US 12,217,609 B2
Communication system for platooning vehicles
Hyun Sung Jang, Suwon-si (KR); Sang Heon Pack, Seoul (KR); Min Ok Kim, Seoul (KR); and Joon Woo Kim, Seoul (KR)
Assigned to Hyundai Motor Corporation, Seoul (KR); Kia Corporation, Seoul (KR); and Korea University Research and Business Foundation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and Korea University Research and Business Foundation, Seoul (KR)
Filed on Oct. 7, 2021, as Appl. No. 17/496,551.
Claims priority of application No. 10-2020-0167933 (KR), filed on Dec. 4, 2020.
Prior Publication US 2022/0180754 A1, Jun. 9, 2022
Int. Cl. G08G 1/00 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); H04L 1/00 (2006.01); H04W 4/44 (2018.01); H04W 4/46 (2018.01)
CPC G08G 1/22 (2013.01) [G05D 1/0278 (2013.01); G05D 1/0293 (2013.01); G05D 1/0295 (2013.01); H04L 1/0027 (2013.01); H04L 1/0078 (2013.01); H04W 4/44 (2018.02); H04W 4/46 (2018.02)] 20 Claims
OG exemplary drawing
 
1. A communication system for platooning vehicles that performs Vehicle-to-Vehicle (V2V) communication through a plurality of controllers mounted in the platooning vehicles, the communication system comprising:
the plurality of controllers, each comprising a respective communication unit configured to transmit and receive platooning vehicle messages comprising control and sensor information of the platooning vehicles, wherein:
each controller of the plurality of controllers is configured to:
obtain and store schedule information comprising a message transmission order and planned message transmission times for the platooning vehicles, and
a first controller of the plurality of controllers that is mounted in a first platooning vehicle of the platooning vehicles is configured to:
transmit first platooning vehicle messages from the first platooning vehicle based on the schedule information;
store received message transmission times of received messages from other platooning vehicles of the platooning vehicles; and
determine whether a particular message of the received messages corresponds to the message transmission order of the schedule information,
wherein when the particular message is received from an N-th vehicle of the platooning vehicles that is not matched with the message transmission order, the first controller is configured to determine that an additional message from an N-1-th vehicle of the platooning vehicles, which was supposed to transmit the additional message before the N-th vehicle, is lost or has an error, and
wherein, when the platooning vehicles do not receive the additional message for a predetermined interval at an order of the message transmission order for the N-1-th vehicle to transmit the additional message, a second controller of the plurality of controllers mounted in the N-th vehicle, which is a next vehicle after the N-1-th vehicle in the message transmission order, is configured to transmit the particular message when the N-1-th vehicle was configured to transmit the additional message according to the message transmission order.