System for forming platoons to teleoperate a group of vehicles
A plurality of vehicles traveling to a destination may be determined from platoon formation messages received from the plurality of vehicles. A subset of vehicles from the plurality of vehicles having a latency at or below a teleoperated driving (ToD) threshold may be determined from the platoon formation messages. A lead vehicle for a platoon may be determined from the subset of vehicles, where the lead vehicle includes a lowest latency of the subset of vehicles. A follow vehicle for the platoon may be determined from the subset of vehicles, where the follow vehicle includes a vehicular capability at or above a platoon formation threshold. The platoon between the lead and follow vehicles may be formed and upon forming the platoon, the video streaming of the follow vehicle may be deactivated. A platoon route for the platoon may be generated based on video data obtained by the lead vehicle.
1 . A computer implemented method for platoon formation, the method comprising:
determining a plurality of vehicles traveling to a destination, the determination based on platoon formation messages received from the plurality of vehicles;
determine, from the platoon formation messages, a subset of vehicles from the plurality of vehicles that have a latency capability at or below a teleoperated driving (ToD) threshold;
determining from the subset of vehicles a lead vehicle for a platoon, wherein the lead vehicle comprises a latency capability with a lowest latency of the subset of vehicles;
determining from the subset of vehicles a follow vehicle for the platoon, wherein the follow vehicle comprises a vehicular capability at or above a platoon following threshold for the vehicular capability;
forming the platoon between the lead vehicle and the follow vehicle;
upon forming the platoon, deactivating video streaming of the follow vehicle; and
generating a platoon route for the platoon based on video data obtained by the lead vehicle.
2 . The method of claim 1 , wherein a platoon formation message of a vehicle comprises the latency capability and the vehicular capability of the vehicle.
3 . The method of claim 1 , wherein the vehicular capability comprises at least one of longitudinal stability, lateral stability, lateral deviation, communication, and driving performance of the follow vehicle.
4 . The method of claim 1 , wherein the ToD threshold is based on an overall latency permitted for the platoon.
5 . The method of claim 1 , wherein the platoon following threshold is based on at least one of the lead vehicle, follow vehicle, destination, road traveled on by the lead vehicle and the follow vehicle, time of day, day of week, traffic, road conditions, and environmental conditions.
6 . The method of claim 1 , wherein forming the platoon comprises one or more instructions for each vehicle in the platoon to execute to form the platoon.
7 . The method of claim 1 , wherein forming the platoon comprises linking a communication channel of the lead vehicle to a communication channel of the follow vehicle.
8 . The method of claim 7 , further comprising disassembling the platoon of vehicles by:
disconnecting communication channels of the lead vehicle from communication channels of the follow vehicle; and
reactivating video streaming of the follow vehicle.
9 . The method of claim 1 , wherein the platoon route comprises a route for the platoon of vehicles to follow to reach the destination and the platoon route is sent to each vehicle in the platoon.
10 . The method of claim 1 , wherein generating the platoon route is further based on the vehicular capability of each vehicle in the platoon.
11 . A computing system for platoon formation comprising:
one or more processors; and
memory coupled to the one or more processors to store instructions, which when executed by the one or more processors, cause the one or more processors to perform operations, the operations comprising:
determining a plurality of vehicles traveling to a destination, the determination based on platoon formation messages received from the plurality of vehicles;
determine, from the platoon formation messages, a subset of vehicles from the plurality of vehicles that have a latency capability at or below a teleoperated driving (ToD) threshold;
determining from the subset of vehicles a lead vehicle for a platoon, wherein the lead vehicle comprises a latency capability with a lowest latency of the subset of vehicles;
determining from the subset of vehicles a follow vehicle for the platoon, wherein the follow vehicle comprises a vehicular capability at or above a platoon following threshold for the vehicular capability;
forming the platoon between the lead vehicle and the follow vehicle;
upon forming the platoon, deactivating video streaming of the follow vehicle; and
generating a platoon route for the platoon based on video data obtained by the lead vehicle.
12 . The computing system of claim 11 , wherein a platoon formation message of a vehicle comprises the latency capability and the vehicular capability of the vehicle and wherein the vehicular capability comprises at least one of longitudinal stability, lateral stability, lateral deviation, communication, and driving performance of the follow vehicle.
13 . The computing system of claim 11 , wherein the ToD threshold is based on an overall latency permitted for the platoon.
14 . The computing system of claim 11 , wherein the platoon following threshold is based on at least one of the lead vehicle, follow vehicle, destination, road traveled on by the lead vehicle and the follow vehicle, time of day, day of week, traffic, road conditions, and environmental conditions.
15 . The computing system of claim 11 , wherein forming the platoon comprises one or more instructions for each vehicle in the platoon to execute to form the platoon.
16 . The computing system of claim 11 , wherein forming the platoon comprises linking a communication channel of the lead vehicle to a communication channel of the follow vehicle.
17 . The computing system of claim 16 , the operations further comprising disassembling the platoon of vehicles by:
disconnecting communication channels of the lead vehicle from communication channels of the follow vehicle; and
reactivating video streaming of the follow vehicle.
18 . The computing system of claim 11 , wherein the platoon route comprises a route for the platoon of vehicles to follow to reach the destination, the platoon route is sent to each vehicle in the platoon, and wherein generating the platoon route is further based on the vehicular capability of each vehicle in the platoon.
19 . A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:
determining a plurality of vehicles traveling to a destination, the determination based on platoon formation messages received from the plurality of vehicles;
determine, from the platoon formation messages, a subset of vehicles from the plurality of vehicles that have a latency capability at or below a teleoperated driving (ToD) threshold;
determining from the subset of vehicles a lead vehicle for a platoon, wherein the lead vehicle comprises a latency capability with a lowest latency of the subset of vehicles;
determining from the subset of vehicles a follow vehicle for the platoon, wherein the follow vehicle comprises a vehicular capability at or above a platoon following threshold for the vehicular capability;
forming the platoon between the lead and follow vehicles;
upon forming the platoon, deactivating video streaming of the follow vehicle and linking communication channels of the lead vehicle to communication channels of the follow vehicle; and
generating a platoon route for the platoon based on video data obtained by the lead vehicle.
20 . The non-transitory machine-readable medium of claim 19 , the operations further comprising disassembling the platoon of vehicles by:
disconnecting communication channels of the lead vehicle from communication channels of the follow vehicle; and
reactivating video streaming of the follow vehicle.