System and method for merge assist using vehicular communication
First Claim
1. A computer-implemented method for controlling a vehicle system of a host vehicle merging with one or more remote vehicles, comprising:
- determining an intent for the host vehicle to merge into a lane based on host vehicle data received from a sensor system of the host vehicle;
receiving speed data transmitted from the one or more remote vehicles via a vehicular communication network, wherein the one or more remote vehicles are located within the lane;
receiving position data of the one or more remote vehicles from the sensor system of the host vehicle that monitors an area around the host vehicle;
determining an actual distance between the host vehicle and the one or more remote vehicles based on the position data of the one or more remote vehicles, wherein the actual distance is a longitudinal distance between the host vehicle and the one or more remote vehicles;
determining a safe distance for merging into the lane based on a relative position of the host vehicle to the one or more remote vehicles, a speed of the host vehicle, and a speed of the one or more remote vehicles, wherein the safe distance is a longitudinal boundary for the host vehicle to merge into the lane; and
controlling the vehicle system of the host vehicle to assist a merge maneuver by the host vehicle according to the actual distance between the host vehicle and the one or more remote vehicles and the safe distance upon determining the actual distance is equal to or greater than the safe distance.
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Accused Products
Abstract
A computer-implemented method for controlling a vehicle system of a host vehicle merging with one or more remote vehicles, including receiving speed data transmitted from the one or more remote vehicles via a vehicular communication network and receiving position data of the one or more remote vehicles from the sensor system of the host vehicle that monitors an area around the host vehicle. Upon determining the one or more remote vehicles are in the area around the host vehicle based on the position data, determining a safe distance for merging into the lane based on a relative position of the host vehicle to the one or more remote vehicles. Further, controlling the vehicle system of the host vehicle according to an actual distance between the host vehicle and the one or more remote vehicles and the safe distance.
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Citations
20 Claims
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1. A computer-implemented method for controlling a vehicle system of a host vehicle merging with one or more remote vehicles, comprising:
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determining an intent for the host vehicle to merge into a lane based on host vehicle data received from a sensor system of the host vehicle; receiving speed data transmitted from the one or more remote vehicles via a vehicular communication network, wherein the one or more remote vehicles are located within the lane; receiving position data of the one or more remote vehicles from the sensor system of the host vehicle that monitors an area around the host vehicle; determining an actual distance between the host vehicle and the one or more remote vehicles based on the position data of the one or more remote vehicles, wherein the actual distance is a longitudinal distance between the host vehicle and the one or more remote vehicles; determining a safe distance for merging into the lane based on a relative position of the host vehicle to the one or more remote vehicles, a speed of the host vehicle, and a speed of the one or more remote vehicles, wherein the safe distance is a longitudinal boundary for the host vehicle to merge into the lane; and controlling the vehicle system of the host vehicle to assist a merge maneuver by the host vehicle according to the actual distance between the host vehicle and the one or more remote vehicles and the safe distance upon determining the actual distance is equal to or greater than the safe distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vehicle control system for controlling a vehicle system of a host vehicle merging into a lane having one or more remote vehicles, comprising:
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a wireless transceiver to receive message packets transmitted from the one or more remote vehicles via one or more communication links using a vehicular communication network, wherein each message packet contains speed data of the one or more remote vehicles from which the message packet is transmitted; a sensor system to receive position data of the one or more remote vehicles where the sensor system monitors an area around the host vehicle; and a processor operatively connected for computer communication to the wireless transceiver and the sensor system, wherein the processor; determines an actual distance between the host vehicle and the one or more remote vehicles that are in the area around the host vehicle based on the position data, wherein the actual distance is a longitudinal distance between the host vehicle and the one or more remote vehicles; calculates a safe distance for merging into the lane based on a relative position of the host vehicle to the one or more remote vehicles, a speed of the host vehicle, and a speed of the one or more remote vehicles, wherein the safe distance is a longitudinal boundary for the host vehicle to merge into the lane; and controls motion of the host vehicle according to the actual distance between the host vehicle and the one or more remote vehicles and the safe distance upon determining the actual distance between the host vehicle and the one or more remote vehicles is equal to or greater than the safe distance. - View Dependent Claims (12, 13, 14, 15)
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16. A non-transitory computer-readable storage medium including instructions that when executed by a processor, cause the processor to:
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determine an intent for the host vehicle to merge into a lane based on host vehicle data received from a sensor system of a host vehicle; receive speed data transmitted from one or more remote vehicles via a vehicular communication network, wherein the one or more remote vehicles are located within the lane; receive position data of the one or more remote vehicles from the sensor system of the host vehicle that monitors an area around the host vehicle; determine the one or more remote vehicles are in the area around the host vehicle based on the position data; determine an actual distance between the host vehicle and the one or more remote vehicles based on the position data of the one or more remote vehicles, wherein the actual distance is a longitudinal distance between the host vehicle and the one or more remote vehicles; determine a safe distance for merging into the lane based on a relative position of the host vehicle to the one or more remote vehicles, a speed of the host vehicle, and a speed of the one or more remote vehicles, wherein the safe distance is a longitudinal boundary for the host vehicle to merge into the lane; and control a vehicle system of the host vehicle to assist a merge maneuver by the host vehicle according to the actual distance between the host vehicle and the one or more remote vehicles and the safe distance upon determining the actual distance between the host vehicle and the one or more remote vehicles is equal to or greater than the safe distance. - View Dependent Claims (17, 18, 19, 20)
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Specification