-EPROM, any other memory chip or cartridge, or any other tangible non-transitory medium from which a computer can read.
In addition and further in accordance with the descriptions herein, the term “logic”, as used herein with respect to the Figures, includes hardware, firmware, software in execution on a machine, and/or combinations of each to perform a function(s) or an action(s), and/or to cause a function or action from another logic, method, and/or system. Logic may include a software controlled microprocessor, a discrete logic (e.g., ASIC), an analog circuit, a digital circuit, a programmed logic device, a memory device containing instructions, and so on. Logic may include one or more gates, combinations of gates, or other circuit components. The term “logic” as used herein does not embrace transitory signals.
The platooning control computer system 300 includes a communication interface 318 coupled with the bus 302. The communication interface 318 provides a two-way data communication coupling to a network link 320 that is connected to local network 322. For example, communication interface 318 may be an integrated services digital network (ISDN) card or a modem to provide a data communication connection to a corresponding type of telephone line. As another example, communication interface 318 may be a local area network (LAN) card to provide a data communication connection to a compatible LAN. Wireless links may also be implemented. In any such implementation, communication interface 318 sends and receives electrical, electromagnetic or optical signals that carry digital data streams representing various types of information.
Network link 320 typically provides data communication through one or more networks to other data devices. For example, network link 320 may provide a connection through local network 322 to a host computer 324 supporting a database 325 storing internal proprietary data and/or to data equipment operated by an Internet Service Provider (ISP) 326. ISP 326 in turn provides data communication services through the Internet 328. Local network 322 and Internet 328 both use electric, electromagnetic or optical signals that carry digital data streams. The signals through the various networks and the signals on network link 320 and through communication interface 318, which carry the digital data to and from the traffic-sensitive platooning control computer system 300, are exemplary forms of carrier waves transporting the information.
The computer system 300 can send messages and receive data, including program code, through the network(s), network link 320 and communication interface 318. In the Internet-connected example embodiment, the computer system 300 is operatively connected with a plurality of external public, private, governmental or commercial servers (not shown) as one or more wireless services 50, 60 configured to execute a web application in accordance with the example embodiment to be described below in greater detail. In the example embodiment shown, the first server 330 is coupled with a database 350 storing selected data received by a first wireless service such as for example data from a first telematics supplier, the second first server 332 is coupled with a database 352 storing selected data received by a second wireless service such as for example data from a second telematics supplier, and the third server 334 is coupled with a database 354 storing selected proprietary data and executable code for performing the web application. The traffic-sensitive platooning control computer system 300 is operative to selectively transmit a request for data to be selectively retrieved from the respective databases 350, 352, 354 through Internet 328, ISP 326, local network 322 and communication interface 318 or to receive selected data pushed from the databases 350, 352, 354, or by both means in accordance with the example embodiments. The received data is processed executed by the processor 304 as it is received, and/or stored in storage device 310, or other non-volatile storage for later processing or data manipulation.
Although traffic-sensitive platooning control computer system 300 is shown in
Selectively locating the proprietary commercial data in database 325 within the firewall 340 is advantageous for numerous reasons including enabling rapid comprehensive local queries without substantial network overhead. However, it is important to maintain the accuracy of the data by performing update or refresh operations on a schedule based on the characteristics of the desired data or on the data requirements of a particular query.
The platooning control computer system 300 suitably includes several subsystems or modules to perform the platoon control and management for supporting ACC between the platooning vehicles to account for non-platooning vehicle traffic as set forth herein. A primary purpose of the subject application is to provide platoon control and management for arranging two or more vehicles cooperatively travelling as a platoon along an associated roadway into a platoon arrangement, to control the gap distances therebetween, in accordance with their relative braking capabilities and other brake-related performance characteristics and based on traffic information that is obtained and shared between platooning vehicles to support ACC.
