System and method for merge assist using vehicular communication

• US 10,286,913 B2
• Filed: 06/22/2017
• Issued: 05/14/2019
• Est. Priority Date: 06/23/2016
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Saigusa, Shigenobu, Sugimoto, Yoichi, Sun, Haoyu, Weber, David
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US15/630,866
• Publication Number:
  US 20170369067A1
• Time in Patent Office: 691 Days
• Field of Search: None
• CPC Class Codes: B60W 2050/048 displaying data transmitted between vehicles, e.g. for platooning, control of inter-vehicle distance
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres

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.

Claims

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.

2. The computer-implemented method of claim 1, including calculating an average speed of the one or more remote vehicles based on the speed data of the one or more remote vehicles.

3. The computer-implemented method of claim 2, including comparing the average speed of the one or more remote vehicles to the speed of the host vehicle and calculating an acceleration control rate based on the comparison to minimize a difference between the average speed of the one or more remote vehicles and the speed to the host vehicle.

4. The computer-implemented method of claim 3, wherein controlling the vehicle system includes outputting the acceleration control rate to the vehicle system to control motion of the host vehicle according to the acceleration control rate.

5. The computer-implemented method of claim 1, including upon determining the actual distance between the host vehicle and the one or more remote vehicles is less than the safe distance, calculating a control value as a function of a difference between the actual distance and the safe distance.

6. The computer-implemented method of claim 5, wherein controlling the vehicle system includes outputting an active feedback force signal based on the control value to an acceleration pedal of the host vehicle to provide active feedback according to the active feedback force signal.

7. The computer-implemented method of claim 1, including identifying a type of merge scenario based on the relative position of the host vehicle to the one or more remote vehicles, wherein controlling the vehicle system is based on the type of merge scenario.

8. The computer-implemented method of claim 1, including upon determining a front end of the host vehicle is positioned at a rear end of the one or more remote vehicles, controlling the vehicle system of the host vehicle includes calculating a deceleration control rate according to the actual distance between the host vehicle and the one or more remote vehicles and the safe distance, and outputting the deceleration control rate to the vehicle system of the host vehicle to control motion of the host vehicle according to the deceleration control rate.

9. The computer-implemented method of claim 1, including upon determining a rear end of the host vehicle is positioned at a front end of the one or more remote vehicles, controlling the vehicle system of the host vehicle includes calculating an acceleration control rate according to the actual distance between the host vehicle and the one or more remote vehicles and the safe distance, and outputting the acceleration control rate to the vehicle system of the host vehicle to control motion of the host vehicle according to the acceleration control rate.

10. The computer-implemented method of claim 1, including upon determining a front end of the host vehicle is positioned at the rear end of a first remote vehicle of the one or more remote vehicles and a rear end of the host vehicle is positioned at the front end of a second remote vehicle of the one or more remote vehicles, determining a the safe distance for merging into the lane is based on a front safe distance from the host vehicle to the first remote vehicle and a rear safe distance from the host vehicle to the second remote vehicle.

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:

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.

12. The vehicle control system of claim 11, wherein the processor calculates an average speed of the one or more remote vehicles based on the speed data of the one or more remote vehicles, and the processor controls motion of the host vehicle by setting a target speed of the host vehicle to the average speed.

13. The vehicle control system of claim 11, wherein the processor calculates a control value as a function of a difference between the actual distance and the safe distance subject to a constant speed variable.

14. The vehicle control system of claim 11, wherein the processor determines a type of merge scenario based on the relative position of the host vehicle to the one or more remote vehicles, wherein the type of merge scenario includes at least one of:

a side-by-side merge scenario, a tail end merge scenario, a lead merge scenario, and an in-between merge scenario.

15. The vehicle control system of claim 14, wherein the processor calculates a control value based on the type of merge scenario and as a function of a difference between the actual distance and the safe distance.

16. A non-transitory computer-readable storage medium including instructions that when executed by a processor, cause the processor to:

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.

17. The non-transitory computer-readable storage medium of claim 16, including causing the processor to calculate an average speed of the one or more remote vehicles based on the speed data of the one or more remote vehicles.

18. The non-transitory computer-readable storage medium of claim 17, including causing the processor to compare the average speed of the one or more remote vehicles to the speed of the host vehicle, calculate an acceleration control rate based on the comparison to minimize a difference between the average speed of the one or more remote vehicles and the speed to the host vehicle, and set a target acceleration rate of the host vehicle to the acceleration control rate.

19. The non-transitory computer-readable storage medium of claim 16, including causing the processor to calculate a control value as a function of a difference between the actual distance and the safe distance.

20. The non-transitory computer-readable storage medium of claim 19, wherein the processor controls the vehicle system according to the control value.