Communication system for platooning vehicles

A communication system for platooning vehicles that performs Vehicle-to-Vehicle (V2V) communication through controllers mounted in the platooning vehicles, the communication system comprising:

• the controllers, each comprising respective communication units, mounted in the platooning vehicles, wherein:
• each of the respective communication units is configured to transmit and receive platooning vehicle messages comprising control and sensor information of the platooning vehicles, and
• each of the controllers is configured to:
• obtain and store schedule information comprising a message transmission order and planned message transmission times for the platooning vehicles;
• transmit first platooning vehicle messages corresponding to a first platooning vehicle based on the schedule information;
• and
• store received message transmission times of received messages from other platooning vehicles of the platooning vehicles;
• and
• a first controller of the controllers is configured to:
• determine whether a particular message of the received messages corresponds to the message transmission order of the schedule information;
• wherein:
• when the platooning vehicles do not receive an additional message for a predetermined interval at an order of an N-1-th vehicle to transmit the additional message, a different vehicle of the platooning vehicles is configured to transmit the particular message when the N-1-th vehicle was supposed to transmit the additional message, and
• the different vehicle is not the N-1-th vehicle.

A communication system for platooning vehicles, the communication system comprising:

• a plurality of controllers, each mounted in a separate platooning vehicle of the platooning vehicles,
• wherein the plurality of controllers are each configured to:
• obtain schedule information comprising a message transmission order for the platooning vehicles;
• and
• transmit platooning vehicle messages based, at least in part, on the message transmission order,
• wherein a first controller of the plurality of controllers mounted in a first vehicle of the platooning vehicles is configured to:
• receive a message of the platooning vehicle messages from a second vehicle of the platooning vehicles;
• make a determination that, according to the message transmission order, the second vehicle was not scheduled to transmit the message before a separate message was received from a third vehicle of the platooning vehicles;
• receive the separate message from the third vehicle of the platooning vehicles when the message was scheduled to be received from the second vehicle according to the message transmission order;
• and
• update the message transmission order to obtain a new message schedule order based on receiving the message from the second vehicle before receiving the separate message from the third vehicle.