A control device included in each vehicle composing a vehicle group predicts a vehicle state of a subject vehicle before a traveling regulation point based on speed information of the subject vehicle, light color information of a traffic signal, and distance information between the subject vehicle and an entrance of the traveling regulation point. Based on the vehicle state, it is determined whether a vehicle of which the vehicle state corresponds to an unenterable state is included in the vehicle group. The unenterable state indicates a state where the subject vehicle cannot enter the traveling regulation point before the traffic signal is changed to the yellow light when its speed is maintained at a current speed. When it is determined that the vehicle in the unenterable state is included in the vehicle group, the subject vehicle is controlled such that it does not enter the traveling regulation point.

A controller of a first vehicle system that moves along a first route and a method related thereto includes determining a first prioritization score of the first vehicle system moving along the first route. The first prioritization score indicates one or more characteristics of the first vehicle system. A second prioritization score of a second vehicle system moving along the first route or a second route that intersects the first route is received. The second prioritization score indicates one or more characteristics of the second vehicle system. A prioritization ranking is determined between the first vehicle system and the second vehicle system by comparing the first prioritization score of the first vehicle system with the second prioritization score of the second vehicle system. Movement of the first vehicle system is automatically controlled based on the prioritization ranking.

A system includes one or more processors that may determine one or more of an energy drag or a parasitic energy loss for upcoming planned travel of a vehicle along one or more routes based on externality information. The one or more processors may determine the one or more of the energy drag or the parasitic energy loss for each of plural, different route locations along the one or more routes and may change one or more aspects of the upcoming planned travel of the vehicle based on the one or more of energy drag or parasitic energy loss that is determined.

Embodiments presented herein disclose techniques for providing an autonomous vehicle caravanning system (AVCS) allowing for continuous wireless charging between vehicles thereof. The AVCS includes a pilot generator vehicle and one or more freight vehicles interconnected between one another without a mechanical connect. Further, the AVCS may also include one or more generator vehicles interspersed in various positions of the AVCS to provide wireless charging to vehicles therein. Passenger vehicles may be added to the caravan to receive wireless charging from the generator vehicles of the AVCS.

A dynamic platoon formation method under a mixed autonomous vehicles flow is provided. The method implements dynamic platooning by taking into account a fact that a traffic flow is a mixture of HDVs and CAVs. The dynamic platoon formation method includes: selecting lanes as candidate lanes in turn; constructing a decision tree from a current moment to a moment of platoon formation according to the following process: constructing a decision space for each CAV, generating a compatible decision set, selecting and executing a compatible decision, and updating location and speed information of all vehicles; and selecting, according to a predetermined index (including TTP and DTP), an optimal decision sequence as a decision sequence corresponding to the candidate lane.

Various embodiments include methods that may be implementing in a computing system within vehicles for supporting communicating proxy basic safety communications while operating within a platoon of vehicles to control congestion on frequencies used for basic safety communications. In various embodiments, while a vehicle is operating as a designated platoon vehicle, the computing system may generate a proxy basic safety communication including position and dimension information of the platoon as a whole, and broadcast the proxy basic safety communication on behalf of vehicles in the platoon. The proxy basic safety communication may include positions of certain vehicles within and dimensions of the platoon. While in a platoon but not operating as the designated platoon vehicle, the computing system may not broadcast basic safety communications or broadcast such communications at low power.

A self-propelled device includes a host device movement vector acquisition unit that is configured to acquire a host device movement vector including a movement speed of the self-propelled device and a distance information acquisition unit that is configured to acquire nearby device distance information including a distance and a direction to the self-propelled device for each of nearby devices located near the self-propelled device. The self-propelled device further includes a nearby device movement vector acquisition unit that is configured to acquire a nearby device movement vector including a movement speed and a movement direction of each of the nearby devices for each of the nearby devices and a determination unit that is configured to determine whether a group movement is possible or not for each of the nearby devices based on the nearby device distance information, the host device movement vector and the nearby device movement vector.

Various technologies described herein pertain to autonomous vehicle consumption of real-time public transportation data to guide curb access and usage. An autonomous vehicle receives a trip request for a ride specifying a requested pullover location. The autonomous vehicle receives public transportation data specifying an expected arrival time of a public transportation vehicle at a reserved zone within proximity of the requested pullover location. The autonomous vehicle evaluates availability of the reserved zone during an expected occupancy time of the reserved zone by the autonomous vehicle based on the expected arrival time of the public transportation vehicle at the reserved zone. The autonomous vehicle selects an actual pullover location for the ride in the autonomous vehicle based on the availability of the reserved zone during the expected occupancy time. The autonomous vehicle stops at the actual pullover location for the ride in the autonomous vehicle.

A fallback safety system for a vehicle equipped with a platooning system is configured to detect an operating state and a functional failure of the platooning system of the vehicle and to detect a distance of the vehicle to a vehicle driving in front with a sensor system of the vehicle. Further, in the case of a detected functional failure of the platooning system during a convoy driving operation of the vehicle controlled by the platooning system, the fallback safety system is configured to initiate braking of the vehicle and to adjust a braking acceleration of the vehicle during the initiated braking depending on the detected distance of the vehicle to the vehicle driving in front.

Methods and systems for tracking driver behavior across a variety of vehicles are described herein. One or more first performance metrics which indicate performance of a first vehicle when driven by a user may be determined. One or more second performance metrics indicating performance of a second vehicle when driven by the user may be determined. The first vehicle and the second vehicle may be compared to determine a vehicle difference. The performance metrics may be compared. One or more third performance metrics that predict performance of a third vehicle, different from the first vehicle and the second vehicle, when driven by the user may be determined based on the vehicle difference and the comparison. Whether to provide the user access to the third vehicle may be determined based on the one or more third performance metrics.