US 11,972,690 B2
Platooning method, apparatus and system of autonomous driving platoon
Wenrui Li, Beijing (CN); Nan Wu, Beijing (CN); Rui Peng, Beijing (CN); Qingxin Bi, Beijing (CN); Yuhe Jin, Beijing (CN); and Yiming Li, Beijing (CN)
Assigned to BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD., Beijing (CN)
Filed by Beijing Tusen Zhitu Technology Co., Ltd., Beijing (CN)
Filed on Jun. 14, 2021, as Appl. No. 17/347,099.
Application 17/347,099 is a continuation of application No. PCT/CN2019/077076, filed on Mar. 6, 2019.
Claims priority of application No. 201811530975.X (CN), filed on Dec. 14, 2018.
Prior Publication US 2021/0358308 A1, Nov. 18, 2021
Int. Cl. B60K 35/00 (2006.01); B60W 30/165 (2020.01); B60W 50/00 (2006.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G05D 1/02 (2020.01); G07C 5/08 (2006.01); G08G 1/00 (2006.01); H04W 4/46 (2018.01); H04W 76/10 (2018.01)
CPC G08G 1/22 (2013.01) [B60K 35/00 (2013.01); B60W 30/165 (2013.01); B60W 50/00 (2013.01); B60W 50/14 (2013.01); B60W 60/0025 (2020.02); G07C 5/085 (2013.01); G08G 1/20 (2013.01); H04W 4/46 (2018.02); H04W 76/10 (2018.02); B60K 2370/166 (2019.05); B60W 2050/146 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/802 (2020.02); B60W 2556/45 (2020.02)] 20 Claims
OG exemplary drawing
 
13. A computing apparatus, comprising:
a processor; and
a memory storing program codes that, when executed by the processor, causes the apparatus to implement a method comprising:
receiving, from a first vehicle, a platooning request message for joining a platoon;
obtaining, based on the platooning request message, a first vehicle type, first kinematic information and first sensor operating status information of the first vehicle, a second vehicle type, second kinematic information and second sensor operating status information of a second vehicle currently at a tail of the platoon, comprising:
transmitting a sensor operating status request message to the first vehicle and the second vehicle currently at the tail respectively;
receiving the first sensor operating status information from the first vehicle and the second sensor operating status information from the second vehicle currently at the tail, the first sensor operating status information and the second sensor operating status information each comprising an operating status of a minimum perception information sensor, operating status and accuracy of a positioning sensor, and operating status and accuracy of a forward distance sensor;
performing vehicle kinematic determination based on the first vehicle type, the first kinematic information, the second vehicle type, and the second kinematic information, to obtain a kinematic determination result;
performing sensor determination based on the first sensor operating status information and the second sensor operating status information, to obtain a sensor determination result;
transmitting a confirmation request message to a third vehicle in response to the kinematic determination result and the sensor determination result meeting a first predetermined condition, wherein the third vehicle is in the platoon; and
controlling, upon receiving a request approval message from the third vehicle, the first vehicle to establish a Vehicle-to-Vehicle (V2V) communication connection with each vehicle in the platoon.