With continued reference to
In accordance with the example embodiment, the sensor unit 214 disposed on the following vehicle 20 further includes a left side sensor 262 disposed on a left lateral side of the platooning vehicle 20. The left side sensor 262 is configured to sense a presence of one or more extra-platoon traffic vehicles 410 adjacent to a corresponding left lateral side of the platooning vehicle 20, and to selectively generate left side extra-platoon traffic vehicle data L_EP_TV_Data representative of the one or more extra-platoon traffic vehicles 410 adjacent to a corresponding left lateral side of the platooning vehicle 20 being sensed by the sensor unit 214.
Further in accordance with the example embodiment, the sensor unit 214 disposed on the following vehicle 20 further includes a right side sensor 264 disposed on a right lateral side of the platooning vehicle 20. The right side sensor 264 is configured to sense a presence of one or more extra-platoon traffic vehicles 420 adjacent to a corresponding right lateral side of the platooning vehicle 20, and to selectively generate right side extra-platoon traffic vehicle data L_EP_TV_Data representative of the one or more extra-platoon traffic vehicles 420 adjacent to a corresponding right lateral side of the platooning vehicle 20 being sensed by the sensor unit 214.
Yet still further in accordance with the example embodiment, the sensor unit 214 disposed on the following vehicle 20 further includes a Light Detection and Ranging (LIDAR) sensor 265 disposed on the platooning vehicle 20. The LIDAR sensor 265 is configured to sense a presence of one or more extra-platoon traffic vehicles 410, 420 adjacent to corresponding left and right lateral sides of the platooning vehicle 20 and front and rear areas of the platooning vehicle 20. The LIDAR sensor 265 selectively generates left side extra-platoon traffic vehicle data representative of the one or more extra-platoon traffic vehicles 410 adjacent to a corresponding left lateral side of the platooning vehicle 20, right side extra-platoon traffic vehicle data representative of the one or more extra-platoon traffic vehicles 420 adjacent to a corresponding right lateral side of the platooning vehicle 20, front extra-platoon traffic vehicle data representative of one or more extra-platoon traffic vehicles adjacent to a forward area of the platooning vehicle 20, and rear extra-platoon traffic vehicle data representative of one or more extra-platoon traffic vehicles adjacent to a rearward area of the platooning vehicle 20.
The following vehicle 210 further includes a speed sensor 216 operatively coupled with the platoon control unit 200, 300. The speed sensor 216 is operable to determine a velocity of the platooning vehicle 20, and to generate a speed signal Speed_Sig representative of the determined velocity of the platooning vehicle. The control logic 241 of the following vehicle 210 further includes adaptive cruise control (ACC) logic stored in the non-transient memory device 240. The ACC logic is executable by the processor 230, 304 to determine, in accordance with the speed signal Speed_Sig, the forward distance signal FWD_Dist_Sig, and the extra-platoon traffic vehicle data EP_TV_Data, a nominal platooning following distance NOM_Follow_Dist or a de-rated nominal platooning following distance Derate_NOM_Follow_Dist. In accordance with the example embodiment, the nominal platooning following distance NOM_Follow_Dist is determined in accordance with the extra-platoon traffic vehicle data EP_TV_Data being representative of no extra-platoon traffic vehicles (TVs) being sensed by the sensor unit 214. Further in accordance with the example embodiment, the de-rated nominal platooning following distance Derate_NOM_Follow_Dist is determined in accordance with the extra-platoon traffic vehicle data EP_TV_Data being representative of one or more extra-platoon traffic vehicles (TVs) being sensed by the sensor unit 214. In the example embodiment, the de-rated nominal platooning following distance Derate_NOM_Follow_Dist is less than the nominal platooning following distance NOM_Follow_Dist in a predetermined proportion based on a level of the extra-platoon traffic vehicles (TVs) in accordance with the extra-platoon traffic vehicle data EP_TV_Data.
