System and method for automatically operating to a vehicle boarding

Abstract

The invention provides a system and method for automatically getting on line to a vehicle marshalling system. A method for grouping autonomously operated vehicles includes: identifying vehicles to be on-line for grouping; transmitting location information from the positioning system to the vehicle; transmitting one or more real-time kinematic corrections from the base station to the vehicle; and adjusting a current position of the vehicle, an orientation of the vehicle, or a combination thereof.

Description

Technical Field

[0001] The present disclosure relates to onboarding one or more vehicles into a vehicle platooning system. More specifically, the present disclosure relates to the implementation of a Global Positioning System and / or Global Navigation Satellite System in the onboarding and automatic platooning of one or more vehicles. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] Platooning of vehicles is typically initiated by onboarding each vehicle into a vehicle platooning system. However, accurately onboarding a particular vehicle in a vehicle without human intervention is challenging and typically time-consuming. Onboarding each of the vehicles also typically involves the use of infrastructure sensors disposed in areas along the vehicle's travel route. For example, in many instances, this is a solution that inhibits the widespread implementation of such platooning arrangements outside of manufacturing facilities.

[0004] The present disclosure addresses these and other problems associated with platooning vehicles. Summary of the Invention

[0005] This section provides a general overview of the present disclosure and is not a full disclosure of its full scope or all of its features.

[0006] The present disclosure provides a method for platooning autonomously operating vehicles, the method comprising: identifying a vehicle to be onboarded for platooning; transmitting position information to the vehicle from a positioning system; and transmitting one or more positioning-related corrections to the vehicle from a base station; and adjusting a current position of the vehicle, an orientation of the vehicle, or a combination thereof based on the position information and the one or more positioning-related corrections; the method further comprising: establishing a secure data connection with the vehicle based on the vehicle being within range of the base station; the method further comprising: determining that the vehicle is within range of the base station based on identifying the vehicle; and onboarding the vehicle based on the secure data connection and the vehicle being within range of the base station; the method further comprising: re-onboarding the vehicle based on an interruption of the secure data connection and a positioning system associated with the base station; the method further comprising: verifying the current position of the vehicle based on identifying the vehicle and the positioning system, wherein the positioning system is at least one of a Global Positioning System, a Global Navigation Satellite System, a Differential Global Positioning System, or a combination thereof; wherein the one or more positioning-related corrections are based on an interruption of the secure data connection with the vehicle; and wherein the one or more positioning-related corrections include Real-Time Kinematic (RTK) corrections and are at least one of a correction of a delay in the secure data connection, a clock error, or a combination thereof.

[0007] The present disclosure provides another method for marshaling vehicles for autonomous operation. The method includes: identifying the vehicles to be put on line for marshaling; receiving the current position and orientation of the vehicles based on a secure data connection; transmitting position information and one or more positioning-related corrections from a base station to the vehicles based on the received current position and received orientation of the vehicles; causing the vehicles to follow a route based on the position information and the one or more positioning-related corrections; the method further includes: establishing the secure data connection with the vehicles based on the vehicles being within the range of the base station; the method further includes: determining that the vehicles are within the range of the base station based on identifying the vehicles; and causing the vehicles to go on line based on the secure data connection and the vehicles being within the range of the base station; the method further includes: causing the vehicles to go on line again based on the interruption of the secure data connection and a positioning system associated with the base station; the method further includes: verifying the current position of the vehicles based on identifying the vehicles and a positioning system associated with the base station, wherein the positioning system is at least one of a global positioning system, a global navigation satellite system, a differential global positioning system, or a combination thereof; wherein the one or more positioning-related corrections are based on the interruption of the secure data connection with the vehicles; and wherein the one or more positioning-related corrections include RTK corrections and are at least one of the corrections for latency, clock error, or a combination thereof in the secure data connection.

[0008] The present disclosure provides a marshalling system for guiding an autonomously operating vehicle. The marshalling system includes: a positioning system configured to communicate with a base station and the vehicle; the base station being configured to: identify a vehicle to be marshalled and go online, transmit position information from the positioning system to the vehicle, transmit one or more positioning-related corrections from the base station to the vehicle, and adjust a current position of the vehicle, an orientation of the vehicle, or a combination thereof based on the position information and the one or more positioning-related corrections; and the vehicle being configured to: receive the position information, receive the one or more positioning-related corrections, and adjust the current position and the orientation of the vehicle; wherein the base station is further configured to: establish a secure data connection with the vehicle based on the vehicle being within the range of the base station; wherein the base station is further configured to: determine that the vehicle is within the range of the base station based on identifying the vehicle; and bring the vehicle online based on the secure data connection and the vehicle being within the range of the base station; wherein the base station is further configured to: bring the vehicle back online based on an interruption of the secure data connection and the positioning system associated with the base station; wherein the base station is further configured to: verify the current position of the vehicle based on identifying the vehicle and the positioning system associated with the base station, wherein the positioning system is at least one of a Global Positioning System, a Global Navigation Satellite System, a Differential Global Positioning System, or a combination thereof; and wherein the one or more positioning-related corrections are based on an interruption of the secure data connection with the vehicle, and wherein the one or more positioning-related corrections include RTK corrections and are at least one of a correction of a delay in the secure data connection, a clock error, or a combination thereof.

