Vehicle communication system and procedures

Abstract

A message transmission method from a first vehicle (350) within a vehicle convoy (356), the method comprising: Receiving a convoy data message from a second vehicle (354) in the vehicle convoy via a first communication channel (60c), wherein the convoy data message includes a communication status indicator that provides an indication of the various communication channels available to the second vehicle (354) within the vehicle convoy (356); Determine on the first vehicle (350) that a second communication channel (60c) is not available; Analyzing the received convoy data message at the first vehicle (350) to identify the availability of the second communication channel (60c) in the second vehicle (354) in the convoy (356); Sending a convoy data message from the first vehicle (350) via the first communication channel (60a) with a request that the convoy data message be forwarded by the second vehicle (356) using the second communication channel (60c).

Description

TECHNICAL AREA

[0001] The present disclosure relates to a vehicle communication system and a method, and in particular, but not exclusively, a method for managing a vehicle convoy. Aspects of the invention relate to a vehicle convoy management system in a first vehicle for managing a vehicle convoy, a vehicle escort method for a vehicle participating in a vehicle convoy, a vehicle escort system for a vehicle participating in a vehicle convoy, a message transmission method and system for a first vehicle within a vehicle convoy, and a vehicle. STATE OF THE ART

[0002] Intelligent Transportation Systems (ITS) are vehicle and infrastructure applications that enable transportation modes and traffic management activities to be carried out within a vehicle network. The technologies used in an intelligent transportation system can range from basic (e.g., navigation systems, speed cameras, license plate recognition) to more advanced systems that integrate multiple data and feedback sources and cooperative systems such as vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication over wireless communication networks.

[0003] DE 10 2006 041 569 A1 relates to a method for vehicle-to-vehicle communication. The method involves receiving data about a first vehicle and a second vehicle in the vicinity of an intermediate node, with the reception taking place at the intermediate node. Upon receiving the data, the first vehicle is notified of the presence of the second vehicle and / or the second vehicle is notified of the presence of the first vehicle.

[0004] WO 2014 / 051473A1 concerns a method for transmitting a message, wherein the method is provided for a vehicle-to-vehicle communication device designed to operate according to a vehicle-to-vehicle communication protocol and according to a mobile communication protocol for communication with a wireless communication network. The method comprises determining a geographical position of the vehicle-to-vehicle communication-capable device and determining, based on the determined geographical position, whether, in at least one direction extending from the determined geographical position, there are no other vehicle-to-vehicle communication-capable devices available to receive the message.

[0005] The current use of intelligent transportation systems is quite limited. It is also noted that the applications of such systems are generally restricted to road management and traffic safety. In particular, current solutions do not offer the capability for multiple vehicles to effectively communicate with each other in convoy situations.

[0006] The present invention aims to overcome the disadvantages associated with the prior art. BRIEF SUMMARY OF THE INVENTION

[0007] According to one aspect of the invention, a method for managing a vehicle convoy is provided, the method comprising: sending an invitation message to establish a convoy from a first vehicle; receiving a confirmation message from a second vehicle accepting the invitation to establish a convoy, on the first vehicle; sending convoy data messages from the first vehicle to the second vehicle, wherein the convoy data messages include data necessary to maintain the vehicle convoy.

[0008] The present invention provides a mechanism for generating a vehicle convoy, comprising the exchange of setup and confirmation messages and then the further exchange of messages containing data necessary to maintain the convoy.

[0009] The convoy invitation message can be sent via several communication channel options, such as a mobile telecommunications network (e.g., a 2G / 3G / 4G or LTE network) or via a direct vehicle-to-vehicle radio system.

[0010] The mobile telecommunications network can be an LTE-V network or LTE Direct.

[0011] The convoy invitation message can be sent via a vehicle-to-vehicle radio system, such as a dedicated short-range communication channel.

[0012] The confirmation message may include a specification of a preferred communication channel for receiving convoy data messages. It is noted that the invitation message to establish a convoy may be sent via any available communication channel option available to the first vehicle. The confirmation message may be sent back to the first vehicle via any communication channel option available to the responding vehicle, or alternatively, the confirmation message may be sent according to a preferred communication option list sent by the first vehicle (for example, the first vehicle may specify: "Use a dedicated short-range communication channel (DSRC) if available, or a mobile telecommunications network if DSRC is not available").

