PRECEDING VEHICLE STATE PREDICTION
First Claim
1. A method of predicting the dynamic state of a preceding vehicle within a platoon, the preceding vehicle being immediately ahead of a host vehicle, the platoon also including a forward vehicle at the foremost position of a platoon, the method comprising:
- providing a platoon model, the platoon model being a dynamic model of the platoon and having model parameters related to each vehicle in the platoon;
estimating model parameters for the platoon;
adaptively updating the model parameters using vehicle data received from vehicles within the platoon;
using the platoon model to predict the dynamic state of the preceding vehicle,the platoon being a line of vehicles on a road, the platoon including the host vehicle, the preceding vehicle, and a forward vehicle ahead of the preceding vehicle, at the foremost position of the platoon.the platoon model being derived from a car-following model for each leader-follower vehicle pair in the platoon,the dynamic state including position and velocity of the preceding vehicle.
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Accused Products
Abstract
A platoon model allows improved prediction of preceding vehicle future state. In this context, the preceding vehicle is a vehicle immediately ahead of the host vehicle, and the dynamic state of the preceding vehicle was predicted based on data received from one or more vehicles in the platoon. The intelligent driver model (IDM) was extended to model car-following dynamics within a platoon. A parameter estimation approach may be used to estimate the model parameters, for example to adapt to different driver types. An integrated approach including both state prediction and parameter estimation was highly effective.
75 Citations
13 Claims
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1. A method of predicting the dynamic state of a preceding vehicle within a platoon, the preceding vehicle being immediately ahead of a host vehicle, the platoon also including a forward vehicle at the foremost position of a platoon, the method comprising:
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providing a platoon model, the platoon model being a dynamic model of the platoon and having model parameters related to each vehicle in the platoon; estimating model parameters for the platoon; adaptively updating the model parameters using vehicle data received from vehicles within the platoon; using the platoon model to predict the dynamic state of the preceding vehicle, the platoon being a line of vehicles on a road, the platoon including the host vehicle, the preceding vehicle, and a forward vehicle ahead of the preceding vehicle, at the foremost position of the platoon. the platoon model being derived from a car-following model for each leader-follower vehicle pair in the platoon, the dynamic state including position and velocity of the preceding vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An apparatus, the apparatus being an adaptive cruise control for a host vehicle, the apparatus including:
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a wireless receiver, operable to receive vehicle data from vehicles ahead of the host vehicle; an electronic circuit, receiving the vehicle data and providing a vehicle control output to control a vehicle speed of the host vehicle, the electronic circuit being operable to predict the dynamic state of a preceding vehicle immediately ahead of the host vehicle when the host vehicle is in traffic, the dynamic state being predicted using a platoon model, the platoon model being a dynamic model having model parameters related to vehicles ahead of the host vehicle, the model parameters being estimated and then adaptively updated using the vehicle data, the electronic circuit using the platoon model to predict the dynamic state of the preceding vehicle, and provide the vehicle control output to modify the speed of the host vehicle in response to the predicted dynamic state of the preceding vehicle, the platoon model being derived from a car-following model for each leader-follower vehicle pair in the platoon, the dynamic parameters of the preceding vehicle including the speed of the preceding vehicle.
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Specification