[0009] Based on the description provided herein, additional applicable fields will become apparent. It should be understood that the description and specific examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] For a better understanding of the present disclosure, various forms of the present disclosure will now be described by way of example with reference to the accompanying drawings, in which:

[0011] Figure 1 An overall system for automatically bringing a vehicle online to a vehicle marshalling system is shown;

[0012] Figure 2 is a block diagram showing an example system for automatically bringing a vehicle online to Figure 1 the vehicle marshalling system shown;

[0013] Figure 3 is a flowchart showing an example method for automatically bringing a vehicle online to Figure 1 the vehicle marshalling system shown;

[0014] Figure 4 is another flowchart showing an example method for automatically connecting a vehicle to the Figure 1 shown vehicle formation system;

[0015] Figure 5 is another flowchart showing an example method for automatically connecting a vehicle to the Figure 1 shown vehicle formation system; and

[0016] Figure 6 is another flowchart showing an example method for automatically connecting a vehicle to the Figure 1 shown vehicle formation system.

[0017] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure in any way. Detailed Description

[0018] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding parts and features.

[0019] The present disclosure provides for vehicle connection (i.e., pairing an established data connection with a vehicle at a given location) such that the vehicle can act according to commands issued by a control system. More specifically, in some examples, the expected location of a vehicle (e.g., a target vehicle) is verified, thereby reducing any inadvertent attempts to connect nearby vehicles relative to the location of the target vehicle. One or more examples implement the Global Positioning System (GPS) and / or Global Navigation Satellite System (GNSS) and Real-Time Kinematic (RTK) positioning correction for GPS / GNSS latency, which eliminates the need for any time-consuming, cumbersome, and / or manual workarounds. In one or more examples, the GPS / GNSS system combined with RTK functionality also facilitates guidance during formation in cases where the system may temporarily lose track of the vehicle. In such cases, the vehicle can quickly reconnect and position itself using the precise location of the vehicle. Due to the use of one or more examples described herein for connecting a vehicle and / or reconnecting a vehicle, there is less operator interaction, less manual intervention, and / or fewer constraints regarding how the vehicle is introduced into the system and / or where the vehicle can be instructed to move.

[0020] Additionally, by using the GPS / GNSS system combined with RTK functionality, sensors do not have to be positioned at frequent intervals, enabling a constant visual of each connected vehicle to be maintained. That is, when the visual of a vehicle is lost, the vehicle must reconnect, and in cases where one or more examples described herein implement the GPS / GNSS system combined with RTK functionality, the requirements for using sensors in this manner are relaxed.

[0021] Figure 1 System 100 is shown that shows the wireless communication relationships between several entities. More specifically, the entities of system 100 generally include one or more infrastructure sensors 102, one or more marshalling servers 104, a data network cloud 106, a base station 108, a vehicle 110, and GPS / GNSS satellites 112.

[0022] In various examples, the data network cloud 106 is configured as the central entity of system 100, and the central entity facilitates data exchange between other entities included in system 100. For example, one or more infrastructure sensors 102 are set in the infrastructure at different frequencies (e.g., at different locations or physical intervals in a manufacturing facility). For example, one or more infrastructure sensors 102 can be set at 10-meter intervals throughout the infrastructure. One or more infrastructure sensors 102 are configured to monitor the paths that vehicle 110 can travel through. One or more infrastructure sensors 102 are also configured to send sensor data to the data network cloud 106. For example, in an instance where vehicle 110 enters the field of view of any one of the one or more infrastructure sensors 102 (e.g., within the sensing range), the one or more infrastructure sensors 102 transmit sensor data to the data network cloud 106.

[0023] One or more marshalling servers 104 are configured to send one or more marshalling commands to the data network cloud 106. One or more marshalling servers 104 are also configured to receive sensor data and / or one or more vehicle updates from the data network cloud 106. For example, one or more vehicle updates can include ranging-related information, the attitude of the vehicle, or a combination thereof. It should be understood that one or more vehicle updates can include any vehicle-related information. Although multiple marshalling servers (e.g., one or more marshalling servers 104) are discussed, it should be understood that a single marshalling server can be implemented within system 100.