The example embodiments described herein are related to the use of the computer system 300 for determining traffic condition information and sharing the information with other platooning vehicles to adjust one or more operating conditions or parameters of ACC control of the platoon to ensure that the platooning vehicles remain spaced apart by a safe distance that is adjustable based on the shared traffic condition information. The traffic condition information may be additionally be shared with the other platooning vehicles to adjust one or more operating conditions or parameters of AEB control of the platoon to ensure that the platooning vehicles can adapt their braking actions to safely reduce their respective speeds that is adjustable based on the shared traffic condition information. In this regard, the platooning control unit 300 of the example embodiment operates to communicate the nominal platooning following distance NOM_Follow_Dist or the de-rated nominal platooning following distance Derate_NOM_Follow_Dist to an associated electronic control unit (ECU) of the platooning vehicle 20 for controlling a following distance from the platooning vehicle 20 to a vehicle of the set of at least one other associated platooning vehicle 10 ahead of the associated platooning vehicle 20.
In addition to the above, the left and right side sensors 262, 264 may detect non-platooning vehicles 410, 420 to the left and right sides of the following platooning vehicle 20. Here, the communication transmitter 250 is operable to receive, from the platooning control unit 300, the left side extra-platoon traffic vehicle data L_EP_TV_Data and the right side extra-platoon traffic vehicle data R_EP_TV_Data, convert the left side extra-platoon traffic vehicle data L_EP_TV_Data into a left side extra-platoon traffic vehicle signal L_EP_TV_Sig, convert the right side extra-platoon traffic vehicle data R_EP_TV_Data into a right side extra-platoon traffic vehicle signal R_EP_TV_Sig, and transmit the left and right side extra-platoon traffic vehicle signals L_EP_TV_Sig, R_EP_TV_Sig from the following vehicle 20 to the set of other platooning vehicles 10, 20 travelling cooperatively as the platoon P.
Still yet in addition to the above, the LIDAR sensor 265 may sense the presence of the one or more extra-platoon traffic vehicles 410, 420 adjacent to corresponding left and right lateral sides of the platooning vehicle 20 and front and rear areas of the platooning vehicle 20. In accordance with the example embodiment, the communication transmitter 250 (
Having the left and/or right side extra-platoon traffic vehicle present data L_EP_TV_P_Data, R_EP_TV_P_Data in hand, the logic 241 stored in the non-transient memory device 240 in accordance with an embodiment includes blind spot warning logic executable by the processor to determine a velocity and a position of the one or more extra-platoon traffic vehicles (TVs) adjacent to the left and/or right lateral sides of the associated platooning vehicle 20 based on the left and/or right side extra-platoon traffic vehicle present data L_EP_TV_P_Data, R_EP_TV_P_Data. The blind spot warning logic is executed by the processor to selectively generate velocity data TV_VELOCITY_Data representative of the determined velocity of the one or more extra-platoon traffic vehicles (TVs) and position data TV_POSITION_Data representative of the determined position of the one or more extra-platoon traffic vehicles (TVs). In the example embodiment, the communication transmitter 250 is operable to receive the velocity data TV_VELOCITY_Data and the position data TV_POSITION_Data from the platoon control unit, and transmit the velocity data TV_VELOCITY_Data and the position data TV_POSITION_Data from the associated following vehicle 20 to the set of other associated platooning vehicles 10, 30 travelling cooperatively as the platoon.
