# US 10,482,767 B2 · Detection of extra-platoon vehicle intermediate or adjacent to platoon member vehicles

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- Number: US 10,482,767 B2
- Document ID: US10482767B2
- Status: Granted
- Kind: B2
- Application number: 15/395,251
- Filed: 2016-12-30
- Published: 2018-07-05
- Granted: 2019-11-19
- Earliest claimed: 2016-12-30
- Assignees: Bendix Commercial Vehicle Systems LLC
- Applicants: Bendix Commercial Vehicle Systems LLC
- Inventors: T. Stephen Miller, Jr.; Joseph M Macnamara; Martin Bohley
- Web page: https://patentgrep.com/patent/US10482767B2

## CPC

- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- B60W 30/00: Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W 30/165: Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
- G08G 1/22: {Platooning, i.e. convoy of communicating vehicles}
- B60W 2050/0075: {Automatic parameter input, automatic initialising or calibrating means}
- B60W 2554/801: Lateral distance
- B60W 2556/65: Data transmitted between vehicles
- G01S 7/003: {Transmission of data between radar, sonar or lidar systems and remote stations}
- G01S 2013/9325: {for inter-vehicle distance regulation, e.g. navigating in platoons}
- G08G 1/163: {involving continuous checking}
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A platoon management control system and method for local detection and determination of a non-platooning vehicle inserted or otherwise disposed between and/or adjacent to one or more platooning vehicle(s). A platooning vehicle determines a forward physical distance between itself and a vehicle physically ahead, and compares the determined physical distance with a value of a rearward distance to the platooning vehicle received from a next ahead platooning vehicle. The vehicle physically ahead is determined to be the next ahead platooning vehicle in accordance with a correspondence between the determined physical distance and the received value of the rearward distance. Conversely, the vehicle physically ahead is determined to be a non-platooning vehicle in accordance with a mis-correspondence between the determined physical distance and the received value of the rearward distance.

## Claims

### Claim 1

A system for detecting at least one non-platoon vehicle intermediate platooning vehicles comprising a platooning vehicle pair including an associated leading vehicle and an associated following vehicle cooperatively travelling as a platoon, the system comprising:
a platoon control unit configured to be disposed in the associated following vehicle of the platooning vehicle pair, the platoon control unit comprising:
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 determine the at least one non-platoon vehicle intermediate the platooning vehicle pair;
a forward distance sensor on the associated following vehicle and operatively coupled with the platoon control unit, the forward distance sensor:
sensing a forward distance between the associated following vehicle of the platooning vehicle pair and an associated sensed forward vehicle located ahead of the associated following vehicle; and
generating forward distance data representative of the sensed forward distance between the associated following vehicle and the associated sensed forward vehicle located ahead of the associated following vehicle; and
a receiver operatively coupled with the platoon control unit, the receiver:
receiving a rearward gap distance signal from the associated leading vehicle of the platooning vehicle pair; and
converting the rearward gap distance signal into rearward gap data representative of a rearward gap distance as determined by the associated leading vehicle between the associated leading vehicle and an associated sensed rearward vehicle located behind the associated leading vehicle,
wherein the logic of the platoon control unit is executable by the processor to determine a magnitude of a difference between the forward distance data and the rearward gap data,
wherein the logic of the platoon control unit is executable by the processor to selectively determine the associated sensed forward vehicle located ahead of the associated following vehicle and the associated sensed rearward vehicle located behind the associated leading vehicle as being the at least one non-platoon vehicle intermediate the platooning vehicle pair based on the determined magnitude of the difference between the forward distance data and the rearward gap data.

### Claim 2 (depends on 1)

The system according to claim 1, wherein the logic of the platoon control unit is executable by the processor to selectively determine the associated sensed forward vehicle located ahead of the associated following vehicle and the associated sensed rearward vehicle located behind the associated leading vehicle as being the at least one non-platoon vehicle based on a comparison between:
the magnitude of the difference between the forward distance data and the rearward gap data and
a predetermined calibration threshold value stored as calibration threshold data in the non-transient memory device of the platoon control unit.