[0024] Base station 108 is configured to communicate with both the data network cloud 106 and / or GPS / GNSS satellites 112. Base station 108 is configured to receive GPS / GNSS position data from GPS / GNSS satellites 112. For example, the accuracy of GPS / GNSS satellites 112 is dynamic, such that although the default accuracy can be within three to six meters, GPS / GNSS satellites 112 can even be more precise. It should be understood that the default accuracy of GPS / GNSS satellites 112 can be within any range. As another example, position errors associated with the accuracy of GPS / GNSS satellites 112 can be introduced into system 100 due to multipath errors, clock errors, delays caused by the upper atmosphere, or a combination thereof.

[0025] Base station 108 is also configured to send one or more positioning-related corrections to data network cloud 106. As an example, one or more positioning-related corrections include RTK corrections. For example, positioning-related corrections can correct latency and / or clock issues by tracking the phase of the carrier of GPS / GNSS satellites 112 to obtain precise timing and distance. As yet another example, positioning-related corrections can correct GPS / GNSS errors that are differently related within a geographical area, such that if base station 108 is at a known location, base station 108 can propagate its calculated corrections to a mobile receiver, thereby allowing typical position accuracy to be highly precise (e.g., one to two centimeters). However, it should be understood that the position accuracy can be within any range. Additionally, differential GPS (DGPS) can be implemented to compare measurements at one mobile GPS / GNSS receiver (e.g., a rover (not shown)) with measurements at another fixed GPS / GNSS receiver (e.g., base station 108). Although the position of base station 108 is known, the rover position is calculated at different levels of accuracy with reference to this point. It should be understood that the combination of a rover and a GPS / GNSS receiver can be used with GPS / GNSS positioning with positioning-related corrections, or as an alternative to GPS / GNSS positioning with positioning-related corrections.

[0026] GPS / GNSS satellites 112 are configured to communicate with both base station 108 and vehicle 110. GPS / GNSS satellites 112 are configured to send GPS / GNSS position data to base station 108. GPS / GNSS satellites 112 are also configured to send GPS / GNSS position data to vehicle 110. Vehicle 110 is configured to communicate with both GPS / GNSS satellites 112 and data network cloud 106. Vehicle 110 is configured to receive GPS / GNSS position data from GPS / GNSS satellites 112. Vehicle 110 is also configured to send one or more vehicle updates to data network cloud 106. Additionally, vehicle 110 is configured to receive one or more commands and / or positioning-related corrections from data network cloud 106.

[0027] Figure 2 A schematic block diagram illustration of system 200 is shown. In one or more examples, system 200 facilitates the marshalling of one or more vehicles traveling at low speeds. However, it should be understood that system 200 can marshal one or more vehicles traveling at any speed. It should also be understood that system 200 can marshal semi-autonomous vehicles and / or fully autonomous vehicles.

[0028] System 200 generally includes a data network cloud 106, a base station 108, a vehicle 110, and a vehicle delivery manager cloud 214. The data network cloud 106 serves as a central component of the system 200, which is configured to manage and / or facilitate a marshalling process associated with the guided transportation of the vehicle 110. For example, the vehicle 110 is configured to exchange (e.g., send and / or receive) data with the data network cloud 106.

[0029] The vehicle 110 includes or implements an Automated Vehicle Marshalling (AVM) algorithm 216, a wireless transmission module 218, a vehicle central gateway module 220, a vehicle infotainment system 222, one or more vehicle sensors 224, a vehicle battery 226, a vehicle GNSS 228, a vehicle navigation map 230, vehicle exterior lights 232, and a Controller Area Network (CAN) vehicle bus 233. The wireless transmission module 218 may be a Transmission Control Unit (TCU). The wireless transmission module 218 includes one or more sensors configured to collect data and send signals to other components of the vehicle 110. One or more sensors of the wireless transmission module 218 may include a vehicle speed sensor (not shown) configured to determine the current speed of the vehicle 110; a wheel speed sensor (not shown) configured to determine whether the vehicle 110 is traveling uphill or downhill; a throttle position sensor (not shown) configured to determine whether a downshift or upshift of one or more gears associated with the vehicle 110 is required in the current state of the vehicle 110; and / or a turbine speed sensor (not shown) configured to send data associated with the rotational speed of the torque converter of the vehicle 110.