In accordance with the example embodiments herein, several various sensors are operable to sense, among other things, a presence, location, speed, and other parameters of one or more extra-platoon traffic vehicles 410, 420 relative to the platooning vehicle 10, 20, 30, and to selectively generate extra-platoon traffic vehicle data representative of the parameters of the one or more extra-platoon traffic vehicles being sensed by the sensor unit. In this regard and with respect to the distance parameter, the left side sensor 262 is configured to determine a left side distance L_Side_Dist between the associated platooning vehicle 20 and the sensed one or more extra-platoon traffic vehicles 410 at the left lateral side of the associated platooning vehicle 20, and selectively generate left lateral side distance data L_Side_Dist_Data representative of the determined left lateral side distance L_Side_Dist between the associated platooning vehicle 20 and the sensed one or more extra-platoon traffic vehicles 410 at the left lateral side of the associated platooning vehicle 20. Similarly, the right side sensor 264 is configured to determine a right side distance R_Side_Dist between the associated platooning vehicle 20 and the sensed one or more extra-platoon traffic vehicles 420 at the right lateral side of the associated platooning vehicle 20, and selectively generate a right lateral side distance data L_Side_Dist_Data representative of the determined right lateral side distance L_Side_Dist between the associated platooning vehicle 20 and the sensed one or more extra-platoon traffic vehicles 420 at the right lateral side of the associated platooning vehicle 20. The the communication transmitter 250 (
With regard to the speed parameter in accordance with the example embodiments herein, the left side sensor 262 is configured to determine a left side speed L_Side_Speed between the associated platooning vehicle 20 and the sensed one or more extra-platoon traffic vehicles 410 at the left lateral side of the associated platooning vehicle 20, and selectively generate left side speed data L_Side_Speed_Data representative of the determined left side speed L_Side_Speed between the associated platooning vehicle 20 and the sensed one or more extra-platoon traffic vehicles 410 at the left lateral side of the associated platooning vehicle 20. Similarly, the right side sensor 264 is configured to determine a right side speed R_Side_Speed between the associated platooning vehicle 20 and the sensed one or more extra-platoon traffic vehicles 420 at the right lateral side of the associated platooning vehicle 20, and selectively generate right side speed data L_Side_Speed_Data representative of the determined right side speed L_Side_Speed between the associated platooning vehicle 20 and the sensed one or more extra-platoon traffic vehicles 420 at the right lateral side of the associated platooning vehicle 20. The communication transmitter 250 is operable to receive, from the platoon control unit, the left side speed data L_Side_Speed_Data and/or the right side speed data R_Side_Speed_Data, selectively convert the left side speed data L_Side_Speed_Data into a left side speed signal L_Side_Speed_Sig, selectively convert the right side speed data R_Side_Speed_Data into a right side speed signal R_Side_Speed_Sig, and transmit the left and/or right side speed signals L_Side_Speed_Sig, R_Side_Speed_Sig from the associated following vehicle 20 to the set of at least one other associated platooning vehicle 10, 30 travelling cooperatively as the platoon.
The blind spot warning logic stored in the non-transient memory device 240 is further executable by the processor 230, 304 to determine, in accordance with an example embodiment, whether the one or more extra-platoon traffic vehicles 410, 420 adjacent to the left and/or right lateral sides of the associated platooning vehicle 20 is in a blind zone of the associated platooning vehicle 20 blocked from view of a driver operating the associated platooning vehicle 20 based on one or more of the left and/or right side extra-platoon traffic vehicle present data L_EP_TV_P_Data, R_EP_TV_P_Data, the left and/or right lateral side distance data L_Side_Dist_Data, L_Side_Dist_Data, and/or the left and/or right side speed data L_Side_Speed_Data, L_Side_Speed_Data. The blind spot warning logic stored in the non-transient memory device 240 is further executable by the processor 230, 304 to selectively generate blind zone data ZONE_Data representative of the one or more extra-platoon traffic vehicles 410, 420 being in the blind zone of the associated platooning vehicle 20. The communication transmitter 250 is operable to receive, from the platoon control unit, the blind zone data ZONE_Data, and to transmit the blind zone data ZONE_Data from the associated following vehicle 20 to the set of at least one other associated platooning vehicle 10, 30 travelling cooperatively as the platoon.
ACC Control
As described above, embodiments herein are directed to using shared traffic information to support cooperative coordinated platoon control operations including adaptive cruise control (ACC) operations between the platooning vehicles beneficially without the need to consult with or act under the direction of or in concert with the remote wireless communication system 50, the remote satellite system 60, the remote fleet management facility, a Network Operations Center (NOC), a Central Command Center (CCC), or the like. In this regard, the sensor unit 214 of the platoon control unit 300 of the platoon control system 12 includes a forward distance sensor 260 disposed on a forward-directed end/side of the associated platooning vehicle 20, and a speed sensor 216 In addition in the example embodiment, adaptive cruise control (ACC) logic is stored in the non-transient memory 240. In the embodiment, the forward distance sensor 260 is operable to sense a presence of an associated forward vehicle 10 forward of the associated platooning vehicle 20, determine a forward distance FWD_Dist between the associated platooning vehicle 20 and the sensed associated forward vehicle 10, and generate a forward distance signal FWD_Dist_Sig representative of the determined forward distance FWD_Dist between the associated platooning vehicle 20 and the sensed associated forward vehicle FWD_Vehicle. The speed sensor is operable to determine a velocity of the associated platooning vehicle 20, and generate a speed signal Speed_Sig representative of the determined velocity of the associated platooning vehicle 20.
