# US 2023/0069005 A1 · Vehicle control device, convoy travel management device, and convoy travel management method

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- Number: US 2023/0069005 A1
- Document ID: US20230069005A1
- Status: Published application
- Kind: A1
- Application number: 17/795,108
- Filed: 2020-03-17
- Published: 2023-03-02
- Earliest claimed: 2020-03-17
- Assignees: Mitsubishi Electric Corporation
- Applicants: Mitsubishi Electric Corporation
- Inventors: Ayako OYANAGI; Yoshihiro NAKAI; Masao IWATA; Hideki FUKUHARA
- Web page: https://patentgrep.com/patent/US20230069005A1

## CPC

- G08G 1/22: {Platooning, i.e. convoy of communicating vehicles}
- B60W 30/165: Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
- H04W 4/46: for vehicle-to-vehicle communication [V2V]
- 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
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)

## Abstract

A convoy forming unit uses driving control information collected from vehicles to determine a traveling order in a convoy of the vehicles so that vehicles that can be leading vehicles are disposed at a head of the convoy and an inside of the convoy. When notified of occurrence of a cut-in vehicle from any of the vehicles performing convoy travel in accordance with the traveling order, a convoy managing unit uses the driving control information to determine a new leading vehicle from among following vehicles, and divides the convoy into a first convoy ahead of the cut-in vehicle and a second convoy behind the cut-in vehicle. A convoy control unit notifies the new leading vehicle of traveling control information including an instruction to cause the cut-in vehicle to cut in front of the new leading vehicle and an instruction to be a leading vehicle of the second convoy.

## Claims

### Claim 1

A vehicle control device comprising:
processing circuitry
to manage information indicating a driving control function of a host vehicle and information indicating a state of an occupant of the host vehicle as driving control information and notify a convoy travel management server of the driving control information;
to notify the convoy travel management server of cut-in vehicle information when detecting occurrence of a cut-in vehicle to a convoy including the host vehicle;
to, in a case where the convoy travel management server determines a traveling order in the convoy of a plurality of vehicles including the host vehicle so that a vehicle and another vehicle each of which can be a leading vehicle are respectively disposed at a head of the convoy and an inside of the convoy using driving control information collected from each of the plurality of vehicles, and where the convoy travel management server notifies each of the plurality of vehicles of traveling order information indicating the traveling order,
cause the host vehicle to perform convoy travel in accordance with the traveling order indicated by the notification; and
to, in a case where the convoy travel management server determines, from among following vehicles that are following a leading vehicle of the convoy, a new leading vehicle that can be another leading vehicle using the driving control information in response to notification of cut-in vehicle information from any of the plurality of vehicles, and where the convoy travel management server divides the convoy into a first convoy ahead of the cut-in vehicle and a second convoy behind the cut-in vehicle when the cut-in vehicle continues cutting in, and notifies the new leading vehicle of traveling control information including an instruction to cause the cut-in vehicle to cut in front of the new leading vehicle and an instruction to be a leading vehicle of the second convoy,
cause the cut-in vehicle to cut in front of the host vehicle and set the host vehicle as the leading vehicle of the second convoy when the host vehicle is the new leading vehicle.

### Claim 2

A convoy travel management device comprising:
processing circuitry
to manage information indicating a driving control function of a host vehicle and information indicating a state of an occupant of the host vehicle as first driving control information;
to collect, from at least one different vehicle, information indicating a driving control function of the at least one different vehicle and information indicating a state of an occupant of the at least one different vehicle as second driving control information, determine a traveling order in a convoy of the host vehicle and the at least one different vehicle so that a vehicle and another vehicle each of which can be a leading vehicle are respectively disposed at a head of the convoy and an inside of the convoy using the first driving control information and the second driving control information, and notify the at least one different vehicle of traveling order information indicating the traveling order;
to determine whether or not the host vehicle can be a leading vehicle using the first driving control information when there is occurrence of a cut-in vehicle to an area around the host vehicle performing convoy travel in accordance with the traveling order information;
to notify the at least one different vehicle of convoy configuration information when the host vehicle can be the leading vehicle and the cut-in vehicle continues cutting in, the convoy configuration information indicating that the convoy is to be divided into a first convoy ahead of the cut-in vehicle and a second convoy behind the cut-in vehicle and that the host vehicle is to become a leading vehicle of the second convoy;
to generate traveling control information including an instruction to cause the cut-in vehicle to cut in front of the host vehicle and an instruction to be the leading vehicle of the second convoy, on a basis of the convoy configuration information; and
to cause the host vehicle to perform the convoy travel in accordance with the traveling order determined, and cause the cut-in vehicle to cut in front of the host vehicle and set the host vehicle as the leading vehicle of the second convoy in accordance with the traveling control information generated.

### Claim 3 (depends on 2)

The convoy travel management device according to claim 2, wherein the traveling order information causes vehicles each of which can be the leading vehicle to be regularly disposed in the convoy.

### Claim 4 (depends on 2)

The convoy travel management device according to claim 2, wherein, in a case where the host vehicle can be the leading vehicle, the processing circuitry, when the host vehicle cannot continue traveling while following, the host vehicle as the leading vehicle of the second convoy in accordance with the traveling control information generated.

### Claim 5 (depends on 2)

The convoy travel management device according to claim 2, wherein
when the cut-in vehicle recedes from an area in front of the host vehicle, the processing circuitry notifies the at least one different vehicle of convoy configuration information indicating that the first convoy and the second convoy are to be returned to one original convoy, and
the processing circuitry causes the host vehicle to follow a rearmost vehicle of the first convoy.

### Claim 6

A convoy travel management method for controlling traveling of a plurality of vehicles that perform convoy travel, the convoy travel management method comprising:
collecting, from each of the plurality of vehicles, information indicating a driving control function of a corresponding one of the plurality of vehicles and information indicating a state of an occupant of the corresponding one of the plurality of vehicles as driving control information, determining a traveling order in a convoy of the plurality of vehicles so that a vehicle and another vehicle each of which can be a leading vehicle are respectively disposed at a head of the convoy and an inside of the convoy using the collected driving control information, and notifying each of the plurality of vehicles of traveling order information indicating the traveling order;
determining, from among following vehicles that are following a leading vehicle of the convoy, a new leading vehicle that can be another leading vehicle using the driving control information in response to notification of cut-in vehicle information indicating occurrence of a cut-in vehicle to the convoy from any of the plurality of vehicles that are performing the convoy travel in accordance with the traveling order information, and dividing the convoy into a first convoy ahead of the cut-in vehicle and a second convoy behind the cut-in vehicle when the cut-in vehicle continues cutting in; and
notifying the new leading vehicle of traveling control information including an instruction to cause the cut-in vehicle to cut in front of the new leading vehicle and an instruction to be a leading vehicle of the second convoy.

### Claim 7 (depends on 6)

The convoy travel management method according to claim 6, wherein the traveling order information causes vehicles each of which can be the leading vehicle to be regularly disposed in the convoy.

### Claim 8 (depends on 6)

The convoy travel management method according to claim 6, further comprising:
dividing the convoy into the first convoy ahead of the cut-in vehicle and the second convoy behind the cut-in vehicle when the new leading vehicle cannot continue traveling while following.

### Claim 9 (depends on 6)

The convoy travel management method according to claim 6, further comprising:
when notified of cut-in vehicle information indicating that the cut-in vehicle has stopped cutting in from any of the vehicles constituting the first convoy and the second convoy that are performing convoy travel in accordance with the traveling order, returning the first convoy and the second convoy to one original convoy, and
notifying the new leading vehicle of traveling control information including an instruction to follow a rearmost vehicle of the first convoy.