US Patent 10388168 Method of controlling inter-vehicle gap(s) in a platoon

A method of controlling inter-vehicle gap(s) in a platoon that includes a lead vehicle and one or more following vehicles includes the steps of: obtaining an indicator of a potential collision threat identified by an autonomous emergency braking system of the lead vehicle, wherein the autonomous emergency braking system of the lead vehicle includes pre-defined control phases, and wherein the indicator at least partly determines a current control phase of the autonomous emergency braking system; and sending the obtained indicator to the one or more following vehicles.