US 12,276,977 B2
Systems and methods for platooning and automation safety
Joshua P. Switkes, Mountain View, CA (US); and Evan Nakano, Cupertino, CA (US)
Assigned to Peloton Technology, Inc., Pacific Grove, CA (US)
Filed by Peloton Technology, Inc., Mountain View, CA (US)
Filed on Oct. 23, 2018, as Appl. No. 16/134,341.
Prior Publication US 2020/0125086 A1, Apr. 23, 2020
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0027 (2013.01) [G05D 1/0055 (2013.01); G05D 1/0061 (2013.01); G05D 1/0293 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for platooning comprising:
establishing a communication link between a first vehicle and a second vehicle;
forming a platoon including the first vehicle and the second vehicle;
determining a plurality of safety goals, wherein the plurality of safety goals includes:
determining if a current braking level is sufficient to avoid collision, at the first vehicle, as detected by both a platoon electronic control unit (PECU) and a brake electronic control unit (BECU) on the first vehicle, wherein the PECU and the BECU detect deceleration separately;
verifying that the first vehicle is not accelerating unintendedly;
verifying that the first vehicle is not decelerating unintendedly;
avoiding inadvertent platooning after a cut-in has been detected;
verifying that notifications provided by the PECU or the BECU on the first vehicle are being transmitted to intended destinations;
verifying that information received in an update from a network operations center (NOC) at the first vehicle is correct; and
verifying that the instability of the first vehicle does not exceed a threshold amount; and
dissolving the platoon in response to one of the plurality of safety goals not being met.