[0013] Convoy data messages can include vehicle data from a communication network (e.g., a Controller Area Network (CAN), a FlexRay network, a MOST network, a LIN network, etc.) within the vehicle.

[0014] Convoy data messages can include vehicle configuration settings for the first vehicle. These settings can include wading data, and the wading data can include the depth of recent wading events. Furthermore, the vehicle configuration settings can include the wading configuration of the first vehicle.

[0015] Vehicle configuration settings may also include: terrain mode configuration settings, a speed selected by a vehicle control system, the ride height selected by the first vehicle, vehicle wheel articulation, wheel slip, a vehicle's steering speed, changes in a vehicle's steering speed, and pre-prepared navigation routes for the vehicles in the convoy to follow. It should be noted that some or all of the above configuration settings may be sent in the convoy data messages.

[0016] Convoy data messages may include one or more, selected from the following: a terrain response configuration of the first vehicle; steering speed data of the first vehicle; steering speed variation data of the first vehicle; wading data; wheel articulation data; wheel slip data; GPS data; tire pressure data.

[0017] Convoy data messages can include multimedia content, such as video and / or audio content.

[0018] The first vehicle can send a vehicle status message, the status message comprising a standard element to notify the surrounding environment of the status of the first vehicle and a user-defined element, the user-defined element comprising the convoy data message.

[0019] The procedure may include receiving convoy data messages from the second vehicle.

[0020] The process may involve sending an invitation message to establish a convoy to a large number of vehicles and receiving confirmation messages from them.

[0021] The method can include sending convoy data messages to a large number of vehicles and receiving convoy data messages from them, wherein convoy data messages include a communication status indicator, the communication status indicator providing an indication of the various communication channels available to the vehicle sending the convoy data message.

[0022] In the event that the first vehicle does not have a mobile telecommunications network as an available communication channel, the procedure may include: analyzing received convoy data messages at the first vehicle to identify the availability of a mobile telecommunications network in an identified vehicle in the convoy; sending a convoy data message from the first vehicle with a request that the convoy data message be forwarded by the identified vehicle using the identified mobile telecommunications network.

[0023] The vehicle convoy can be an off-road convoy, and the convoy data messages can include data relating to off-road driving.

[0024] According to a further aspect of the invention, a vehicle convoy management system is provided in a first vehicle for managing a vehicle convoy, the system comprising: an input / output module arranged for sending and receiving messages from other vehicles in the convoy; a processor arranged for: sending an invitation message to establish a convoy from a first vehicle via the input / output module; receiving a confirmation message from a second vehicle accepting the invitation to establish a convoy via the input / output module; sending convoy data messages to the second vehicle via the input / output module, the convoy data messages comprising data necessary for maintaining the vehicle convoy.

[0025] According to yet another aspect of the invention, a vehicle escort method is provided for a vehicle participating in a vehicle convoy, the method comprising: receiving an invitation from the leading convoy vehicle to establish a convoy on the participating vehicle, wherein the invitation message to establish a vehicle convoy is an invitation to establish a convoy; sending a confirmation message from the participating vehicle accepting the invitation to establish a convoy; receiving convoy data messages from the leading convoy vehicle, wherein the convoy data messages include data necessary to maintain the vehicle convoy.

[0026] According to yet another aspect of the invention, a vehicle escort system is provided for a vehicle participating in a vehicle convoy, the system comprising: an input arranged to receive an invitation to establish a convoy from a leading convoy vehicle on the participating vehicle; a processor arranged to generate a confirmation message to accept the invitation message to establish a convoy; an output arranged to send the confirmation message, the input being arranged to receive convoy data messages from the leading convoy vehicle, the convoy data messages comprising data necessary to maintain the vehicle convoy.

[0027] According to a further aspect of the invention, a message transmission method is provided from a first vehicle in a vehicle convoy, the method comprising: receiving a convoy data message from a second vehicle in the vehicle convoy via a first communication channel, wherein the convoy data message includes a communication status indicator that provides an indication of the various communication channels available to the second vehicle within the convoy; determining on the first vehicle that a second communication channel is not available; analyzing on the first vehicle the received convoy data message to identify the availability of the second communication channel in the second vehicle in the convoy;Sending a convoy data message from the first vehicle via the first communication channel with a request that the convoy data message be forwarded by the second vehicle using the second communication channel.

