US 11,875,685 B2
Convoy travel system
Hirokazu Okuyama, Hino (JP); Nobuhiko Kojima, Hino (JP); Naoshi Ichinose, Hino (JP); Hirofumi Yasui, Hino (JP); Tomonari Yamakawa, Hoi-gun (JP); Sadahiro Kawahara, Kashihara (JP); Masayoshi Takeda, Kariya (JP); and Syuuichi Yonemura, Kariya (JP)
Assigned to HINO MOTORS, LTD., Hino (JP); and JTEKT CORPORATION, Kariya (JP)
Appl. No. 17/264,216
Filed by HINO MOTORS, LTD., Hino (JP); and JTEKT CORPORATION, Osaka (JP)
PCT Filed Jul. 12, 2019, PCT No. PCT/JP2019/027648
§ 371(c)(1), (2) Date Jan. 28, 2021,
PCT Pub. No. WO2020/026761, PCT Pub. Date Feb. 6, 2020.
Claims priority of application No. 2018-145622 (JP), filed on Aug. 2, 2018.
Prior Publication US 2021/0304618 A1, Sep. 30, 2021
Int. Cl. G08G 1/00 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/165 (2020.01); B62D 15/02 (2006.01); G08G 1/09 (2006.01); G08G 1/16 (2006.01)
CPC G08G 1/22 (2013.01) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 30/165 (2013.01); B62D 15/0265 (2013.01); G08G 1/09 (2013.01); G08G 1/166 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A platooning system comprising vehicles, the platooning system being configured such that the vehicles form a platoon to travel, the vehicles including a lead vehicle and a subsequent vehicle configured to follow the lead vehicle through self-driving, wherein
the lead vehicle includes:
circuitry including a steering information acquisition unit configured to acquire steering information related to steering of the lead vehicle, the steering information indicating a steering angle of the lead vehicle; and
a sender configured to send the steering information to the subsequent vehicle, the steering information indicating that the steering angle has been acquired by the steering information acquisition unit, and
the subsequent vehicle includes:
a receiver configured to receive the steering information; and
circuitry including a self-driving controller configured to start control of a steering angle to avoid a collision with an obstacle when the steering information indicates execution of sudden steering to avoid the collision with the obstacle,
wherein the self-driving controller is configured to determine that the lead vehicle has been suddenly steered when a change in the steering angle that is based on the steering information exceeds a predetermined range,
the subsequent vehicle is configured to selectively execute a normal following control to follow the lead vehicle such that the subsequent vehicle travels so as to trace a path for the lead vehicle and a collision avoidance control such that the subsequent vehicle follows the lead vehicle by traveling without tracing the path for the lead vehicle,
the subsequent vehicle is configured to select the collision avoidance control when the steering information indicates the execution of the sudden steering to avoid the collision with the obstacle, and
wherein, in the case of executing the collision avoidance control, the subsequent vehicle travels from its position toward the lead vehicle such that a path for the subsequent vehicle has a shape extending straight from its position toward a side of the obstacle.