19-12-2019 дата публикации
Номер: US20190384322A1
Systems and methods for coordinating and controlling vehicles, for example heavy trucks, to follow closely behind each other, or linking to form a platoon. In one aspect, on-board controllers in each vehicle interact with vehicular sensors to monitor and control, for example, relative distance, relative acceleration or deceleration, and speed. In some aspects, a lead vehicle can wirelessly transmit information from various electronic control units (ECUs) to ECUs in a rear vehicle. A rear vehicle can then apply transformations to the information to account for a desired following distance and a time offset. ECUs onboard the rear vehicle may then be controlled based on the ECUs of the lead vehicle, the desired following distance, and the time offset. 1. A method for maintaining a relationship between a plurality of vehicles , comprising:receiving lead vehicle data from a lead vehicle at a rear vehicle platooning electronic control unit (PECU), wherein the lead vehicle data comprises data provided by multiple electronic control units, wherein the multiple electronic control units include: (1) a lead vehicle engine electronic control unit (EECU), (2) a lead vehicle brake electronic control unit (BECU), (3) a lead vehicle transmission electronic control unit (TECU), and (4) a lead vehicle retarder electronic control unit (RECU), and wherein the rear vehicle PECU is remote from a rear vehicle EECU;receiving a current distance between the lead vehicle and the rear vehicle at the rear vehicle PECU;receiving a target distance between the lead vehicle and the rear vehicle at the rear vehicle PECU;determining a distance difference between the target distance and the current distance;determining a time offset based at least in part on the speed of the rear vehicle and the speed of the lead vehicle;achieving the target distance between the lead vehicle and the rear vehicle, wherein achieving the target distance is based at least on the distance difference and the time offset.2. ...
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