[0028] Optionally, the convoy data messages include vehicle data from a communication network within the first or second vehicle.

[0029] Optionally, convoy data messages include vehicle configuration settings for the first vehicle. These settings can include wading data. Optionally, the wading data can include the depth of recent wading events. The vehicle configuration settings can also include the wading configuration of the first vehicle and off-road mode configuration settings.

[0030] Optionally, the convoy data messages include one or more selected from the following: a terrain response configuration of the first vehicle; steering speed data of the first vehicle; steering speed variation data of the first vehicle; wading data; wheel articulation data; wheel slip data; GPS data; tire pressure data.

[0031] Convoy data messages can include multimedia content.

[0032] Optionally, the first vehicle sends a vehicle status message, the status message comprising a standard element to notify the surrounding environment of the vehicle's status and a user-defined element, the user-defined element comprising the convoy data message.

[0033] Optionally, the procedure includes sending invitation messages to establish a convoy to a large number of vehicles and receiving confirmation messages from them.

[0034] Optionally, the vehicle convoy can be an off-road convoy, and the convoy data messages include data relating to off-road driving.

[0035] According to yet another aspect of the invention, a message transmission system is provided by a first vehicle in a vehicle convoy, the system comprising: an input arranged to receive a convoy data message from a second vehicle in the vehicle convoy via a first communication channel, wherein the convoy data message includes a communication status indicator that provides a display of the various communication channels available to the second vehicle within the convoy; a processor arranged to determine at the first vehicle that a second communication channel is not available and to analyze the received convoy data message at the first vehicle in order to identify the availability of the second communication channel in the second vehicle in the convoy;an output that orders the first vehicle to send a convoy data message via the first communication channel with a request that the second vehicle forward the convoy data message using the second communication channel.

[0036] Preferred features of the first aspect of the invention apply to the further aspects of the invention described in detail above.

[0037] The systems described above may include a device for receiving one or more convoy data messages and may include an electronic processor with an electrical input for receiving the one or more messages, each containing data necessary for maintaining the convoy. The system may include an electronic storage device electrically coupled to the electronic processor, containing instructions stored therein.

[0038] According to a further aspect of the invention, a non-volatile, computer-readable medium is provided which tangibly embodies computer-executable instructions for operating a control device of a motor vehicle, wherein the instructions are executable by a vehicle processor to provide operations that include: sending an invitation message to establish a convoy from a first vehicle; receiving an acknowledgment message at the first vehicle from a second vehicle accepting the invitation to establish a convoy; sending convoy data messages from the first vehicle to the second vehicle, wherein the convoy data messages include data necessary to maintain the vehicle convoy.

[0039] According to a further aspect of the invention, a non-volatile, computer-readable medium is provided which tangibly embodies computer-executable instructions for operating a control device of a motor vehicle, wherein the instructions are executable by a vehicle processor to provide operations that include: receiving at the participating vehicle an invitation message to establish a convoy from a leading convoy vehicle, wherein the invitation to establish a convoy is an invitation to establish a vehicle convoy; sending an acknowledgment message from the participating vehicle accepting the invitation to establish a convoy; and receiving convoy data messages from the leading convoy vehicle, wherein the convoy data messages include data necessary to maintain the vehicle convoy.

[0040] According to a further aspect of the invention, a non-volatile, computer-readable medium is provided which tangibly embodies computer-executable instructions for operating a control device of a motor vehicle, wherein the instructions are executable by a vehicle processor to provide operations that include: receiving a convoy data message from a second vehicle in the vehicle convoy via a first communication channel, wherein the convoy data message includes a communication status indicator that provides a display of the various communication channels available to the second vehicle within the convoy; determining at the first vehicle that a second communication channel is not available; analyzing at the first vehicle the received convoy data message to identify the availability of the second communication channel in the second vehicle in the convoy;Sending a convoy data message from the first vehicle via the first communication channel with a request that the convoy data message be forwarded by the second vehicle using the second communication channel.

