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 platooning system, comprising:
 an electronic device configured to determine whether a linking opportunity exists between a first vehicle and a second vehicle, wherein the determination is made based on a location and a destination of the first and second vehicles.   
     
     
         2 . The platooning system of  claim 1 , further comprising:
 a long-range transceiver to communicate the linking opportunity to one or more of the first vehicle and the second vehicle.   
     
     
         3 . The platooning system of  claim 2 , wherein an ordering is received from the long-range transceiver, and wherein the ordering is determined based on 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 platooning system of  claim 1 , wherein the electronic device 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 platooning system of  claim 2 , wherein the electronic device is configured to receive vehicular information via the long-range transceiver, wherein the vehicular information includes one of the group consisting of: actual fuel savings of one of the first vehicle and the second 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 platooning system of  claim 5 , wherein the determination is further based on the vehicular information. 
     
     
         7 . The platooning system of  claim 1 , wherein a linking opportunity does not exist unless the first vehicle and the second vehicle are equipped with grade-based cruise control. 
     
     
         8 . A platooning system, comprising:
 an electronic device configured to determine whether a linking opportunity exists between a first vehicle and a second vehicle, wherein the electronic device determines the whether the linking opportunity exists based on an attribute selected from a group of attributes consisting of: vehicle location, vehicle destination, vehicle load, vehicle type, and trailer type.   
     
     
         9 . The platooning system of  claim 7 , further comprising:
 a long-range transceiver to communicate, in response to a determination that a linking opportunity exists, the linking opportunity to one or more of the first vehicle and the second vehicle.   
     
     
         10 . The platooning system of  claim 8 , wherein an ordering for the linking is received from the long-range transceiver, and wherein the ordering for the linking is determined based on 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 
     
     
         11 . The platooning system of  claim 9 , wherein the linking opportunity includes a platooning opportunity, and wherein the ordering for the linking includes an ordering for a platoon including the first vehicle and the second vehicle. 
     
     
         12 . The platooning system of  claim 9 , wherein long-range transceiver further communicates voice transmissions. 
     
     
         13 . The platooning system of  claim 9 , wherein the electronic device is configured to receive vehicular information via the long-range transceiver, wherein the vehicular information includes at least one of the group consisting of: actual fuel savings of one of the first vehicle and the second 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 
     
     
         14 . A platooning system, comprising:
 an electronic device configured to determine whether a linking opportunity exists between a first vehicle and a second vehicle, wherein the electronic device is configured to determine an ordering of the first and second vehicles if a linking opportunity exists, wherein the ordering of the first and second vehicles based on an attribute selected from a group of attributes consisting 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.   
     
     
         15 . The platooning system of  claim 14 , wherein the linking opportunity is determined to exist based on the locations of the first and second vehicles. 
     
     
         16 . The platooning system of  claim 14 , wherein the linking opportunity is determined to exist based on the destinations of the first and second vehicles. 
     
     
         17 . The platooning system of  claim 14 , wherein the linking opportunity is determined to exist if both the first vehicle and the second vehicle are equipped with grade-based cruise control. 
     
     
         18 . The platooning system of  claim 14 , wherein the electronic device is further configured to command the torque of one of the first and the second vehicles. 
     
     
         19 . The platooning system of  claim 14 , wherein the linking opportunity is determined to exist if at least one of the first and second vehicles comprise an aerodynamic design optimized for the purpose of platooning. 
     
     
         20 . The platooning system of  claim 14 , wherein the linking opportunity includes a platooning opportunity, and wherein the ordering of the first and second vehicles includes the ordering of a platoon that includes the first and second vehicles.