US 12,304,484 B2
Virtual tethering for autonomous convoy
Michael J Reinker, Beverly Hills, MI (US); Ethan Thomas Dietrich, Oak Park, MI (US); Constandi J Shami, Ann Arbor, MI (US); Reza Zarringhalam, Whitby (CA); Milad Jalaliyazdi, Richmond Hill (CA); and Benjamin L Williams, Milford, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Mar. 1, 2023, as Appl. No. 18/176,810.
Prior Publication US 2024/0294167 A1, Sep. 5, 2024
Int. Cl. B60W 30/165 (2020.01); B60W 30/18 (2012.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01)
CPC B60W 30/165 (2013.01) [B60W 30/18163 (2013.01); B60W 50/14 (2013.01); B60W 60/001 (2020.02); B60W 2540/215 (2020.02); B60W 2552/05 (2020.02); B60W 2556/65 (2020.02); B60W 2720/106 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A lead vehicle configured to lead a following vehicle using maneuvering modifications assisting the following vehicle with following the lead vehicle, the lead vehicle comprising:
a sensor system comprising onboard vehicle sensors;
an actuator system comprising vehicle actuators;
a human machine interface (HMI); and
a controller for implementing a driver assistance system, the controller configured to:
provide, via the HMI for lead vehicle operator acceptance, a request to be followed indication responsive to receipt of a request to be followed from the following vehicle;
provide, via the HMI for lead vehicle operator acceptance, a request to enter a tether operating mode responsive to acceptance of the request to be followed wherein in the tether operating mode the lead vehicle is configured to make maneuvering modifications to assist the following vehicle with following the lead vehicle;
enter the tether operating mode and select a tether goal between the lead vehicle and the following vehicle responsive to lead vehicle operator acceptance of the request to be tethered;
provide, via the HMI, a tether mode indication that indicates that the lead vehicle is in the tether operating mode;
monitor a headway between the lead vehicle and following vehicle using one or more of the onboard vehicle sensors and vehicle telematics;
adjust a preplanned trajectory calculated by the driver assistance system to facilitate the following vehicle obtaining and maintaining the tether goal;
modify driver assistance system operation in the lead vehicle based on a level at which the headway is greater than the tether goal when in the tether operating mode;
exit the tether operating mode based on lead vehicle operator override action; and
generate control signals for the vehicle actuators to control the lead vehicle to facilitate the following vehicle obtaining and maintaining the tether goal.