[0041] Within the scope of this application, it is expressly intended that the various aspects, embodiments, examples, and alternatives presented in the preceding paragraphs, in the claims, and / or in the following description and drawings, and in particular their individual features, may be considered independently of one another or in any combination. This means that all embodiments and / or features of any embodiment may be combined in any way and / or in any combination, provided that these features are not incompatible.The applicant reserves the right to amend any originally filed patent claim or to file any new patent claim accordingly, including the right to amend any originally filed patent claim to depend on and / or incorporate any feature of any other patent claim, even if it was not previously claimed in this manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] One or more embodiments of the invention will now be described exclusively by way of example with reference to the accompanying drawings, which show: Fig. 1 a vehicle convoy comprising several vehicles according to an embodiment of the invention; Fig. 2 the on-board systems of two of the vehicles Fig. 1. More detailed; Fig. 3 the communication between three vehicles in a further convoy according to an embodiment of the invention; Fig. 4 a further system architecture according to an embodiment of the invention; Fig. 5 a representation of communication messages exchanged between the three vehicles Fig. 2 will be sent; Fig. 6 a message transmission method according to a further embodiment of the invention; and Fig. 7 a vehicle according to embodiments according to the invention. DETAILED DESCRIPTION

[0043] The goal of cooperative systems is to use available sensor information on vehicles and infrastructure to improve road safety. The European Telecommunications Standards Institute (ETSI) standard EN 302 637-2 describes the exchange of cooperative awareness messages (CAM), which carry information relevant to other vehicles (and infrastructure) on the road network. CAM messages can contain a variety of information, including vehicle direction, speed, dimensions, acceleration, and location. In the US, the SAE J2735 standard refers to basic safety messages (BSM), which carry similar data.

[0044] Additionally, the ETSI standard EN 302 637-3 defines decentralised environmental notification messages (DENM) which contain information about traffic risks or unusual traffic conditions.

[0045] Inventory embodiments provide systems and methods for utilizing CAM- and DENM-type messages to make convoy-relevant information available between vehicles within a convoy. In particular, inventive embodiments can be used in terrain scenarios where traditional mobile network communications may be difficult or subject to interference and dropouts.

[0046] Fig. Figure 1 shows a convoy comprising a large number of vehicles. Embodiments of the invention can be used in the environments described below.

[0047] In Fig. Figure 1 shows a driving environment 10 comprising a number of vehicles 20a-20k. Vehicles 20a, 20b, 20c, 20d and 20e are part of a convoy 22 of vehicles, within which vehicles 20a-20d are currently traveling within a predefined maximum convoy distance 30 of each other, and vehicle 20e has fallen behind the end of the convoy (e.g. because it has stopped or broken down).

[0048] Vehicle 20f is located outside convoy area 30 and has broken down. Other vehicles 20g, 20h, 20i, and 20j are shown in the driving environment. Vehicle 20k represents an outdated location for a vehicle and is currently being removed from the area. Fig. View 1 is hidden because the data is old.

[0049] A number of data communication channels / connections between the various vehicles are shown. Data communications 40 are shown, originating from the disabled vehicle 20f. These are emergency call notification messages.

[0050] It is shown that data communications 50 originate from a vehicle 20e that has dropped out of convoy zone 30. These messages include "Left Behind" messages / "Stopped Vehicle" messages for the remaining vehicles in the convoy.

[0051] Data communications are shown originating from vehicle 20a, the convoy leader, to the remaining vehicles 20b, 20c, and 20d in the convoy via communication channels 60. These messages include convoy messages (“convoy data messages”) to the other convoy vehicles and may include multimedia messages (such as voice and image messages) along with data such as terrain response configuration settings for vehicle 20a, steering speed data, steering speed variation data, wading data, vehicle wheel articulation data, wheel slip data, location data, tire pressure information, etc. For clarity in Fig. Figure 1 shows only communications originating from vehicle 20a, although it should be noted that each of the vehicles in the convoy may send similar communications to the other vehicles.

[0052] For illustrative purposes, the communication that occurs directly between the vehicles is shown. However, it should be noted that communications can be direct in the sense that they only propagate through the convoy, e.g., using a dedicated short-range communication (DSRC) system or equivalent, or indirect in the sense that they leave the convoy before returning to another vehicle, e.g., via a cloud / server-based system using a cellular network.