### Claim 3 (depends on 1)

The system according to claim 1, wherein the platoon control unit selectively generates a platoon discontinue signal based on determining the associated sensed forward vehicle located ahead of the associated following vehicle and the associated sensed rearward vehicle located behind the associated leading vehicle as being the at least one non-platoon vehicle intermediate the platooning vehicle pair, the platoon discontinue signal being transmitted by the platoon control unit to a platoon management system of the associated following vehicle to manage the platoon by discontinuing participation by the associated following vehicle in the platoon responsive to the platoon management system receiving the platoon discontinue signal.

### Claim 4 (depends on 1)

The system according to claim 1, wherein:
the logic of the platoon control unit is executable by the processor to determine the associated sensed forward vehicle located ahead of the associated following vehicle as being the associated leading vehicle and the associated sensed rearward vehicle located behind the associated leading vehicle as being the associated following vehicle based on a correspondence between the forward distance data and the rearward gap data.

### Claim 5 (depends on 4)

The system according to claim 4, wherein:
the platoon control unit selectively generates a platoon continue signal based on determining the associated sensed forward vehicle located ahead of the associated following vehicle and the associated sensed rearward vehicle located behind the associated leading vehicle as being the associated leading vehicle and the associated following vehicle, respectively, the platoon continue signal being transmitted by the platoon control unit to a platoon management system of the associated following vehicle to manage the platoon by selectively continuing participation by the associated following vehicle in the platoon responsive to the platoon management system of the associated following vehicle receiving the platoon continue signal.

### Claim 6 (depends on 1)

The system according to claim 1, further comprising:
a rearward distance sensor on the associated following vehicle and operatively coupled with the platoon control unit, the rearward distance sensor:
sensing a rearward distance between the associated following vehicle of the platooning vehicle pair and an associated sensed trailing vehicle located behind the associated following vehicle of the platooning vehicle pair; and
generating rearward distance data representative of the sensed rearward distance between the associated following vehicle of the platooning vehicle pair and the associated sensed trailing vehicle located behind the associated following vehicle of the platooning vehicle pair; and
a transmitter operatively coupled with the platoon control unit, the transmitter:
converting the rearward distance data into a rearward distance signal; and
transmitting the rearward distance signal from the associated following vehicle of the platooning vehicle pair.

### Claim 7 (depends on 1)

The system according to claim 1, further comprising:
a rearward distance sensor on the associated following vehicle and operatively coupled with the platoon control unit, the rearward distance sensor:
sensing a rearward distance between the associated following vehicle of the platooning vehicle pair and an associated sensed trailing vehicle located behind the associated following vehicle of the platooning vehicle pair; and
generating rearward distance data representative of the sensed rearward distance between the associated following vehicle of the platooning vehicle pair and the associated sensed trailing vehicle located behind the associated following vehicle of the platooning vehicle pair.

### Claim 8 (depends on 7)

The system according to claim 7, wherein the platooning vehicles cooperatively travelling as the platoon include the associated leading and following vehicles of the platooning vehicle pair, and an associated third vehicle located rearward of the associated following vehicle of the platooning vehicle pair, and wherein:
the receiver:
receives a forward gap distance signal from the associated third vehicle of the platoon; and
converts the forward gap distance signal into forward gap distance data representative of a forward gap distance as determined by the associated third vehicle between the associated following vehicle and the associated third vehicle located rearward of the associated following vehicle; and
the logic of the platoon control unit is executable by the processor to:
determine a magnitude of a difference between:
the rearward distance data representative of the sensed rearward distance between the associated following vehicle of the platooning vehicles and the associated sensed trailing vehicle located behind the associated following vehicle and
the forward gap distance data representative of the forward gap distance as determined by the associated third vehicle between the associated following vehicle and the associated third vehicle; and
selectively determine the associated sensed trailing vehicle located behind the associated following vehicle as being the at least one non-platoon vehicle based on
the determined magnitude of the difference between the rearward distance data and
the forward gap distance data.