[0030] The wireless transmission module 218 transmits the information collected by one or more sensors to the AVM algorithm 216. In one embodiment, the AVM algorithm 216 may be set as a component within the wireless transmission module 218. For example, the vehicle 110 uses the AVM algorithm 216 to process the information collected by one or more sensors and send the information to the data network cloud 106. As another example, the vehicle 110 uses the AVM algorithm 216 to process the information collected by one or more sensors and directly send the information to the user device 242. The AVM algorithm 216 is configured to transmit the information and / or instructions received from the data network cloud 106 and / or the user device 242 to the wireless transmission module 218.

[0031] The vehicle central gateway module 220 serves as an interface between various vehicle domain bus systems, such as an engine compartment bus (not shown), an interior bus (not shown), an optical bus for multimedia (not shown), a diagnostic bus for maintenance (not shown), or a vehicle CAN bus 233. The vehicle central gateway module 220 is configured to distribute data transmitted by each of the various domain bus systems to the vehicle central gateway module 220 to other components of the vehicle 110. The vehicle central gateway module 220 is further configured to distribute information received from the AVM algorithm 216 to the various domain bus systems. The vehicle central gateway module 220 is also configured to send information received from the various domain bus systems to the AVM algorithm 216. For example, the vehicle 110 uses the AVM algorithm 216 to process information received from the vehicle central gateway module 220 and send the information to the data network cloud 106. As another example, the vehicle 110 uses the AVM algorithm 216 to process information received from the vehicle central gateway module 220 and send the information directly to the user device 242. The AVM algorithm 216 is configured to transmit information and / or instructions received from the data network cloud 106 and / or the user device 242 to the vehicle central gateway module 220.

[0032] The vehicle infotainment system 222 is a system that delivers a combination of information and entertainment content and / or services to the user 244 of the vehicle 110. It should be understood that in some examples, the vehicle infotainment system 222 may deliver only entertainment content to the user 244 of the vehicle 110. It should also be understood that the vehicle infotainment system 222 may deliver information services to anyone associated with the vehicle 110, such as, for example, a passenger of the vehicle 110. As an example, the vehicle infotainment system 222 includes an in-vehicle computer that combines one or more functions, such as a digital radio, an in-vehicle camera, and / or a television. The vehicle infotainment system 222 transmits information associated with the in-vehicle computer or processor to the AVM algorithm 216. For example, the vehicle 110 uses the AVM algorithm 216 to process information received from the vehicle infotainment system 222 and send the information to the data network cloud 106. As another example, the vehicle 110 uses the AVM algorithm 216 to process information received from the vehicle infotainment system 222 and send the information directly to the user device 242. The AVM algorithm 216 is configured to transmit information and / or instructions received from the data network cloud 106 and / or the user device 242 to the vehicle infotainment system 222.

[0033] One or more vehicle sensors 224 may be, for example, one or more of a camera, lidar, radar, and / or ultrasonic device. For example, an ultrasonic device used as one or more vehicle sensors 224 emits high-frequency sound waves that strike an object (e.g., a wall or another vehicle) and then are reflected back to the vehicle 110. Based on the amount of time it takes for the sound waves to return to the vehicle 110, the vehicle 110 can determine the distance between one or more vehicle sensors 224 and the object. As another example, a camera device used as one or more vehicle sensors 224 provides a visual indication of the space around the vehicle 110. As an additional example, a radar device used as one or more vehicle sensors 224 emits an electromagnetic wave signal that strikes an object and then is reflected to the vehicle 110. Based on the amount of time it takes for the electromagnetic wave to return to the vehicle 110, the vehicle 110 can determine the range, speed, and angle of the vehicle 110 relative to the object.

[0034] One or more vehicle sensors 224 transmit information associated with the position and / or distance of the vehicle 110 relative to an object to the AVM algorithm 216. For example, the vehicle 110 utilizes the AVM algorithm 216 to process the information received from one or more vehicle sensors 224 and send the information to the data network cloud 106. As another example, the vehicle 110 utilizes the AVM algorithm 216 to process the information received from one or more vehicle sensors 224 and send the information directly to the user device 242. The AVM algorithm 216 is configured to transmit information and / or instructions received from the data network cloud 106 and / or the user device 242 to one or more vehicle sensors 224.

[0035] The vehicle battery 226 is controlled by a battery management system (not shown) that provides instructions to the vehicle battery 226. For example, the battery management system provides instructions to the vehicle battery 226 based on the temperature of the vehicle battery 226. However, it should be understood that the battery management system can provide instructions to the vehicle battery 226 based on any measure associated with the vehicle battery 226. The battery management system ensures that the current mode of the vehicle battery 226 is acceptable. For example, an acceptable current mode prevents overvoltage, overcharging, and / or overheating of the vehicle battery 226. As another example, the temperature of the vehicle battery 226 indicates to the battery management system whether any of the acceptable current modes are within an acceptable temperature range. The battery management system associated with the vehicle battery 226 transmits information associated with the temperature of the vehicle battery 226 to the AVM algorithm 216. For example, the vehicle 110 uses the AVM algorithm 216 to process the received information about the vehicle battery 226 and send the information to the data network cloud 106. As another example, the vehicle 110 uses the AVM algorithm 216 to process the information about the vehicle battery 226 and send the information directly to the user device 242. The AVM algorithm 216 is configured to transmit information and / or instructions received from the data network cloud 106 and / or the user device 242 to the vehicle battery 226.

