System and method for vehicle control using vehicular communication
First Claim
1. A computer-implemented method for controlling a host vehicle having a vehicle control system that controls the host vehicle with respect to a preceding vehicle, wherein the preceding vehicle is positioned immediately ahead of the host vehicle, comprising:
- determining a relative headway distance between the host vehicle and the preceding vehicle with respect to a headway reference distance;
determining a relative velocity between a velocity of the host vehicle and a velocity of the preceding vehicle;
determining an acceleration rate of the preceding vehicle;
receiving remote vehicle data transmitted from a plurality of remote vehicles to the host vehicle via a vehicle communication network and one or more communications links between the host vehicle and each of the plurality of remote vehicles;
selecting a leading vehicle from the plurality of remote vehicles based on the remote vehicle data, the leading vehicle positioned ahead of the host vehicle and the preceding vehicle, wherein the remote vehicle data transmitted from the leading vehicle contains an acceleration rate of the leading vehicle;
calculating an acceleration control rate for the host vehicle to maintain the headway reference distance between the host vehicle and the preceding vehicle, based on the relative headway distance, the relative velocity, the acceleration rate of the preceding vehicle, and the acceleration rate of the leading vehicle; and
outputting the acceleration control rate to a vehicle controller to control motion of the host vehicle according to the acceleration control rate.
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Accused Products
Abstract
A computer-implemented method for controlling a host vehicle having a vehicle control system that controls motion of the host vehicle relative to a preceding vehicle that is immediately ahead of the host vehicle. The method includes determining a relative headway distance and a relative velocity between the host vehicle and the preceding vehicle, and an acceleration rate of the preceding vehicle. The method includes receiving message packets transmitted from a leading vehicle and the message packets contain parameters of the leading vehicle including an acceleration rate of the leading vehicle. Further, the method includes calculating an acceleration control rate for the host vehicle to maintain the headway reference distance between the host vehicle and the preceding vehicle, based on the relative headway distance, the relative velocity, the acceleration rate of the preceding vehicle, and the acceleration rate of the leading vehicle. The acceleration rate is output to a vehicle controller to control motion of the host vehicle.
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Citations
20 Claims
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1. A computer-implemented method for controlling a host vehicle having a vehicle control system that controls the host vehicle with respect to a preceding vehicle, wherein the preceding vehicle is positioned immediately ahead of the host vehicle, comprising:
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determining a relative headway distance between the host vehicle and the preceding vehicle with respect to a headway reference distance; determining a relative velocity between a velocity of the host vehicle and a velocity of the preceding vehicle; determining an acceleration rate of the preceding vehicle; receiving remote vehicle data transmitted from a plurality of remote vehicles to the host vehicle via a vehicle communication network and one or more communications links between the host vehicle and each of the plurality of remote vehicles; selecting a leading vehicle from the plurality of remote vehicles based on the remote vehicle data, the leading vehicle positioned ahead of the host vehicle and the preceding vehicle, wherein the remote vehicle data transmitted from the leading vehicle contains an acceleration rate of the leading vehicle; calculating an acceleration control rate for the host vehicle to maintain the headway reference distance between the host vehicle and the preceding vehicle, based on the relative headway distance, the relative velocity, the acceleration rate of the preceding vehicle, and the acceleration rate of the leading vehicle; and outputting the acceleration control rate to a vehicle controller to control motion of the host vehicle according to the acceleration control rate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle control system for controlling a host vehicle with respect to a preceding vehicle, wherein the preceding vehicle is positioned immediately ahead of the host vehicle, comprising:
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a sensor system to measure a distance of the preceding vehicle and a velocity of the preceding vehicle; a wireless transceiver to receive message packets transmitted from one or more remote vehicles via one or more communication links using a vehicle communication network, wherein each message packet contains remote vehicle data of the one or more remote vehicles from which the message packet is transmitted; and a processor operatively connected for computer communication to the sensor system and the wireless transceiver, wherein the processor; determines a relative headway distance between a distance of the host vehicle and the distance of the preceding vehicle with respect to a headway reference distance; determines a relative velocity between a velocity of the host vehicle and the velocity of the preceding vehicle; determines an acceleration rate of the preceding vehicle; selects a leading vehicle from the one or more remote vehicles based on the remote vehicle data of the one or more remote vehicles, the leading vehicle positioned ahead of the host vehicle and the preceding vehicle; receives message packets transmitted from the leading vehicle via a communication link between the host vehicle and the leading vehicle, wherein the message packets transmitted from the leading vehicle contain parameters of the leading vehicle including an acceleration rate of the leading vehicle; calculates an acceleration control rate for the host vehicle to maintain the headway reference distance between the host vehicle and the preceding vehicle, based on the relative headway distance, the relative velocity, the acceleration rate of the preceding vehicle, and the acceleration rate of the leading vehicle; and controls motion of the host vehicle according to the acceleration control rate. - View Dependent Claims (11, 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 a relative headway distance between a host vehicle and a preceding vehicle with respect to a headway reference distance; determine a relative velocity between a velocity of the host vehicle and a velocity of the preceding vehicle; determine an acceleration rate of the preceding vehicle; receive remote vehicle data transmitted from a plurality of remote vehicles to the host vehicle via a vehicle communication network and one or more communications links between the host vehicle and each of the plurality of remote vehicles; select a leading vehicle from the plurality of remote vehicles that are positioned ahead of the host vehicle and the preceding vehicle based on the remote vehicle data, wherein the remote vehicle data transmitted from the leading vehicle contains an acceleration rate of the leading vehicle; calculate an acceleration control rate for the host vehicle to maintain the headway reference distance between the host vehicle and the preceding vehicle, based on the relative headway distance, the relative velocity, the acceleration rate of the preceding vehicle, and the acceleration rate of the leading vehicle; and transmit the acceleration control rate to a vehicle controller, wherein the vehicle controller executes control of motion of the host vehicle according to the acceleration control rate. - View Dependent Claims (17, 18, 19, 20)
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Specification