### Claim 9 (depends on 8)

The system according to claim 8, wherein the logic of the platoon control unit is executable by the processor to determine the associated sensed trailing vehicle located behind the associated following vehicle as being the at least one non-platoon vehicle based on a comparison between:
the magnitude of the difference between the rearward distance data and the forward gap distance data.

### Claim 10 (depends on 8)

The system according to claim 8, wherein the platoon control unit selectively generates a platoon discontinue signal based on determining the associated sensed trailing vehicle located behind the associated following vehicle as being the at least one non-platoon vehicle, the platoon discontinue signal being transmitted by the platoon control unit to a platoon management system of the associated following vehicle to manage the platoon by discontinuing participation by the associated following vehicle in the platoon responsive to the platoon management system of the associated following vehicle receiving the platoon discontinue signal.

### Claim 11 (depends on 8)

The system according to claim 8, wherein:
the logic of the platoon control unit is executable by the processor to determine the associated sensed trailing vehicle located behind the associated following vehicle as being the associated third vehicle located rearward of the associated following vehicle based on a correspondence between the rearward distance data and the forward gap distance data.

### Claim 12 (depends on 11)

The system according to claim 11, wherein:
the platoon control unit selectively generates a platoon continue signal based on determining the associated sensed trailing vehicle located behind the associated following vehicle as being the associated third vehicle located rearward of the associated following vehicle, the platoon continue signal being transmitted by the platoon control unit to a platoon management system of the associated following vehicle to manage the platoon by selectively continuing participation by the associated following vehicle in the platoon responsive to the platoon management system receiving the platoon continue signal.

### Claim 13

A method of detecting at least one non-platoon vehicle intermediate platooning vehicles comprising a platooning vehicle pair including an associated leading vehicle and an associated following vehicle cooperatively travelling as a platoon, the method comprising:
providing a platoon control unit configured to be disposed in the associated following vehicle of the platooning vehicle pair, the platoon control unit comprising a processor, a non-transient memory device operatively coupled with the processor, logic stored in the non-transient memory and executable by the processor to determine the at least one non-platoon vehicle intermediate the platooning vehicle pair, a forward distance sensor, a rearward distance sensor, a receiver, and a transmitter;
using the forward distance sensor on the associated following vehicle and operatively coupled with the platoon control unit:
sensing a forward distance between the associated following vehicle of the platooning vehicle pair and an associated sensed forward vehicle located ahead of the associated following vehicle; and
generating forward distance data representative of the sensed forward distance between the associated following vehicle and the associated sensed forward vehicle located ahead of the associated following vehicle;
using the receiver operatively coupled with the platoon control unit:
receiving a rearward gap distance signal from the associated leading vehicle of the platooning vehicle pair; and
converting the rearward gap distance signal into rearward gap data representative of a rearward gap distance as determined by the associated leading vehicle between the associated leading vehicle and an associated sensed rearward vehicle located behind the associated leading vehicle;
executing the logic of the platoon control unit by the processor to determine a magnitude of a difference between the forward distance data and the rearward gap data; and
executing the logic of the platoon control unit by the processor to selectively determine the associated sensed forward vehicle located ahead of the associated following vehicle and the associated sensed rearward vehicle located behind the associated leading vehicle as being the at least one non-platoon vehicle intermediate the platooning vehicle pair based on the determined magnitude of the difference between the forward distance data and the rearward gap data.

