FAIL-SAFE SPEED PROFILES FOR COOPERATIVE AUTONOMOUS VEHICLES
First Claim
1. Method for controlling speed of a vehicle based upon control messages received through a communications device within the vehicle, the method comprising:
- monitoring communication of control messages to a propulsion controller wherein control messages comprise a speed profile including a current speed command representing instantaneous desired speed of the vehicle and future speed commands representing a predetermined controlled vehicle stop through a speed profile period;
detecting anomalous communications of the control messages; and
controlling the speed of the vehicle during anomalous communications using the future speed commands.
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0 Petitions
Accused Products
Abstract
A method for controlling speed of a vehicle based upon control messages received through a communications device within the vehicle includes monitoring communication of control messages to a propulsion controller wherein control messages includes a speed profile including a current speed command representing instantaneous desired speed of the vehicle and future speed commands representing a predetermined controlled vehicle stop through a speed profile period, detecting anomalous communications of the control messages, and controlling the speed of the vehicle during anomalous communications using the future speed commands.
203 Citations
14 Claims
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1. Method for controlling speed of a vehicle based upon control messages received through a communications device within the vehicle, the method comprising:
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monitoring communication of control messages to a propulsion controller wherein control messages comprise a speed profile including a current speed command representing instantaneous desired speed of the vehicle and future speed commands representing a predetermined controlled vehicle stop through a speed profile period; detecting anomalous communications of the control messages; and controlling the speed of the vehicle during anomalous communications using the future speed commands. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. Method for controlling speed of a vehicle based upon control messages received through a communications device within the vehicle, the method comprising:
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iteratively transmitting a control message from an autonomous controller through a communications device to the system providing propulsion to the vehicle, the control message comprising; a current speed command representing an instantaneous desired speed for the vehicle; and a plurality of future speed commands representing a controlled slowing of the vehicle through a speed profile period, said plurality of future speed commands being based upon factors describing preferred operation of the vehicle to a stopped condition; monitoring reception of the control message by the system providing propulsion to the vehicle; when the monitored reception indicates normal communication, controlling the speed of the vehicle based upon the current speed command; and when the monitored reception indicates anomalous communication, controlling the speed of the vehicle based upon the plurality of future speed commands. - View Dependent Claims (13)
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14. Method for operating a vehicle within a platoon of vehicles utilizing vehicle-to-vehicle communication, the method comprising:
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monitoring a travel trajectory from a leader vehicle of the platoon of vehicles comprising a relative position of the vehicle with respect to other vehicles within the platoon of vehicles; within the vehicle, determining a control message comprising a current speed command and a plurality of future speed commands based upon the monitored travel trajectory; transmitting the control message for receipt by a system providing propulsion to the vehicle; and monitoring reception of the control message by the system providing propulsion to the vehicle; when the monitored reception indicates anomalous communication, controlling the speed of the vehicle based upon the plurality of future speed commands last received by the system providing propulsion to the vehicle.
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Specification