Gap measurement for vehicle convoying
First Claim
1. A method comprising:
- at a first vehicle, sensing a distance from the first vehicle to a second vehicle using a first sensor while the first and second vehicles are in motion;
receiving at the first vehicle from the second vehicle, information about the second vehicle via a communication link;
utilizing, at the first vehicle, the received second vehicle information in a determination of an estimated distance to the second vehicle;
comparing, at the first vehicle, the sensed distance to the second vehicle to the estimated distance to the second vehicle;
determining at the first vehicle, at least partially based on the comparison, whether the sensed distance from the first vehicle to the second vehicle is a valid measurement of an actual distance from the first vehicle to the second vehicle; and
at least partially automatically controlling the first vehicle based at least in part on the validated measurement of the distance from the first vehicle to the second vehicle.
1 Assignment
0 Petitions
Accused Products
Abstract
A variety of methods, controllers and algorithms are described for identifying the back of a particular vehicle (e.g., a platoon partner) in a set of distance measurement scenes and/or for tracking the back of such a vehicle. The described techniques can be used in conjunction with a variety of different distance measuring technologies including radar, LIDAR, camera based distance measuring units and others. The described approaches are well suited for use in vehicle platooning and/or vehicle convoying systems including tractor-trailer truck platooning applications. In another aspect, technique are described for fusing sensor data obtained from different vehicles for use in the at least partial automatic control of a particular vehicle. The described techniques are well suited for use in conjunction with a variety of different vehicle control applications including platooning, convoying and other connected driving applications including tractor-trailer truck platooning applications.
357 Citations
38 Claims
-
1. A method comprising:
-
at a first vehicle, sensing a distance from the first vehicle to a second vehicle using a first sensor while the first and second vehicles are in motion; receiving at the first vehicle from the second vehicle, information about the second vehicle via a communication link; utilizing, at the first vehicle, the received second vehicle information in a determination of an estimated distance to the second vehicle; comparing, at the first vehicle, the sensed distance to the second vehicle to the estimated distance to the second vehicle; determining at the first vehicle, at least partially based on the comparison, whether the sensed distance from the first vehicle to the second vehicle is a valid measurement of an actual distance from the first vehicle to the second vehicle; and at least partially automatically controlling the first vehicle based at least in part on the validated measurement of the distance from the first vehicle to the second vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
-
-
20. A connected vehicle control system for at least partially automatically controlling a host vehicle based at least in part on a measured distance to a second vehicle, the connected vehicle control system comprising:
-
a distance measurement sensor, located on the host vehicle, capable of sensing a distance from the host vehicle to the second vehicle; a communications controller, located on the host vehicle, for receiving information about the second vehicle from the second vehicle via a communication link; a position estimator, located on the host vehicle, configured to utilize the received second vehicle information in a determination of whether the sensed distance to the second vehicle is a valid measurement of an actual distance to the second vehicle, wherein the position estimator determines an estimated distance from the host vehicle to the second vehicle using the received information about the second vehicle and compares the sensed distance to the estimated distance to determine whether the sensed distance is a valid measurement of the actual distance from the host vehicle to the second vehicle; and a vehicle controller, located on the host vehicle, for at least partially automatically controlling the host vehicle based at least in part on an aspect of the validated measurement of the distance to the second vehicle. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
-
-
32. A method comprising:
-
at a first vehicle, utilizing a sensor to measure an aspect of a position of a second vehicle, the sensor being configured to utilize a sensing technology selected from the group consisting of radar and lidar; receiving at the first vehicle from the second vehicle, information about the second vehicle via a communication link, the information about the second vehicle including at least one selected from the group consisting of (i) a current position or relative position of the second vehicle, (ii) a global navigation satellite systems (GNSS) position measurement of a current position of the second vehicle, (iii) speed information indicative of a speed or relative speed of the second vehicle, (iv) an indication of at least one of an acceleration, an orientation, a steering angle, a yaw rate, a tilt, an incline, or a lateral motion of the second vehicle;
or (v) a predicted state of the second vehicle, the predicted state including at least one of a predicted position, a predicted speed, a predicted acceleration, a predicted orientation, a predicted yaw rate, a predicted tilt, a predicted incline and a predicted lateral motion of the second vehicle;utilizing, at the first vehicle, the received second vehicle information to estimate a state of the second vehicle; utilizing, at the first vehicle, the estimated state of the second vehicle in a determination of whether the measured position of the second vehicle is a valid measurement; and determining, at the first vehicle, control commands for at least partially automatically controlling the first vehicle based at least in part on the validated position measurement. - View Dependent Claims (33, 34, 35, 36, 37, 38)
-
Specification