[0053] Dedicated near-field communications are short-range wireless communication channels (up to about 1 km line of sight and less for out-of-line applications) specifically designed for use in automotive applications such as intelligent transportation systems.

[0054] It is also noted that the Long Term Evolution (LTE) wireless communication standard can be used to establish direct communication between vehicles. LTE Direct technology is a device-to-device technology that utilizes the LTE spectrum and infrastructure. LTE-V is an LTE-based technology that offers similar functionality to DSRC (previously mentioned) using existing mobile technologies and infrastructure. Under suitable conditions, both LTE-D and LTE-V can enable direct communication between vehicles, although in some cases it may be necessary to establish such a connection using a mobile telecommunications network base station.

[0055] Familiar mobile telecommunications networks (e.g., 2G, 3G, 4G) can also be used to relay messages from a vehicle to a cloud / server-based system. Vehicles can either be equipped with SIM devices to enable such communications, or they can communicate using onboard mobile devices (e.g., the driver's mobile device) that can relay messages from the vehicle to the cloud-based system.

[0056] Fig. Figure 2 shows the systems on board two of the vehicles 20a and 20b. Fig. 1. More detailed. Identical features in the figures are marked with the same reference symbols. It is noted that the in Fig. The communication channels 60 shown in Figure 1 were subdivided into channels 60a, 60b and 60c, as described below.

[0057] Each vehicle includes communication equipment in the form of a computer application 70 (in Fig. 2 referred to as “computer applications”), which enables the vehicle to establish a connection to the outside world. The application 70 can either interact with the vehicle using a mobile phone application 80 within a mobile device 90, or it can interact with an intelligent driving system communication module 100 (referred to as V2X technology in Fig. 2 shown) interact.

[0058] The mobile device 90 can, for example, be the driver's mobile device, which can be connected to the computer application 70 via a wired (e.g., USB) or wireless (e.g., Bluetooth®) connection 105. The mobile device 90 can include a location tracking device 110 in the form of a GPS unit, so that the location of the device 90, and thus of the vehicle, can be determined. It should also be noted that the vehicle can include its own mobile device 90 instead of requiring the use of the driver's mobile device.

[0059] Communications 60a between vehicles 20a and 20b can be enabled via mobile devices 90 using the LTE Direct system. Such a communication channel / path would require SIM-enabled devices to communicate with the computer application 70 to establish the LTE Direct connection. It is noted that the LTE Direct connection may also need to be initiated via a mobile base station, but once operational, a direct communication channel / connection can be maintained between the vehicles while they are within communication range.

[0060] As an alternative (or additionally) to the embodiment based on a mobile device 90, it is noted that the vehicles may include a direct vehicle-to-vehicle (V2V) system, such as the DSRC system mentioned above, or a system based on LTE-V technology. In such an arrangement, the ITS communication module 100 may communicate with the computer application 70 via an internal communication network within the vehicle. In one embodiment, the communication module 100 may communicate with the computer application via the Controller Area Network (CAN) within the vehicle. The CAN bus is a vehicle bus standard that enables microcontrollers and devices to communicate with each other in applications without a host computer.

[0061] Enabling communication via an on-board vehicle network (for example, via the CAN bus) has the advantage that vehicle configuration settings can be sent as messages to and from vehicles 20a and 20b via communication channel 60b, and in some embodiments, received configuration settings can be used to configure a following vehicle in a convoy (e.g., vehicle 20a, as the lead vehicle, can send the wading configuration settings and / or terrain configuration settings to the following vehicle 20b, and vehicle 20b can be automatically configured according to these settings).

[0062] As a further alternative (or additional) to the communication routes 60a and 60b described above, the mobile devices 90 can communicate with each other via a conventional mobile network communication path 60c, e.g. via a server 130.

[0063] Fig. Figure 3 shows the communication between three vehicles in another convoy configuration. The embodiment of Fig. Figure 3 shows another driving environment 140, in which three vehicles 150, 160, 170 are present.