[0036] The vehicle GNSS 228 is configured to communicate with the GPS / GNSS satellites 112 such that the vehicle 110 can determine the specific location of the vehicle 110. The vehicle navigation map 230 can display the specific location of the vehicle 110 to the user 244 via a display screen (not shown). The vehicle GNSS 228 transmits geographical information associated with the vehicle 110 to the AVM algorithm 216. For example, the vehicle 110 uses the AVM algorithm 216 to process the information received from the vehicle GNSS 228 and send the information to the data network cloud 106. As another example, the vehicle 110 uses the AVM algorithm 216 to process the information from the vehicle GNSS 228 and send the information directly to the user device 242. The AVM algorithm 216 is configured to transmit information and / or instructions received from the data network cloud 106 and / or the user device 242 to the vehicle GNSS 228. As another example, the vehicle 110 uses the AVM algorithm 216 to process the information associated with the vehicle navigation map 230 and send the information to the data network cloud 106. As another example, the vehicle 110 uses the AVM algorithm 216 to process the information from the vehicle navigation map 230 and send the information directly to the user device 242. The AVM algorithm 216 is configured to transmit information and / or instructions received from the data network cloud 106 and / or the user device 242 to the vehicle navigation map 230.

[0037] The vehicle exterior lights 232 may include one or more lights embedded around the perimeter of the vehicle 110. For example, the vehicle exterior lights 232 include, but are not limited to, low beam headlights, high beam headlights, parking lights, daytime running lights, fog lights, signal lights, side marker lights, cab lights, taillights, brake lights, center high-mounted stop lights, and / or reverse lights. In some examples, the vehicle exterior lights 232 are configured to turn on and off in a pattern to provide a visual notification or message, such as an indication of one or more faults. For example, one or more faults may be an unplanned disconnection of the vehicle 110 from the system 200 (e.g., infrastructure (not shown) within the system 200), which may be associated with (but is not limited to) onboarding, offboarding, and / or re-onboarding of the vehicle 110 to the infrastructure. The vehicle 110 transmits one or more instructions to the vehicle exterior lights 232 based on the AVM algorithm 216. For example, the vehicle 110 transmits one or more instructions received from the data network cloud 106 to the vehicle exterior lights 232. As another example, the vehicle 110 transmits one or more instructions received directly from the user device 242 to the vehicle exterior lights 232.

[0038] The vehicle delivery manager cloud 214 wirelessly communicates (e.g., receives and / or sends instructions and / or information) with one or more of a rental agency cloud 234, a valet parking agency cloud 236, an insurance agency cloud 238, and / or a dealership 240. The vehicle delivery manager cloud 214 is configured to facilitate the delivery of one or more vehicles to any of a rental agency (not shown) associated with the rental agency cloud 234, a valet parking agency (not shown) associated with the valet parking agency cloud 236, an insurance agency (not shown) associated with the insurance agency cloud 238, and / or the dealership 240. The vehicle delivery manager cloud 214 also wirelessly communicates with a vehicle customer portal account accessible via the user device 242. It should be understood that in one or more examples, other cloud systems may be included.

[0039] The delivery manager cloud 214 wirelessly communicates with a user device 242 such as a mobile device, a display panel, and / or a computer. The vehicle 110 is also configured to wirelessly communicate directly with the user device 242. For example, the user 244 engages and / or interacts with the user device 242 via an application that organizes any information and / or instructions received from the vehicle customer portal account and / or the vehicle 110. As another example, the user 244 may send one or more instructions to the vehicle customer portal account, such as selecting which vehicle the user 244 wants to receive from any of a rental agency associated with the rental agency cloud 234, a valet parking agency associated with the valet parking agency cloud 236, an insurance agency associated with the insurance agency cloud 238, and / or the dealership 240.

[0040] Figure 3 is a flowchart showing an example method 300 for automatically onboarding a vehicle (e.g., vehicle 110) to a vehicle platooning system that uses GPS / GNSS (e.g., systems 100 and 200). At operation 302, a vehicle configured to be onboarded for platooning is identified. At operation 304, position information is transmitted to the vehicle. For example, the position information is transmitted from a positioning system (e.g., GPS / GNSS satellites 112) to the vehicle.

