US 12,140,966 B2
Method for controlling a string of vehicles
Wilhelm Wiberg, Askim (SE); Stefan Bergquist, Gothenburg (SE); Antonio Amaral Craveiro, Gothenburg (SE); and Edvin Valtersson, Sävedalen (SE)
Assigned to Volvo Truck Corporation, Gothenburg (SE)
Appl. No. 17/048,065
Filed by Volvo Truck Corporation, Gothenburg (SE)
PCT Filed Apr. 12, 2019, PCT No. PCT/EP2019/059538
§ 371(c)(1), (2) Date Oct. 15, 2020,
PCT Pub. No. WO2019/201801, PCT Pub. Date Oct. 24, 2019.
Claims priority of application No. PCT/EP2018/025119 (WO), filed on Apr. 16, 2018.
Prior Publication US 2021/0294351 A1, Sep. 23, 2021
Int. Cl. G05D 1/00 (2024.01); B60W 30/165 (2020.01); B60W 60/00 (2020.01); G08G 1/00 (2006.01)
CPC G05D 1/0295 (2013.01) [B60W 30/165 (2013.01); B60W 60/0015 (2020.02); G08G 1/22 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/802 (2020.02); B60W 2556/65 (2020.02)] 24 Claims
OG exemplary drawing
 
1. A method for controlling a string of vehicles comprising a lead vehicle and at least one follower vehicle following the lead vehicle in a follower trajectory by vehicle-to-vehicle communication, the method comprising:
generating, by at least one of a control unit in the lead vehicle and a control unit outside the lead vehicle, surroundings data, regarding the surroundings of at least a part of the string of vehicles; and
generating, by the control unit in the lead vehicle, using the surroundings data, a backup trajectory, which is different from the follower trajectory;
receiving, by at least one of the at least one follower vehicle, the generated backup trajectory; and
following, by the receiving follower vehicle, the generated backup trajectory, upon a determination of a predetermined condition that communications with the lead vehicle is lost;
wherein the backup trajectory is generated before the determination of the predetermined condition that communications with the lead vehicle is lost.