The ACC logic is executable by the processor to determine, in accordance with the speed signal Speed_Sig, the forward distance signal FWD_Dist_Sig, and the extra-platoon traffic vehicle data EP_TV_Data described above either: a nominal platooning following distance NOM_Follow_Dist or a de-rated nominal platooning following distance Derate_NOM_Follow_Dist. The nominal platooning following distance NOM_Follow_Dist is determined in accordance with the extra-platoon traffic vehicle data EP_TV_Data being representative of no extra-platoon traffic vehicles 410, 420 being sensed by the sensor unit 245, and the de-rated nominal platooning following distance Derate_NOM_Follow_Dist is determined in accordance with the extra-platoon traffic vehicle data EP_TV_Data being representative of one or more extra-platoon traffic vehicles 410, 420 being sensed by the sensor unit 245, wherein the de-rated nominal platooning following distance Derate_NOM_Follow_Dist is less than the nominal platooning following distance NOM_Follow_Dist in a predetermined proportion based on a level of the extra-platoon traffic vehicles in accordance with the extra-platoon traffic vehicle data EP_TV_Data.
In the example embodiment, the platoon control unit 300 operates to communicate the nominal platooning following distance NOM_Follow_Dist or the de-rated nominal platooning following distance Derate_NOM_Follow_Dist to the associated electronic control unit ECU of the associated platooning vehicle 20 for controlling a following distance from the associated platooning vehicle 20 to a vehicle of the set of at least one other associated platooning vehicle 10 ahead of the associated platooning vehicle 20.
A time to collision (TTC) parameter is determined in step 716 by the electronic control system 12′ of the vehicle 20 including the data collection and communication module portion 200′ and the platooning control portion 300′, and is transmitted or otherwise communicated in step 718 to the other vehicles 10, 30 of the platoon using for example the transceiver 250 (
The following distance is determined in step 720 by the electronic control system 12′ of the vehicle 20, and is transmitted in step 722 to the other platooning vehicles 10, 30 and is transmitted or otherwise communicated in step 722 to the other vehicles 10, 30 of the platoon using for example the transceiver 250 (
ECW Control
Further as described above, embodiments herein are directed to using shared traffic information to support cooperative coordinated platoon control operations including autonomous emergency braking (AEB) operations between the platooning vehicles beneficially without the need to consult with or act under the direction of or in concert with the remote wireless communication system 50, the remote satellite system 60, the remote fleet management facility, a Network Operations Center (NOC), a Central Command Center (CCC), or the like. In this regard, the non-transient memory device stores autonomous emergency braking (AEB) logic, and the system includes an autonomous emergency braking output operatively coupled with the platoon control unit.
The AEB logic is executable by the processor to determine, in accordance with the forward distance signal FWD_Dist_Sig representative of the determined forward distance FWD_Dist between the associated platooning vehicle 20 and the sensed forward vehicle as described above, and the speed signal Speed_Sig representative of the determined velocity of the associated platooning vehicle 20, an autonomous emergency braking (AEB) nominal deceleration command value NOM_AEB_CMD for braking the associated vehicle 20 for avoiding a collision between the associated vehicle 20 and the associated forward vehicle. The autonomous emergency braking output is configured to receive the AEB nominal deceleration command value NOM_AEB_CMD and generate an autonomous emergency braking AEB nominal deceleration command signal NOM_AEB_Sig for use by the associated electronic control unit ECU of the associated platooning vehicle to perform an autonomous emergency braking maneuver in accordance with the AEB nominal deceleration command value NOM_AEB_CMD.
