Methods and systems for semi-autonomous vehicular convoys

Abstract

The present invention relates to a method and system for enabling vehicles to closely follow one another through partial automation. Following closely behind another vehicle can have significant fuel savings benefits, but is unsafe when done manually by the driver. By directly commanding the engine torque and braking of the following vehicle while controlling the gap between vehicles using a sensor system, and additionally using a communication link between vehicles that allows information about vehicle actions, such as braking events, to be anticipated by the following vehicle, a Semi-Autonomous Vehicular Convoying System that enables vehicles to follow closely together in a safe, efficient and convenient manner may be achieved.

What is claimed is: 
     
         1 . A computerized vehicular convoying control system comprising:
 a central server remote from the plurality of vehicles, the central server responsive to information regarding a plurality of vehicles to determine a linking opportunity, at the central server configured to determine the linking opportunity, between at least a first vehicle and a second vehicle in the plurality of vehicles to form the convoy:   the information regarding the plurality of vehicles being selected from the group consisting of: vehicle location, vehicle destination, vehicle load, vehicle type, and trailer type; and   a long-range vehicular transceiver configured to enable the central server to communicate the linking opportunity to at least one of the first and second vehicles in the plurality of vehicles;   the communication of the linking opportunity being such that the first and second vehicles can initiate formation of the convoy.   
     
     
         2 . The convoying control system of  claim 1 , wherein the central server determines the linking opportunity between the first and second vehicles using the location and the destination of each of the first and second vehicles. 
     
     
         3 . The convoying control system of  claim 2  wherein the central server determines an ordering of the lead vehicle and the at least one follower vehicle in accordance with at least one of: a vehicle weight, a vehicle load, weather condition, road condition, fuel remaining, fuel saving, accrued linking time, braking technology, brake pad wear, a vehicular linking location, and a destination address. 
     
     
         4 . The convoying control system of  claim 2 , wherein the central server determines the linking opportunity by minimizing a cost function computed using a distance between the first and second vehicles and a distance between destinations of the first and second vehicles. 
     
     
         5 . The convoying control system of  claim 1  wherein the central server is configured to receive vehicular information with the central server via the long-range vehicular transceiver, the vehicular information including one of actual fuel savings of one of the lead vehicle and the at least one follower vehicle, a vehicle location, a vehicular speed, a direction of travel, a vehicular load, a vehicular destination, driver information, a vehicular origin, a cargo classification, an engine operating parameter, a controller performance parameter such as a vehicular spacing, lateral positions relative to another vehicle and the lane, a relative speed, video data, and a control system malfunction. 
     
     
         6 . The convoying control system of  claim 1 , wherein the first vehicle and the second vehicle are trucks. 
     
     
         7 . A computerized vehicular convoying control system comprising:
 a central server remote from a first vehicle and a second vehicle, wherein the central server is configured to determine a linking opportunity between the first vehicle and the second vehicle, wherein the central server is configured to receive information regarding the first vehicle and the second vehicle and determine the linking opportunity based on the received information, and wherein the received information is selected from the group consisting of: vehicle location, vehicle destination, vehicle load, vehicle type, and trailer type; and   a long-range vehicular transceiver configured to enable the central server to instruct at least one of the first vehicle and the second vehicle to form a convoy.   
     
     
         8 . The convoying control system of  claim 7 , wherein the central server instructs at least one of the first vehicle and the second vehicle to form the convoy. 
     
     
         9 . The convoying control system of  claim 8 , wherein the central server minimizes a cost function calculated using a distance between the first and second vehicles and a distance between destinations of the first and second vehicles prior to instructing the at least one vehicle to form a convoy. 
     
     
         10 . The convoying control system of  claim 8 , wherein the first vehicle and the second vehicle are trucks. 
     
     
         11 . A vehicle communications system comprising:
 a processor, configured to select a lead vehicle and at least one follower vehicle from a plurality of vehicles for autonomous or semi-autonomous linking, the linking selection based on two or more elements selected from the group consisting of a vehicular location, a vehicular destination, a vehicular type, and a trailer type;   a first communications link, responsive to remotely communicated information about the linking selection, to communicate the linking selection to one or more of the lead vehicle and the at least one follower vehicle, and   a second communications link for communication between the lead vehicle and the at least one follower vehicle.   
     
     
         12 . The system of  claim 11 , wherein the first communications link is further configured to facilitate communications between the lead vehicle and the at least one follower vehicle. 
     
     
         13 . The vehicle communications system of  claim 11 , wherein the processor is further configured to compute at least one vehicular trajectory for smoothly and efficiently managing long range coordination of the at least one follower vehicle with the lead vehicle.