System and method for routing and reorganization of a vehicle platoon in a smart city

Abstract

Systems and methods described herein are provided for determining a platoon configuration for a group of vehicles, determining a set of routes connecting two locations, determining for each route segment the platoon configurations supported and the availability of roadside units on the route segment, and selecting a route from the set of routes connecting the two locations. A route may be selected based on the availability of a roadside unit (RSU) to request an extended time period for a green light to enable a length of the platoon to traverse through an intersection prior to the time period ending. Systems and methods described herein may enable a reconfiguration of a platoon to meet a platoon size restriction for a segment of the selected route.

What is claimed: 
     
         1 . A method comprising:
 selecting a route for a group of vehicles including at least one autonomous vehicle, wherein selecting the route comprises selecting, from among a plurality of route options, a route that supports at least one available platoon configuration for the group of vehicles; and   causing the at least one autonomous vehicle in the group of autonomous vehicles to travel along the selected route.   
     
     
         2 . The method of  claim 1 , further comprising determining a platoon category score for the group of vehicles, wherein the selecting of the route is based at least in part on the platoon category score. 
     
     
         3 . The method of  claim 1 , further wherein the selecting of the route is based at least in part on detection of at least one vulnerable road user (VRU) on at least one of the plurality of route options. 
     
     
         4 . The method of  claim 1 , further comprising determining a ranking for each of the plurality of route options, wherein the selecting of the route is based at least in part on the ranking. 
     
     
         5 . The method of  claim 4 , wherein the ranking of a route is based at least in part on one or more of the following: presence of a traffic light, presence of a roadside unit (RSU), level of vehicle traffic, number of pedestrians, or presence of VRUs. 
     
     
         6 . The method of  claim 1 , wherein the selected route supports a first platoon configuration on a first portion thereof and a second platoon configuration on a second portion thereof, the method further comprising reorganizing the group of vehicles from the first platoon configuration to the second platoon configuration along the selected route. 
     
     
         7 . The method of  claim 6 , wherein reorganizing the group of vehicles comprises changing between a one-lane configuration and a two-lane configuration. 
     
     
         8 . The method of  claim 1 , wherein selecting a route that supports at least one available platoon configuration comprises determining, for each of the route options, whether each of a plurality of segments of the route option supports at least one available platoon configuration for the group of vehicles. 
     
     
         9 . The method of  claim 1 , wherein causing the at least one autonomous vehicle to travel along the selected route comprises controlling a lead vehicle along the selected route. 
     
     
         10 . The method of  claim 1 , wherein the selecting of the route comprises, in response to a determination that a first route option includes a segment that does not support at least one platoon configuration of the group of vehicles, eliminating the first route option. 
     
     
         11 . A system comprising at least one processor configured to perform at least:
 selecting a route for a group of vehicles including at least one autonomous vehicle, wherein selecting the route comprises selecting, from among a plurality of route options, a route that supports at least one available platoon configuration for the group of vehicles; and   causing the at least one autonomous vehicle in the group of autonomous vehicles to travel along the selected route.   
     
     
         12 . The system of  claim 11 , wherein the processor is further configured to determine a platoon category score for the group of vehicles, wherein the selecting of the route is based at least in part on the platoon category score. 
     
     
         13 . The system of  claim 11 , further wherein the selecting of the route is based at least in part on detection of at least one vulnerable road user (VRU) on at least one of the plurality of route options. 
     
     
         14 . The system of  claim 11 , wherein the processor is further configured to determine a ranking for each of the plurality of route options, wherein the selecting of the route is based at least in part on the ranking. 
     
     
         15 . The system of  claim 14 , wherein the ranking of a route is based at least in part on one or more of the following: presence of a traffic light, presence of a roadside unit (RSU), level of vehicle traffic, number of pedestrians, or presence of VRUs. 
     
     
         16 . The system of  claim 11 , wherein the selected route supports a first platoon configuration on a first portion thereof and a second platoon configuration on a second portion thereof, the processor further being configured to reorganize the group of vehicles from the first platoon configuration to the second platoon configuration along the selected route. 
     
     
         17 . The system of  claim 16 , wherein reorganizing the group of vehicles comprises changing between a one-lane configuration and a two-lane configuration. 
     
     
         18 . The system of  claim 11 , wherein selecting a route that supports at least one available platoon configuration comprises determining, for each of the route options, whether each of a plurality of segments of the route option supports at least one available platoon configuration for the group of vehicles. 
     
     
         19 . The system of  claim 11 , wherein causing the at least one autonomous vehicle to travel along the selected route comprises controlling a lead vehicle along the selected route. 
     
     
         20 . The system of  claim 11 , wherein the selecting of the route comprises, in response to a determination that a first route option includes a segment that does not support at least one platoon configuration of the group of vehicles, eliminating the first route option.