The AEB logic is configured to selectively de-rate the autonomous emergency braking (AEB) nominal deceleration command value NOM_AEB_CMD, in accordance with the extra-platoon traffic vehicle data EP_TV_Data being representative of the one or more extra-platoon traffic vehicles 410, 420 being sensed by the sensor unit, to a de-rated autonomous emergency braking (AEB) deceleration command value DeRate_AEB_CMD having a deceleration command greater than the nominal deceleration command value NOM_AEB_CMD. The communication transmitter 250 is operable to transmit the autonomous emergency braking (AEB) nominal deceleration command signal NOM_AEB_Sig from the associated following vehicle 20 to the set of at least one other associated platooning vehicle 30, 10 travelling cooperatively as the platoon.
It is to be appreciated that the other platooning vehicles may receive the signal for performing the AEB operations. To that end, a communication receiver 250 in those other platooning vehicles operatively coupled with their respective platoon control units 300 are operable to receive from the set of at least one other associated platooning vehicle 10, a platoon command de-rated AEB deceleration command signal Platoon_AEB_SIG having a deceleration command value different than the nominal deceleration command value NOM_AEB_CMD, convert the platoon command de-rated AEB deceleration command signal Platoon_AEB_SIG to platoon command de-rated AEB deceleration command data Platoon_AEB_DATA, and deliver the platoon command de-rated AEB deceleration command data Platoon_AEB_DATA to the platoon control unit 300, wherein the platoon control unit 300 operates to deliver the platoon command de-rated AEB deceleration command data Platoon_AEB_DATA to the associated electronic control unit ECU of the associated platooning vehicle for use by the associated electronic control unit ECU to perform an autonomous emergency braking maneuver in accordance with a value of the platoon command de-rated AEB deceleration command signal Platoon_AEB_SIG.
As shown in the flow diagram of
As described above, embodiments herein are directed to using shared traffic information to support cooperative platoon lane changing by the platooning vehicles, autonomous emergency braking (AEB) among the platooning vehicles, adaptive cruise control (ACC) between the platooning vehicles, inter-vehicle platoon distance and/or spacing management i.e. platoon ordering and spacing, and other coordinated platoon control operations beneficially without the need to consult with or act under the direction of or in concert with the remote wireless communication system 50, the remote satellite system 60, the remote fleet management facility, a Network Operations Center (NOC), a Central Command Center (CCC), or the like. In this regard, the platoon control system 12 includes a communication receiver 250 and an annunciator 312 operatively coupled with the platoon control unit 300, and cooperative platoon lane change logic stored in the non-transient memory 240. In an embodiment, the communication receiver 250 is operable to receive from a one of the set of at least one other associated platooning vehicle 10, a cooperative lane change request signal Lane_Chg_Req_Sig representative of a one of the set of at least one other associated platooning vehicle 10, 30 desirous of the platoon comprising the associated platooning vehicle 20 and the set of at least one other associated platooning vehicle 10, 30 performing a cooperative platoon lane change maneuver, and convert the cooperative lane change request signal Lane_Chg_Req_Sig to cooperative lane change request data Lane_Chg_Req_Data.
The communication receiver 250 is further operable to receive extra-platoon traffic vehicle signals EP_TV_Sigs from the set of at least one other associated platooning vehicle 10, 30 the extra-platoon traffic vehicle signals EP_TV_Sigs being representative of a presence of one or more extra-platoon traffic vehicles (TVs) being sensed near to the set of at least one other associated platooning vehicle (10), and convert the extra-platoon traffic vehicle signals EP_TV_Sigs to extra-platoon traffic vehicle data EP_TV_Data. The communication receiver 250 is further operable to deliver the cooperative lane change request data Lane_Chg_Req_Data and the extra-platoon traffic vehicle data EP_TV_Data to the platoon control unit 300.
In the example embodiment the annunciator 312 is operable to selectively generate a cooperative platoon lane change maneuver command to the operator of the associated platooning vehicle 20 for instructing the operator of the planned cooperative platoon lane change maneuver. In addition, the cooperative platoon lane change logic stored in the non-transient memory is executable by the processor responsive to receiving the cooperative lane change request data Lane_Chg_Req_Data to determine whether a cooperative platoon lane change maneuver is practical based on the extra-platoon traffic vehicle data EP_TV_Data indicating no extra-platoon traffic vehicles 410, 420 being sensed near to the set of at least one other associated platooning vehicle 10, and to cause the annunciator 312 to generate the cooperative platoon lane change maneuver command responsive to determining that the cooperative platoon lane change maneuver is practical.