[0064] Vehicle 150 includes an intelligent driving system communication module 100. Vehicle 160 includes an intelligent driving system communication module 100 as well as a mobile phone application 80 on a mobile device 90 (i.e., vehicle 160 includes two communication devices 100 and 80). Vehicle 170 includes a mobile phone application 80 on only one mobile device 90.

[0065] When traveling in a convoy, vehicles 150 and 160 can communicate directly via a DSRC message (60a). Vehicles 160 and 170 communicate via the remote server 130 and mobile telecommunications messages (60c). Vehicles 150 and 170 are not configured to communicate with each other; however, vehicle 170 can effectively "see" vehicle 150 (and vice versa) because vehicle 160 (and the remote server 130) effectively form a bridge between vehicles 150 and 170.

[0066] Fig. Figure 3 illustrates the sharing of information using the example of vehicle location. Vehicle 150 shares its location with vehicle 160 via a DSRC message. Vehicle 160 can, in turn, share its location and the location of vehicle 150 via server 130.

[0067] Vehicle 170 therefore receives two vehicle locations (for vehicles 150 and 160). Vehicle 170 can also share its location with vehicle 160 via server 130. Vehicle 160, in turn, can share its location and that of vehicle 170 with vehicle 150 via the DSRC communication channel.

[0068] Fig. Figure 4 shows a further architecture of a system according to embodiments of the invention. Fig. 4 are identical features compared to the Fig. Label numbers 1 to 3 with the same reference numerals.

[0069] In Fig. 4. A vehicle 20a comprises an intelligent driving system communication system 100, a CAN 120, and a computer application 70, as described above. Furthermore, the vehicle includes a user input device in the form of a touchscreen 180, from which a user can send instructions regarding the sharing of convoy information and through which the user can receive notifications about convoy information.

[0070] Vehicle 20a is connected to another vehicle 20b, which includes a direct vehicle-to-vehicle communication device.

[0071] The vehicle 20a also includes a mobile device 90, which communicates with the computer application 70 either via a wired connection (such as USB) or a wireless connection (such as Bluetooth®) 105. The communication path 105 with the computer application 70 can be established via a suitable interface 190 for a software development kit on the mobile device 90. The interface 190 can, in turn, communicate within the mobile device with a mobile phone application 80, through which a user can input user commands.

[0072] The mobile phone application 80 and a map interface 200 communicate with communication devices 210 in the form of a mobile network module 220 (designated LTE) and a location determination device in the form of a GPS module 110. The in Fig. 4 Mobile Device 90 shown additionally includes an LTE Direct communication module 230, which can be configured for direct communication (communication channel 60a) with other similarly provided mobile devices (90').

[0073] The mobile network module 220 can communicate with a remote server 130 via a mobile telecommunications network and the internet. As in Fig. As shown in Figure 4, the remote server comprises two server systems: a vehicle data server 240, which is accessed by its own application programming interface 250, and a site server 260, which is accessed by its own application programming interface 270.

[0074] The vehicle data server 240 can be configured to process and store data such as GPS information, vehicle information, image data, voice data, and message data. The map server 260 can be configured to process and store mapping-related data.

[0075] Fig. Figure 5 shows a representation of the communication messages exchanged between the three vehicles. Fig. 2 will be sent during a setup phase 301 and then in a subsequent convoy phase 303.

[0076] In Fig. In step 5, it is assumed that vehicle 20a is the lead vehicle within the convoy. In step 300, an occupant of vehicle 20a initiates a convoy creation process by sending an invitation message to establish a convoy via their communication module 100. The convoy establishment message is then sent via communication channel / route 60a, as shown in Fig. 3 shown, and is received by vehicle 20b.

[0077] In step 302, the driver (or another occupant) of vehicle 20b accepts the request / offer to establish a convoy. This may involve entering an identification code or a username / password into the vehicle's computer application module 70.

[0078] In step 304, a confirmation message is sent back to vehicle 20b via communication route 60a.

[0079] Since vehicle 20a does not include a mobile device 90, vehicle 20b forwards the convoy setup message to a remote server 130 via a mobile telecommunications network in step 306. This forwarded message is transmitted via communication channel / path 60c in Fig. 3 sent.

