# US 12,001,222 B2 · Platoon control system that performs string recombination after separation of platooning vehicles due to events

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- Number: US 12,001,222 B2
- Document ID: US12001222B2
- Status: Granted
- Kind: B2
- Application number: 17/320,821
- Filed: 2021-05-14
- Published: 2022-04-28
- Granted: 2024-06-04
- Earliest claimed: 2020-10-27
- Assignees: Hyundai Motor Company; Kia Corporation
- Applicants: Hyundai Motor Company; Kia Corporation
- Inventors: Se Young Park
- Web page: https://patentgrep.com/patent/US12001222B2

## CPC

- G05D 1/0295: {by at least one leading vehicle of the fleet}
- B60W 10/04: including control of propulsion units
- B60W 10/18: including control of braking systems
- B60W 10/20: including control of steering systems
- G05D 1/695: for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
- G08G 1/0967: Systems involving transmission of highway information, e.g. weather, speed limits (transmission of navigation instructions to the vehicle G08G1/0968)
- G08G 1/22: {Platooning, i.e. convoy of communicating vehicles}
- B60W 2520/10: Longitudinal speed
- B60W 2554/4041: Position
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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
- 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})

## Abstract

The present disclosure provides a platooning controller and a method thereof. The platooning controller includes a processor that, when a string is divided into an old string and a new string due to occurrence of an event during platooning, recombines the divided strings after the occurrence of the event is ended. The controller includes a storage storing data and an algorithm run by the processor. The processor determines a condition where it is possible to recombine the divided strings and controls recombination between the divided strings.

## Claims

### Claim 1

A platooning controller, comprising:
a processor configured to, when an original string comprising an original leading vehicle is divided into an old string and a new string in response to occurrence of a situation requiring a division of the original string during platooning, recombine the old string and the new string in response to occurrence of a situation allowing a recombination of the old string and the new string; and
a storage storing data and an algorithm run by the processor,
wherein the processor is configured to
determine a condition where it is possible to recombine the old string and the new string,
control recombination between the old string and the new string,
determine whether it is possible for a new vehicle to merge with a string, when there is the new vehicle between the old string and the new string, and
control the new string to avoid the new vehicle by making a lane change and be recombined with the old string, when the new vehicle fails to merge with the string,
wherein vehicles of the old string are configured to travel independently from vehicles of the new string, and
wherein the old string includes the original leading vehicle and the new string includes a lead vehicle different from the original leading vehicle.

### Claim 2 (depends on 1)

The platooning controller of claim 1, wherein the condition where it is possible to recombine the old string and the new string includes at least one of: whether an obstacle or a forward collision-avoidance assist (FCA) condition does not occur; a condition for a distance between the old string and the new string; a condition for a traffic congestion level; or a condition for the number of free lanes.

### Claim 3 (depends on 2)

The platooning controller of claim 2, wherein the processor determines whether the obstacle or the FCA condition does not occur, using at least one of whether there is the obstacle, whether a driving safety function operates, or whether the autonomous driving function operates.

### Claim 4 (depends on 2)

The platooning controller of claim 2, wherein the processor determines that the condition is met, when the distance between the old string and the new string is less than a predetermined value.

### Claim 5 (depends on 2)

The platooning controller of claim 2, wherein the processor determines that the condition is met, when the new string is within a distance where it is possible for the new string to reach the old string by accelerating and decelerating in a speed limit of a road where the new string is currently traveling or making a lane change.

### Claim 6 (depends on 2)

The platooning controller of claim 2, wherein the processor determines that the condition is met, when the number of free lanes is greater than or equal to a predetermined number.

### Claim 7 (depends on 1)

The platooning controller of claim 1, wherein the processor notifies a user that a recombination function is enabled and receives consent from the user, when it is determined that the condition is met.

### Claim 8 (depends on 1)

The platooning controller of claim 1, wherein the processor determines an amount of steering control, an amount of driving control, and an amount of braking control of platooning vehicles of the old string and the new string based on at least one of a location, a driving speed, a lane, or platoon information of each of the vehicles of the old string and the new string, when controlling the recombination.

### Claim 9 (depends on 1)

The platooning controller of claim 1, wherein the processor controls the new string to reach the old string and perform the recombination when there is no new vehicle between the old string and the new string, when controlling the recombination.

### Claim 10 (depends on 1)

The platooning controller of claim 1, wherein the processor determines whether it is possible for the new vehicle to merge with the string, based on at least one of sameness between the remaining driving path of the new vehicle and the remaining driving path of the string, consent of a user of the new vehicle or consent of an unmanned system, or platoon autonomous driving performance of a system.

### Claim 11 (depends on 1)

The platooning controller of claim 1, wherein the processor controls the new string to include the new string and be recombined with the old string, when the new vehicle merges with the string.

### Claim 12 (depends on 1)

The platooning controller of claim 1, wherein the processor controls a leading vehicle of the new string to play a role as a leading vehicle of the recombined string or reselects a leading vehicle when the old string and the new string are recombined, the new string is traveling in front of the old string, and there is no new vehicle between the old string and the new string.

### Claim 13 (depends on 1)

The platooning controller of claim 1, wherein the processor controls a leading vehicle of the old string to play a role as a leading vehicle of the recombined string, after the recombination between the old string and the new string is completed.

### Claim 14

A platooning control method, comprising:
determining whether occurrence of a situation allowing a recombination of an old string and a new string exists, when an original string is divided into the old string and the new string in response to the occurrence of a situation requiring a division of the original string during platooning;
determining a condition where it is possible to recombine the old string and the new string in response to the occurrence of the situation allowing the recombination of the old string and the new string;
controlling recombination between the old string and the new string, when the condition is met;
determining whether it is possible for a new vehicle to merge with a string, when there is the new vehicle between the old string and the new string; and
controlling the new string to avoid the new vehicle by making a lane change and be recombined with the old string, when the new vehicle fails to merge with the string,
wherein vehicles of the old string are configured to travel independently from vehicles of the new string, and
wherein the old string includes the original leading vehicle and the new string includes a lead vehicle different from the original leading vehicle.

### Claim 15 (depends on 14)

The platooning control method of claim 14, wherein the determining of the condition includes:
determining that the condition is met, when at least one of: whether an obstacle or a forward collision-avoidance assist (FCA) condition does not occur; a condition for a distance between the old string and the new string is met; a condition for a traffic congestion level is met; or a condition for the number of free lanes is met.

### Claim 16 (depends on 14)

The platooning control method of claim 14, further comprising:
notifying a user that a recombination function is enabled and receiving consent from the user, when it is determined that the condition is met.

### Claim 17 (depends on 14)

The platooning control method of claim 14, wherein the determining of the condition includes:
determining the condition is met, when the distance between the old string and the new string is less than a predetermined value;
determining the condition is met, when the new string is within a distance where it is possible for the new string to reach the old string by accelerating and decelerating in the speed limit of the road where the new string is currently traveling or making a lane change;
determining the condition is met based on navigation; or
determining the condition is met, when the number of free lanes is greater than or equal to a predetermined number.