Systems, methods, controllers and algorithms for controlling a vehicle to closely follow another vehicle safely using automatic or partially automatic control are described. The described control schemes are well suited for use in vehicle platooning and/or vehicle convoying applications, including truck platooning and convoying controllers. In one aspect, methods of initiating a platoon between a host vehicle and a platoon partner are described. In another aspect, a number of specific checks are described for determining whether a platoon controller is ready to initiate platoon control of the host vehicle. In another aspect, a platoon controller that includes a state machine that determines the state of the platoon controller is described. In another aspect, methods for generating braking alerts to a driver of a vehicle while the vehicle is being at least semi-automatically controlled by a platoon controller are described.

Platoon controller state machine

A variety of methods, controllers and algorithms are described for fusing sensor data obtained from different vehicles for use in the at least partial automatic control of a particular vehicle. The described techniques are well suited for use in conjunction with a variety of different vehicle control applications including platooning, convoying and other connected driving applications including tractor-trailer truck platooning applications.

Sensor fusion for autonomous or partially autonomous vehicle control

Provided are a driving control method and device in which an actual driving operation is performed after vehicles communicate with each other regarding a safety check by vehicle-to-vehicle communication in advance, thereby making it possible to smoothly and safely change lanes or merge when a vehicle is changing lanes or merging by automatic driving. The driving control device is provided with: a sensor unit that detects vehicles around a vehicle; a vehicle-mounted communication device that transmits and receives information including an identification number and position information to/from vehicle-mounted communication devices that are mounted to the vehicles around the vehicle and maintains said information as a table; a travel determination unit for determining travel control for the vehicle on the basis of the detection result of the sensor unit and the table maintained by the vehicle-mounted communication device; and a travel control unit that controls the travel of the vehicle on the basis of the result determined by the travel determination unit. The driving control device is characterized in that when the vehicle is changing lanes, the travel determination unit identifies a following linearly traveling vehicle in the lane that is the lane change destination from the detection result of the sensor unit and selects the identification number of the following linearly traveling vehicle from the table maintained by the vehicle-mounted communication device, and the vehicle-mounted communication device uses the identification number to transmit information requesting a lane change to the following linearly traveling vehicle in unicast format.

Driving control device, driving control method, and vehicle-to-vehicle communication system

A variety of methods, controllers and algorithms are described for identifying the back of a particular vehicle (e.g., a platoon partner) in a set of distance measurement scenes and/or for tracking the back of such a vehicle. The described techniques can be used in conjunction with a variety of different distance measuring technologies including radar, LIDAR, camera based distance measuring units and others. The described approaches are well suited for use in vehicle platooning and/or vehicle convoying systems including tractor-trailer truck platooning applications. In another aspect, technique are described for fusing sensor data obtained from different vehicles for use in the at least partial automatic control of a particular vehicle. The described techniques are well suited for use in conjunction with a variety of different vehicle control applications including platooning, convoying and other connected driving applications including tractor-trailer truck platooning applications.

Gap measurement for vehicle convoying

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.

Detection of extra-platoon vehicle intermediate or adjacent to platoon member vehicles

Apparatus and methods are disclosed for vehicle-to-vehicle cooperation to marshal traffic An example disclosed cooperative vehicle includes an example vehicle-to-vehicle communication module and an example cooperative adaptive cruise control module The example cooperative adaptive cruise control module determines a location of a traffic cataract The example cooperative adaptive cruise control module also coordinates with other cooperative vehicles to form a platoon of standard vehicles Additionally, the example cooperative adaptive cruise control module coordinates with other the cooperative vehicles to move the formed platoon through the traffic cataract at a constant speed

Vehicle-to-vehicle cooperation to marshal traffic

A system includes a processor configured to determine traffic density over a road segment. The processor is also configured to model traffic parameters to maximize traffic flow over the road segment, based on the traffic density and travel characteristic data received from a plurality of vehicles exiting the road segment. The processor is further configured to determine a speed to density curve, using the model, that would maximize traffic flow and send the speed to density curve to a vehicle entering the road segment.

Method and apparatus for congestion reduction through cooperative adaptive cruise control

FIELD: transportation.SUBSTANCE: group of inventions relates to the interaction between vehicles to streamline traffic. Vehicle includes a communication module and an interactive adaptive cruise control module. Interactive adaptive cruise control module determines the location of the overlapped section, interacts with other interacting vehicles to form a group of standard vehicles. Movement of the formed group through the overlapped section at a constant speed is carried out with the help of the module of the interacting adaptive cruise control.EFFECT: group of vehicles is coordinated while driving in order to effectively use the road space, prevent accidents and warn about the dangers on the road.20 cl, 14 dwg

Interaction between vehicles for streamlining traffic

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Vehicle-to-vehicle cooperation to marshal traffic

Method and apparatus for congestion reduction through cooperative adaptive cruise control

Interaction between vehicles for streamlining traffic