### Claim 14 (depends on 13)

The method according to claim 13, further comprising executing the logic of the platoon control unit by the processor to selectively determine the associated sensed forward vehicle located ahead of the associated following vehicle and the associated sensed rearward vehicle located behind the associated leading vehicle as being the at least one non-platoon vehicle based on a comparison between:
the magnitude of the difference between the forward distance data and the rearward gap data and
a predetermined calibration threshold value stored as calibration threshold data in the non-transient memory device of the platoon control unit.

### Claim 15 (depends on 13)

The method according to claim 13, further comprising:
selectively generating by the platoon control unit a platoon discontinue signal based on determining the associated sensed forward vehicle located ahead of the associated following vehicle and the associated sensed rearward vehicle located behind the associated leading vehicle as being the at least one non-platoon vehicle intermediate the platooning vehicle pair, the platoon discontinue signal being transmitted by the platoon control unit to a platoon management system of the associated following vehicle to manage the platoon by discontinuing participation by the associated following vehicle in the platoon responsive to the platoon management system receiving the platoon discontinue signal.

### Claim 16 (depends on 13)

The method according to claim 13, further comprising:
executing the logic of the platoon control unit by the processor to determine the associated sensed forward vehicle located ahead of the associated following vehicle as being the associated leading vehicle and the associated sensed rearward vehicle located behind the associated leading vehicle as being the associated following vehicle based on a correspondence between the forward distance data and the rearward gap data.

### Claim 17 (depends on 13)

The method according to claim 13, further comprising:
using the rearward distance sensor on the associated following vehicle and operatively coupled with the platoon control unit:
sensing a rearward distance between the associated following vehicle of the platooning vehicle pair and an associated sensed trailing vehicle located behind the associated following vehicle of the platooning vehicle pair; and
generating rearward distance data representative of the sensed rearward distance between the associated following vehicle of the platooning vehicle pair and the associated sensed trailing vehicle located behind the associated following vehicle of the platooning vehicle pair; and
using the transmitter operatively coupled with the platoon control unit:
converting the rearward distance data into a rearward distance signal; and
transmitting the rearward distance signal from the associated following vehicle of the platooning vehicle pair.

### Claim 18 (depends on 13)

The method according to claim 13, further comprising:
using the rearward distance sensor on the associated following vehicle and operatively coupled with the platoon control unit:
sensing a rearward distance between the associated following vehicle of the platooning vehicle pair and an associated sensed trailing vehicle located behind the associated following vehicle of the platooning vehicle pair; and
generating rearward distance data representative of the sensed rearward distance between the associated following vehicle of the platooning vehicle pair and the associated sensed trailing vehicle located behind the associated following vehicle of the platooning vehicle pair.

### Claim 19 (depends on 18)

The method according to claim 18, further comprising:
using the receiver:
receiving a forward gap distance signal from an associated third vehicle of the platooning vehicles comprising the associated leading and following vehicles, and the associated third vehicle cooperatively travelling as the platoon, the associated third vehicle of the platooning vehicles being located rearward of the associated following vehicle; and
converting the forward gap distance signal into forward gap distance data representative of a forward gap distance as determined by the associated third vehicle between the associated following vehicle and the associated third vehicle located rearward of the associated following vehicle; and
executing the logic of the platoon control unit by the processor:
determining a magnitude of a difference between the rearward distance data representative of the sensed rearward distance between the associated following vehicle of the platooning vehicles and the associated sensed trailing vehicle located behind the associated following vehicle and the forward gap distance data representative of the forward gap distance as determined by the associated third vehicle between the associated following vehicle and the associated third vehicle; and
selectively determining the associated sensed trailing vehicle located behind the associated following vehicle as being the at least one non-platoon vehicle based on the determined magnitude of the difference between the rearward distance data and the forward gap distance data.

### Claim 20 (depends on 19)

The method according to claim 19, further comprising executing the logic of the platoon control by the processor to determine the associated sensed trailing vehicle located behind the associated following vehicle as being the at least one non-platoon vehicle based on a comparison between:
the magnitude of the difference between the rearward distance data and the forward gap distance data.