[0041] At operation 306, one or more positioning-related corrections are transmitted to the vehicle. For example, one or more positioning-related corrections are transmitted from a base station (e.g., base station 108) to the vehicle. As another example, the positioning-related correction is based on an interruption of the secure data connection with the vehicle. As an additional example, the positioning-related correction includes RTK correction, and / or one or more of the positioning-related corrections is at least one of a correction of a delay, clock error, or combination thereof in the secure data connection. In one embodiment, at operation 308, the current position of the vehicle is adjusted. In another embodiment, at operation 308, the orientation of the vehicle is adjusted. In another embodiment, at operation 308, a combination of the current position of the vehicle and the orientation of the vehicle is adjusted. In yet another embodiment, at operation 308, the current position of the vehicle, the orientation of the vehicle, or a combination thereof is adjusted based on the position information and / or one or more positioning-related corrections.

[0042] In one embodiment, it is determined whether the vehicle is within the range of a base station. For example, it is determined whether the vehicle is within the range of a base station based on the identification of the vehicle. In an instance where the vehicle is within the range of the base station, the vehicle is onboarded. For example, based on the secure data connection and in an instance where the vehicle is within the range of the base station, the vehicle is onboarded.

[0043] In another embodiment, in an instance where a secure data connection interruption occurs, the vehicle is re-onboarded. For example, the re-onboarding of the vehicle is based on the interruption of the secure data connection and the positioning system associated with the base station. In yet another embodiment, the current position of the vehicle is verified. For example, the current position of the vehicle is verified based on the identification of the vehicle and / or the positioning system. As another example, the positioning system is at least one of a global positioning system, a global navigation satellite system, a differential global positioning system, or a combination thereof.

[0044] Figure 4It is a flowchart showing an example method 400 for automatically connecting a vehicle (e.g., vehicle 110) to a vehicle formation system (e.g., systems 100 and 200) using GPS / GNSS. At operation 402, a vehicle configured to connect for formation is identified. At step 404, it is determined whether the vehicle is within the range of a base station (e.g., base station 108). In an instance where it is determined that the vehicle is within the range of the base station, at operation 406 the vehicle connects. For example, the vehicle connects based on a secure data connection.

[0045] At step 408, location information is transmitted. For example, the location information is transmitted from a positioning system (e.g., GPS / GNSS satellites 112) to the vehicle. At step 410, one or more positioning-related corrections are transmitted. For example, the positioning-related corrections are transmitted from the base station to the vehicle. As another example, the positioning-related correction is based on an interruption of the secure data connection with the vehicle. As an additional example, the positioning-related correction includes RTK correction, and / or one or more of the positioning-related corrections is at least one of a correction for a delay, clock error, or a combination thereof in the secure data connection.

[0046] In one embodiment, at operation 412, the current position of the vehicle is adjusted. In another embodiment, at operation 412, the orientation of the vehicle is adjusted. In another embodiment, at operation 412, a combination of the current position of the vehicle and the orientation of the vehicle is adjusted. In yet another embodiment, at operation 412, the current position of the vehicle, the orientation of the vehicle, or a combination thereof is adjusted based on the location information and / or one or more positioning-related corrections. However, in an instance where it is determined that the vehicle is not within the range of the base station, at operation 414 the vehicle reconnects. For example, the vehicle's reconnection is based on an interruption of the secure data connection and a positioning system associated with the base station.

[0047] Figure 5 It is another flowchart showing an example method 500 for automatically connecting a vehicle (e.g., vehicle 110) to a vehicle formation system (e.g., systems 100 and 200) using GPS / GNSS. At operation 502, a vehicle configured to connect for formation is identified. At operation 504, the current position and / or orientation of the vehicle is received. For example, the current position and / or orientation of the vehicle is received based on a secure data connection.

[0048] At operation 506, transmit location information and / or one or more positioning-related corrections. For example, the location information and / or one or more positioning-related corrections are transmitted from a base station (e.g., base station 108) to the vehicle. As another example, the transmission of the location information and / or one or more positioning-related corrections is based on the received current location and / or received orientation of the vehicle. As an additional example, the positioning-related correction is based on an interruption of the secure data connection with the vehicle. As another example, the positioning-related correction includes RTK correction, and / or one or more of the positioning-related corrections are at least one of a correction of a delay, clock error, or combination thereof in the secure data connection. At operation 508, cause the vehicle to follow a route. For example, cause the vehicle to follow a route based on the location information and / or one or more positioning-related corrections.

