US 12,293,668 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 Mar. 27, 2024, as Appl. No. 18/618,476.
Application 18/618,476 is a continuation of application No. 17/347,099, filed on Jun. 14, 2021, granted, now 11,972,690.
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 2024/0242614 A1, Jul. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60K 35/00 (2024.01); B60K 35/10 (2024.01); B60K 35/22 (2024.01); B60K 35/28 (2024.01); B60K 35/85 (2024.01); B60W 30/165 (2020.01); B60W 50/00 (2006.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G05D 1/00 (2024.01); 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 35/28 (2024.01); B60K 2360/166 (2024.01); B60W 2050/146 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/802 (2020.02); B60W 2556/45 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A method for platooning, 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:
retrieving a vehicle registration message of the first vehicle based on a vehicle electronic tag of the first vehicle, to obtain the first vehicle type and the first kinematic information of the first vehicle, the first kinematic information comprising a minimum turning radius and a braking preparation time length of the first vehicle, wherein the platooning request message comprises the vehicle electronic tag of the first vehicle;
obtaining a vehicle electronic tag of the second vehicle currently at the tail; and
retrieving a vehicle registration message of the second vehicle currently at the tail, to obtain the second vehicle type and the second kinematic information of the second vehicle currently at the tail, the second kinematic information comprising a minimum turning radius and a braking preparation time length of the second vehicle currently at the tail;
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.