Further in the example embodiment, the cooperative platoon lane change logic is executable by the processor to generate cooperative platoon lane change data responsive to determining that the cooperative platoon lane change maneuver is practical, and the communication transmitter 250 is operable to receive the cooperative platoon lane change data, convert the cooperative platoon lane change data to a cooperative platoon lane change signal, and to transmit the cooperative platoon lane change signal to the set of at least one other associated platooning vehicle 10 desirous of the platoon performing the cooperative platoon lane change maneuver.
As described above and with reference next to
The forward leading vehicles 20, 10 may be alerted by the trailing platooning vehicle 30 of the presence, speed, and location of the non-platooning vehicle X2. A communication receiver 250 is operatively coupled with the platoon control unit 300 of the forward leading vehicles 20, 10. The communication receiver 250 of the forward leading vehicles 20, 10 is operable to receive from a one of the set of at least one other associated platooning vehicle 30, a blind zone warning signal Blind_Zone_Warn representative of one or more extra-platoon traffic vehicles X2 being adjacent to the one of the set of at least one other associated platooning vehicle 30, to convert the blind zone warning signal Blind_Zone_Warn to blind zone warning data Blind_Zone_Data, and to deliver the blind zone warning data Blind_Zone_Data to the platoon control unit 300 of the forward leading vehicles 20, 10.
In the example embodiment, a vehicle control sensor 218, 223 is operatively coupled with the platoon control unit 300 of the forward leading vehicles 20, 10, wherein the vehicle control sensor 218, 223 is operable to sense a turning preparatory operation of the associated platooning vehicles 20, 10 by an operator of the associated platooning vehicles 20, 10, and to generate a turning intention signal Turn_Sig responsive to sensing the turning preparatory operation of the associated platooning vehicles 20, 10 by their respective operators. In addition, an annunciator 312 is operatively coupled with the platoon control unit 300 of the forward leading vehicles 20, 10, wherein the annunciator 312 is operable to selectively generate a warning to the operator of the associated platooning vehicles 20, 10 for alerting their respective operators of a potential hazard related to the turning preparatory operation.
Further in addition in the example embodiment, turn warning logic is stored in the non-transient memory of the forward leading vehicles 20, 10, the turn warning logic being executable by the processor to control the platoon control units 300 of the forward leading vehicles 20, 10 to cause their respective annunciators 312 to generate the warning responsive to the blind zone warning data Blind_Zone_Data being received from the communication receiver 250 and to the turning intention signal Turn_Sig being received by the platoon control unit (300).
Further in addition in the example embodiment, the vehicle control sensor 218, 223 includes one or more of a turn signal lever sensor 223 operatively coupled with the platoon control unit 300. The turn signal lever sensor 223 generates a turn signal lever signal representative of operation of a turn signal lever of the associated vehicle 20, 10 by the operator indicating an intention by the operator to initiate a turning operation of the associated vehicle, and/or a steering angle sensor 218 operatively coupled with the platoon control unit 300. The steering angle sensor 218 generates a steering angle signal representative of an angle of steering of front wheels of the associated vehicles 20, 10 by their respective operators. The controller 230 may generate and send a control signal to a steering wheel braking actuator 232 for adding resistance to the ability of the driver operating the vehicles 20, 10 for selectively making turning the vehicle to the left or right harder or easier in accordance with the result of operations performed by turn warning logic based on inputs indicating that traffic may be located in the direction that the driver would like to turn.
It is to be understood that other embodiments will be utilized and structural and functional changes will be made without departing from the scope of the present invention. The foregoing descriptions of embodiments of the present invention have been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Accordingly, many modifications and variations are possible in light of the above teachings. It is therefore intended that the scope of the invention be limited not by this detailed description.
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