[0049] In one embodiment, establish a secure data connection with the vehicle. For example, the establishment of the secure data connection is based on the vehicle being within the range of the base station. In another embodiment, determine whether the vehicle is within the range of the base station. For example, determine whether the vehicle is within the range of the base station based on identifying the vehicle. In instances where the vehicle is within the range of the base station, the vehicle goes online. For example, based on the secure data connection and in instances where the vehicle is within the range of the base station, the vehicle goes online.

[0050] In another embodiment, in instances where a secure data connection interruption occurs, the vehicle goes back online. For example, the vehicle going back online is based on the interruption of the secure data connection and a positioning system associated with the base station. In yet another embodiment, verify the current location of the vehicle. For example, verify the current location of the vehicle based on the identification of the vehicle and / or the positioning system. As an example, the positioning system is associated with the base station. As another example, the positioning system is at least one of a Global Positioning System, Global Navigation Satellite System, Differential Global Positioning System, or combination thereof.

[0051] Figure 6 is a flowchart showing an example method 600 for automatically bringing a vehicle (e.g., vehicle 110) online to a vehicle platooning system (e.g., systems 100 and 200) using GPS / GNSS. At operation 602, identify the vehicle configured to go online for platooning. At step 604, determine whether the vehicle is within the range of a base station (e.g., base station 108). In instances where it is determined that the vehicle is within the range of the base station, at operation 606 the vehicle goes online. For example, the vehicle goes online based on the secure data connection.

[0052] At operation 608, the current position and / or orientation of the vehicle is received. For example, the current position and / or orientation of the vehicle is received based on a secure data connection. At operation 610, position information and / or one or more positioning-related corrections are transmitted. For example, the position information and / or one or more positioning-related corrections are transmitted from a base station to the vehicle. As another example, the transmission of the position information and / or one or more positioning-related corrections is based on the received current position and / or received orientation of the vehicle. As an additional example, the positioning-related correction is based on an interruption of the secure data connection with the vehicle. As another example, the positioning-related correction includes RTK correction, and / or one or more of the positioning-related corrections is at least one of a correction of a delay, clock error, or combination thereof in the secure data connection. For example, the vehicle follows a route based on the position information and / or one or more positioning-related corrections. However, in instances where it is determined that the vehicle is not within range of the base station, the vehicle reconnects at operation 614. For example, the vehicle's reconnection is based on an interruption of the secure data connection and a positioning system associated with the base station.

[0053] Unless expressly indicated otherwise herein, all numerical values indicating mechanical / thermal properties, percentage compositions, dimensions, and / or tolerances or other characteristics should be understood to be modified by the word "about" or "approximately" when describing the scope of the present disclosure. This modification is desired for various reasons, including: industrial practice; material, manufacturing, and assembly tolerances; and test capabilities.

[0054] As used herein, the phrase "at least one of A, B, and C" should be construed to represent the logical (A or B or C) using non-exclusive logic "or", and should not be construed to mean "at least one of A, at least one of B, and at least one of C".

[0055] In this application, the terms "controller" and / or "module" may refer to, be part of, or include the following: application specific integrated circuit (ASIC); digital, analog, or mixed analog / digital discrete circuits; digital, analog, or mixed analog / digital integrated circuits; combinational logic circuits; field programmable gate arrays (FPGA); processor circuits (shared, dedicated, or grouped) that execute code; memory circuits (shared, dedicated, or grouped) that store code executed by the processor circuits; other suitable hardware components that provide the described functionality (e.g., operational amplifier circuit integrators as part of a heat flux data module); or a combination of some or all of the above, such as in a system-on-chip.

[0056] The term memory is a subset of the term computer-readable medium. As used herein, the term computer-readable medium does not cover transient electrical or electromagnetic signals propagated through a medium (such as on a carrier wave); thus, the term computer-readable medium can be considered tangible and non-transitory. Non-limiting examples of non-transitory tangible computer-readable media are non-volatile memory circuits (such as flash memory circuits, erasable programmable read-only memory circuits, or mask read-only circuits), volatile memory circuits (such as static random access memory circuits or dynamic random access memory circuits), magnetic storage media (such as analog or digital magnetic tape or hard disk drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs).

[0057] The devices and methods described in this application can be implemented, in part or in whole, by a special-purpose computer created by configuring a general-purpose computer to execute one or more specific functions embodied in a computer program. Functional blocks, flowchart components, and other elements described above serve as software specifications that can be translated into a computer program through routine work by a technician or programmer.

[0058] The description of the present disclosure is merely exemplary in nature, and thus, variations that do not depart from the essence of the present disclosure are intended to be within the scope of the present disclosure. Such variations should not be regarded as departing from the spirit and scope of the present disclosure.

