US 12,240,455 B2
Dynamic reference generation and control for vehicles traveling in a convoy
Karla Fuhs, Columbus, IN (US); Hoseinali Borhan, Bloomington, IN (US); Gayatri Adi, Columbus, IN (US); and Bibin N. Pattel, Columbus, IN (US)
Assigned to Cummins Inc., Columbus, IN (US)
Filed by Cummins Inc., Columbus, IN (US)
Filed on Oct. 25, 2022, as Appl. No. 18/049,381.
Prior Publication US 2024/0132071 A1, Apr. 25, 2024
Prior Publication US 2024/0227803 A9, Jul. 11, 2024
Int. Cl. B60W 30/165 (2020.01); B60W 10/18 (2012.01); B60W 20/14 (2016.01); B60W 30/18 (2012.01); G05D 1/695 (2024.01); G08G 1/00 (2006.01)
CPC B60W 30/165 (2013.01) [B60W 10/18 (2013.01); B60W 20/14 (2016.01); B60W 30/18127 (2013.01); G05D 1/695 (2024.01); G08G 1/22 (2013.01); B60W 2510/244 (2013.01); B60W 2510/246 (2013.01); B60W 2556/45 (2020.02)] 24 Claims
OG exemplary drawing
 
1. A process of controlling a vehicle in a convoy of vehicles, the process comprising:
operating an electronic control system (ECS) of the vehicle to perform the operations of:
determining a vehicle motion reference parameter (VMRP) in response to a convoying control input (CCI), the VMRP being useable by the ECS to control motion of the vehicle;
determining a braking capability of the vehicle, the braking capability including at least a regenerative braking capability;
determining a minimum following distance between the vehicle and a forward vehicle of the convoy based at least in part upon the braking capability; and
arbitrating among a plurality of control options including at least:
(a) performing a first modification of the VMRP determined to provide operation of the vehicle satisfying the minimum following distance and controlling motion of the vehicle using the first modification of the VMRP,
(b) performing a second modification of the VMRP determined to provide improved operating efficiency of the vehicle controlling motion of the vehicle using the second modification of the VMRP, and
(c) controlling motion of the vehicle using the VMRP without modification.