[0080] In step 308, server 130 forwards the convoy setup invitation message to vehicle 20c. In step 310, the driver (or another occupant) of vehicle 20c accepts the convoy setup request and, in step 312, sends a confirmation message back to server 130. In step 314, the server forwards the confirmation message from vehicle 20c to vehicle 20b. Finally, vehicle 20b forwards the confirmation message from vehicle 20c to vehicle 20a to complete the three-vehicle convoy setup.

[0081] In convoy phase 303, the three vehicles 20a, 20b and 20c are shown sending convoy data messages to each other.

[0082] In step 318, vehicle 20a can send convoy data messages directly to vehicle 20b, which forwards the convoy data message to server 130 in step 320, which then forwards the convoy data message to vehicle 20c in step 322.

[0083] In step 324, vehicle 20b can send convoy data messages directly to vehicle 20a (using its communication module 100). Convoy data messages to vehicle 20c are sent to the server in step 326 using a mobile device 90 (either integrated into the vehicle or belonging to a vehicle occupant). In step 328, server 130 forwards the convoy data message to vehicle 20c.

[0084] In step 330, vehicle 20c can transmit convoy data messages to server 130 via a mobile device 90. In step 332, the server forwards the convoy data message to vehicle 20b, which in turn forwards the convoy data message to vehicle 20a in step 334 using its communication module 100.

[0085] Vehicle convoy messages can include one or more of the following types of information, but are not limited to them: Terrain response configuration for a vehicle, wading data (e.g., depth of recent wading events and / or vehicle wading configuration), GPS data, tire pressure data, vehicle speed, vehicle direction.

[0086] The information contained in a vehicle convoy data message can be obtained from the vehicle's internal communication networks, e.g., from the Controller Area Network (CAN).

[0087] When a vehicle receives a convoy data message that includes configuration data (e.g., terrain response configuration data), the convoy may be configured so that vehicles following the lead vehicle are configured to the same or similar driving settings as the lead vehicle using the information in the convoy data message.

[0088] Convoy data messages can be used in any driving environment (e.g., on the road, on a racetrack, or off-road). In an off-road environment, convoy data messages can be conveniently shared with other vehicles in the convoy to aid in off-road guidance. In a racetrack environment, convoy data messages can be conveniently shared with other vehicles in the convoy to aid in track navigation, such as identifying the racing line and measuring vehicle performance parameters.

[0089] In addition to the convoy data messages sent between vehicles, a convoy order, as described in the Fig. Figures 1 to 5 show the exchange of standard vehicle status messages. Convoy data messages can therefore include a user-defined / tailored message element compared to the standard message element of the vehicle status messages.

[0090] In DSRC configurations, user-defined and standard messages can be sent via various computer ports. For example, in DSRC configurations, the Basic Transport Protocol (BTP), as described in ETSI EN 302 636-5-1, uses predefined communication port numbers for ITS (Intelligent Transport System) functional layer messages (port 2001 for CAN, port 2002 for DENM, port 2004 for SPAT, etc.). The other unassigned ports (e.g., 3000) can be used to send user-defined vehicle-to-vehicle messages. These user-defined messages can be manufacturer-specific and can be encrypted.

[0091] Fig. Figure 6 shows a message transmission method according to a further embodiment of the invention. As in Fig. As shown in Figure 6, there are three vehicles, 350, 352, and 354, each comprising a dedicated short-range communications module 100 and a mobile device 90. The three vehicles are part of a convoy 356. Vehicles 350 and 352 are located in an area 358 where a connection to the mobile telecommunications mast 360 is not possible (e.g., because the vehicles are in terrain in an area with limited mobile phone reception).

[0092] Vehicles 350, 352, and 354 can send and receive convoy data messages according to the procedures described above. Communication paths 60a, which use dedicated short-range communication systems 100, can be used between all three in Fig. The 6 vehicles shown can be manufactured. In addition, vehicle 354 can establish a mobile telecommunications path 60c with the mobile telecommunications radio mast 360 using its mobile device 90.

[0093] Convoy data messages exchanged between the different vehicles can include part of the message payload, providing status updates of the available communication channels in each vehicle.

[0094] For example, vehicle 350 can send convoy data messages in which part of the message payload provides the following status: [DSRC - available]; [LTE - offline]. A similar convoy data message can be sent by vehicle 352. Vehicle 354 can send the status: [DSRC - available]; [LTE - available].