[0059] According to the present invention, a method for marshaling vehicles for autonomous operation includes: identifying vehicles to be marshaled onto a line; receiving a current location and orientation of the vehicles based on a secure data connection; transmitting location information and one or more positioning-related corrections from a base station to the vehicles based on the received current location and received orientation of the vehicles; and causing the vehicles to follow a route based on the location information and the one or more positioning-related corrections.

[0060] In one aspect of the present invention, the method includes establishing the secure data connection with the vehicle based on the vehicle being within the range of the base station.

[0061] In one aspect of the present invention, the method includes determining that the vehicle is within the range of the base station based on identifying the vehicle; and causing the vehicle to be marshaled onto the line based on the secure data connection and the vehicle being within the range of the base station.

[0062] In one aspect of the present invention, the method includes causing the vehicle to be re-marshaled onto the line based on an interruption of the secure data connection and a positioning system associated with the base station.

[0063] In one aspect of the present invention, the method includes: verifying the current position of the vehicle based on an identification of the vehicle and a positioning system associated with the base station, wherein the positioning system is at least one of a Global Positioning System, a Global Navigation Satellite System, a Differential Global Positioning System, or a combination thereof.

[0064] In one aspect of the present invention, the one or more positioning-related corrections are based on an interruption of the secure data connection of the vehicle.

[0065] In one aspect of the present invention, the one or more positioning-related corrections include real-time kinematic corrections and are at least one of corrections for latency, clock error, or a combination thereof in the secure data connection.

Claims

1. A method for marshaling autonomously operating vehicles, the method comprising: Identifying the vehicles to be marshaled and put into operation; Transmitting location information to the vehicles from a positioning system; Transmitting one or more positioning-related corrections to the vehicles from a base station; And Adjusting a current position of the vehicle, an orientation of the vehicle, or a combination thereof based on the location information and the one or more positioning-related corrections.

2. The method according to claim 1, further comprising: Establishing a secure data connection with the vehicle based on the vehicle being within the range of the base station.

3. The method according to claim 1, further comprising: Determining that the vehicle is within the range of the base station based on identifying the vehicle.

4. The method according to claim 3, further comprising: Putting the vehicle into operation based on the secure data connection and the vehicle being within the range of the base station.

5. The method according to claim 4, further comprising: Putting the vehicle back into operation based on an interruption of the secure data connection and a positioning system associated with the base station.

6. The method according to claim 1, further comprising: Verifying the current position of the vehicle based on identifying the vehicle and the positioning system, wherein the positioning system is at least one of a global positioning system, a global navigation satellite system, a differential global positioning system, or a combination thereof.

7. The method according to claim 2, wherein the one or more positioning-related corrections are based on an interruption of the secure data connection with the vehicle.

8. The method according to claim 7, wherein the one or more positioning-related corrections include real-time kinematic corrections and are at least one of a correction of a delay in the secure data connection, a clock error, or a combination thereof.

9. A marshaling system for guiding autonomously operating vehicles, the marshaling system comprising: A positioning system configured to communicate with a base station and the vehicles; The base station is configured to: Identify the vehicles to be marshaled and put into operation, Transmit location information to the vehicles from the positioning system, Transmit one or more positioning-related corrections to the vehicles from the base station, and Adjust a current position of the vehicle, an orientation of the vehicle, or a combination thereof based on the location information and the one or more positioning-related corrections; and The vehicle is configured to: Receive the location information, Receive the one or more positioning-related corrections, and Adjust the current position and the orientation of the vehicle.

10. The marshaling system according to claim 9, wherein the base station is further configured to: Establish a secure data connection with the vehicle based on the vehicle being within the range of the base station.

11. The marshaling system according to claim 9, wherein the base station is further configured to: Determine that the vehicle is within the range of the base station based on identifying the vehicle.

12. The marshaling system according to claim 9, wherein the base station is further configured to: Put the vehicle into operation based on the secure data connection and the vehicle being within the range of the base station.

13. The marshaling system according to claim 12, wherein the base station is further configured to: Reconnect the vehicle based on the interruption of the secure data connection and the positioning system associated with the base station.

14. The marshaling system according to claim 9, wherein the base station is further configured to: Verify the current position of the vehicle based on identifying the vehicle and the positioning system associated with the base station, wherein the positioning system is at least one of a global positioning system, a global navigation satellite system, a differential global positioning system, or a combination thereof.

15. The marshaling system according to claim 9, wherein the one or more positioning-related corrections are based on an interruption of the secure data connection with the vehicle, and wherein the one or more positioning-related corrections include real-time kinematic corrections and are at least one of corrections for latency, clock error, or a combination thereof in the secure data connection.

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