System and method for vehicle congestion estimation

• US 10,332,403 B2
• Filed: 08/16/2017
• Issued: 06/25/2019
• Est. Priority Date: 01/04/2017
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Saigusa, Shigenobu
• Primary Examiner(s): Cheung, Calvin
• Application Number:
  US15/679,068
• Publication Number:
  US 20180190128A1
• Time in Patent Office: 678 Days
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2554/406 Traffic density
• 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 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0287 involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A system and method for controlling a host vehicle in a platoon of vehicles. The method includes receiving speed data of a leading vehicle from the leading vehicle via a vehicle communication network, and receiving speed data of a preceding vehicle from a sensor system of the host vehicle. The preceding vehicle is positioned immediately ahead of the host vehicle. The leading vehicle is positioned ahead of the host vehicle and the preceding vehicle. The method includes calculating a transfer function between the leading vehicle and the host vehicle and determining a string stability level of the platoon of vehicles based on the transfer function. The string stability level indicates a speed variation of the platoon of vehicles. Further, the method includes calculating a traffic congestion level based on the string stability level, and controlling a vehicle system of the host vehicle based on the traffic congestion level.

Claims

1. A computer-implemented method for controlling a host vehicle in relation to a leading vehicle, and a preceding vehicle, wherein the host vehicle, the leading vehicle, and the preceding vehicle are within a platoon of vehicles, comprising:

receiving speed data of the leading vehicle from the leading vehicle via a vehicle communication network, wherein the leading vehicle is positioned ahead of the host vehicle and the preceding vehicle;

receiving speed data of the preceding vehicle from a sensor system of the host vehicle, wherein the preceding vehicle is positioned immediately ahead of the host vehicle;

calculating a transfer function between the leading vehicle and the host vehicle as a correlation between the speed data of the leading vehicle and the speed data of the preceding vehicle;

determining a string stability level of the platoon of vehicles based on the transfer function, wherein the string stability level indicates a speed variation of the platoon of vehicles;

calculating a traffic congestion level based on the string stability level; and

controlling a vehicle system of the host vehicle based on the traffic congestion level.

2. The computer-implemented method of claim 1, wherein the speed data of the preceding vehicle is a velocity of the preceding vehicle, and the speed data of the leading vehicle is a velocity of the leading vehicle.

3. The computer-implemented method of claim 2, wherein the transfer function between the leading vehicle and the host vehicle is the correlation between the velocity of the preceding vehicle and the velocity of the leading vehicle.

4. The computer-implemented method of claim 1, wherein the platoon of vehicles is a line of vehicles on a road including the host vehicle, the preceding vehicle, one or more remote vehicles, and the leading vehicle, wherein the leading vehicle is at a foremost position of the platoon of vehicles.

5. The computer-implemented method of claim 1, including calculating an acceleration control rate of the host vehicle based on the speed data of the preceding vehicle and the speed data of the leading vehicle.

6. The computer-implemented method of claim 5, wherein controlling the vehicle system of the host vehicle includes controlling the vehicle system according to the acceleration control rate to control motion of the host vehicle.

7. The computer-implemented method of claim 1, including calculating a variable gain based on the string stability level.

8. The computer-implemented method of claim 7, including calculating an acceleration control rate of the host vehicle is based on the speed data of the preceding vehicle, the speed data of the leading vehicle, and the variable gain.

9. A vehicle control system for controlling a host vehicle in relation to a leading vehicle, and a preceding vehicle, wherein the host vehicle, the leading vehicle, and the preceding vehicle are within a platoon of vehicles, comprising:

a wireless transceiver of the host vehicle to receive speed data of the leading vehicle from the leading vehicle via a vehicle communication network, wherein the leading vehicle is positioned ahead of the host vehicle and the preceding vehicle;

a sensor system of the host vehicle for sensing speed data of the preceding vehicle, wherein the preceding vehicle is positioned immediately ahead of the host vehicle; and

a processor operatively connected for computer communication to the sensor system and the wireless transceiver, wherein the processor;

calculates a transfer function between the leading vehicle and the host vehicle as a ratio between an input of the leading vehicle and an output of the preceding vehicle, wherein the input of the leading vehicle is based on the speed data of the leading vehicle and the output of the preceding vehicle is based on the speed data of the preceding vehicle;

determines a string stability level based on the transfer function over a period of time;

calculates a traffic congestion level based on the string stability level; and

controls the host vehicle based on the traffic congestion level.

10. The vehicle control system of claim 9, wherein the speed data of the preceding vehicle is a velocity of the preceding vehicle, and the speed data of the leading vehicle is a velocity of the leading vehicle.

11. The vehicle control system of claim 10, wherein the transfer function is the ratio between the input of the leading vehicle and the output of the preceding vehicle, and the input of the leading vehicle is the velocity of the leading vehicle and the output of the preceding vehicle is the velocity of the preceding vehicle.

12. The vehicle control system of claim 9, wherein the platoon of vehicles has a low penetration of vehicle-to-vehicle communication capability.

13. The vehicle control system of claim 9, wherein the processor calculates an acceleration control rate of the host vehicle based on the speed data of the preceding vehicle and the speed data of the leading vehicle.

14. The vehicle control system of claim 13, wherein the processor modifies the acceleration control rate of the host vehicle with a variable gain, wherein the variable gain is based on the string stability level.

15. The vehicle control system of claim 13, wherein the processor control the host vehicle by controlling motion of the host vehicle according to the acceleration control rate.

16. A non-transitory computer-readable storage medium for controlling a host vehicle in relation to a leading vehicle, and a preceding vehicle, wherein the host vehicle, the leading vehicle, and the preceding vehicle are within a platoon of vehicles, including instructions that when executed by a processor, cause the processor to:

receive speed data of the leading vehicle from the leading vehicle via a vehicle communication network, wherein the leading vehicle is positioned ahead of the host vehicle and the preceding vehicle;

receive speed data of the preceding vehicle from a sensor system of the host vehicle, wherein the preceding vehicle is positioned immediately ahead of the host vehicle;

calculate a transfer function between the leading vehicle and the host vehicle as a correlation between the speed data of the leading vehicle and the speed data of the preceding vehicle;

determine a string stability level of the platoon of vehicles based on the transfer function, wherein the string stability level indicates a speed variation of the platoon of vehicles;

calculate a traffic congestion level based on the string stability level; and

control a vehicle system of the host vehicle based on the traffic congestion level.

17. The non-transitory computer-readable storage medium of claim 16, wherein the transfer function between the leading vehicle and the host vehicle is the correlation between a velocity of the preceding vehicle and a velocity of the leading vehicle.

18. The non-transitory computer-readable storage medium of claim 16, wherein the processor calculates an acceleration control rate of the host vehicle based on the speed data of the preceding vehicle and the speed data of the leading vehicle.

19. The non-transitory computer-readable storage medium of claim 16, wherein the processor calculates a variable gain based on the string stability level.

20. The non-transitory computer-readable storage medium of claim 19, wherein the processor calculates an acceleration control rate of the host vehicle based on the speed data of the preceding vehicle, the speed data of the leading vehicle, and the variable gain.