Patent ID: 11972690
Assignee: BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC G  B  H | IPC B  G  H

Claim 0:
1. A method for platooning, comprising:
receiving, from a first vehicle, a platooning request message for joining a platoon;
obtaining, based on the platooning request message, a first vehicle type, first kinematic information and first sensor operating status information of the first vehicle, a second vehicle type, second kinematic information and second sensor operating status information of a second vehicle currently at a tail of the platoon, comprising:
transmitting a sensor operating status request message to the first vehicle and the second vehicle currently at the tail respectively;
receiving the first sensor operating status information from the first vehicle and the second sensor operating status information from the second vehicle currently at the tail, the first sensor operating status information and the second sensor operating status information each comprising an operating status of a minimum perception information sensor, operating status and accuracy of a positioning sensor, and operating status and accuracy of a forward distance sensor;

performing vehicle kinematic determination based on the first vehicle type, the first kinematic information, the second vehicle type, and the second kinematic information, to obtain a kinematic determination result;
performing sensor determination based on the first sensor operating status information and the second sensor operating status information, to obtain a sensor determination result;
transmitting a confirmation request message to a third vehicle in response to the kinematic determination result and the sensor determination result meeting a first predetermined condition, wherein the third vehicle is in the platoon; and
controlling, upon receiving a request approval message from the third vehicle, the first vehicle to establish a Vehicle-to-Vehicle (V2V) communication connection with each vehicle in the platoon.