US 11,747,827 B2
Vehicle platoon system control for intersections
Jingwei Xu, Buffalo Grove, IL (US); and Bruce Bernhardt, Wauconda, IL (US)
Assigned to HERE Global B.V., Eindhoven (NL)
Filed by HERE Global B.V., Eindhoven (NL)
Filed on Feb. 14, 2018, as Appl. No. 15/896,348.
Prior Publication US 2019/0250639 A1, Aug. 15, 2019
Int. Cl. G05D 1/02 (2020.01); G08G 1/00 (2006.01); G08G 1/0968 (2006.01); G08G 1/0967 (2006.01); G08G 1/01 (2006.01); B60W 50/04 (2006.01); G08G 1/07 (2006.01)
CPC G05D 1/0293 (2013.01) [G05D 1/0223 (2013.01); G05D 1/0297 (2013.01); G08G 1/0112 (2013.01); G08G 1/0133 (2013.01); G08G 1/0145 (2013.01); G08G 1/096725 (2013.01); G08G 1/096741 (2013.01); G08G 1/096775 (2013.01); G08G 1/096822 (2013.01); G08G 1/096827 (2013.01); G08G 1/22 (2013.01); B60W 2050/048 (2013.01); G05D 2201/0213 (2013.01); G08G 1/07 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for controlling a platoon of vehicles through an intersection, the method comprising:
receiving location data for at least a first vehicle of the platoon of vehicles, the location data derived from output of a sensor configured to track movement of the first vehicle;
map matching the location data for the first vehicle to a road network;
identifying a ramp intersection in the road network in response to the matched location data;
determining a time period for the ramp intersection, wherein determining the time period for the ramp intersection comprises:
receiving traffic data for the ramp intersection from a traffic service; and
calculating, by a processor, based on the traffic data, a time until the ramp intersection includes space for the platoon of vehicles;
calculating, by the processor, a distance to the intersection for a second vehicle of the platoon of vehicles;
calculating, by the processor, a travel time based on the distance to the intersection for the second vehicle of the platoon of vehicles;
performing, by the processor, a comparison of the time period for the intersection to the travel time for the second vehicle; and
generating, by the processor, a platoon command in response to the comparison.