[0095] Since convoy data messages are either sent directly from one vehicle to every other vehicle or relayed to other vehicles (e.g., by jumping from one vehicle to another or by sending to and from a mobile communications network), each vehicle in Convoy 356 is aware of the communication status of every other vehicle.

[0096] In the event that vehicle 350 needs to send a message via the mobile telecommunications network, e.g. because it has broken down, it is not possible to send such a message directly from vehicle 350, as it is located in area 358 and therefore has no mobile reception.

[0097] However, it is possible that vehicle 350 sends a convoy data message to vehicle 352, requesting that the message be forwarded to vehicle 354 for onward transmission to mobile network 360.

[0098] Fig. Figure 7 shows a vehicle 400 comprising a vehicle convoy management system 402, comprising a computer application 70, a mobile phone application 80, a mobile device 90, and an intelligent driving system communication module 100.

[0099] Numerous modifications can be made to the aforementioned examples without deviating from the scope of the present invention as defined in the attached claims.

Claims

[1] A message transmission method from a first vehicle (350) within a vehicle convoy (356), the method comprising: Receiving a convoy data message from a second vehicle (354) in the vehicle convoy via a first communication channel (60c), wherein the convoy data message includes a communication status indicator that provides an indication of the various communication channels available to the second vehicle (354) within the vehicle convoy (356); Determine on the first vehicle (350) that a second communication channel (60c) is not available; Analyzing the received convoy data message at the first vehicle (350) to identify the availability of the second communication channel (60c) in the second vehicle (354) in the convoy (356); Sending a convoy data message from the first vehicle (350) via the first communication channel (60a) with a request that the convoy data message be forwarded by the second vehicle (356) using the second communication channel (60c). [2] Method according to claim 1, wherein the convoy data messages comprise vehicle data from a communication network within the first or the second vehicle (350, 354). [3] Method according to claim 1 or 2, wherein the convoy data messages include vehicle configuration settings for the first vehicle. [4] Method according to claim 3, wherein the vehicle configuration settings include wading data. [5] Method according to claim 4, wherein the wading data includes the depth of recent wading events. [6] Method according to claim 4 or 5, wherein vehicle configuration settings include the wading configuration of the first vehicle (350). [7] Method according to any one of claims 3 to 6, wherein the vehicle configuration settings include terrain mode configuration settings. [8] Method according to any of the preceding claims, wherein the convoy data messages comprise one or more selected from the following: a terrain response configuration of the first vehicle (350); steering speed data of the first vehicle (350); steering speed variation data of the first vehicle (350); wading data; wheel articulation data; wheel slip data; GPS data; tire pressure data. [9] Method according to any of the preceding claims, wherein the convoy data messages comprise multimedia content. [10] Method according to one of the preceding claims, wherein the first vehicle (350) sends a vehicle status message, the status message comprising a standard element for notifying the surrounding environment of the vehicle's status and a user-defined element, the user-defined element comprising the convoy data message. [11] Method according to any of the preceding claims, comprising sending invitation messages to establish a convoy to a plurality of vehicles (350, 352, 354) and receiving confirmation messages from them. [12] Method according to any of the preceding claims, wherein the vehicle convoy (356) is an off-road convoy and the convoy data messages include data relating to off-road driving. [13] A message transmission system from a first vehicle (350) within a vehicle convoy (356), the system comprising: an input arranged to receive a convoy data message from a second vehicle (354) in the vehicle convoy (356) via a first communication channel (60a), wherein the convoy data message includes a communication status indicator which provides an indication of the various communication channels available to the second vehicle (354) within the vehicle convoy (356); a processor arranged at the first vehicle (350) to determine that a second communication channel (60c) is not available, and at the first vehicle (350) to analyze the received convoy data message in order to identify the availability of the second communication channel (60c) in the second vehicle (354) in the convoy (356); and an output that orders the first vehicle (350) to send a convoy data message via the first communication channel (60a) with a request that the convoy data message be forwarded by the second vehicle (354) using the second communication channel (60c). [14] Vehicle (350) comprising a message transmission system from a first vehicle (350) in a vehicle convoy (356) according to claim 13.

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