SYSTEM AND METHOD FOR ADAPTIVE CRUISE CONTROL FOR LOW SPEED FOLLOWING
First Claim
1. A system comprising:
- a data processor; and
an adaptive cruise control module, executable by the data processor, being configured to;
receive input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle;
generate a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle;
generate a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle;
combine the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle;
adjust the velocity command using a dynamic gain; and
control the autonomous vehicle to conform to the adjusted velocity command.
2 Assignments
0 Petitions
Accused Products
Abstract
A system and method for adaptive cruise control for low speed following are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle; generating a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle; generating a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle; combining the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; adjusting the velocity command using a dynamic gain; and controlling the autonomous vehicle to conform to the adjusted velocity command.
-
Citations
20 Claims
-
1. A system comprising:
-
a data processor; and an adaptive cruise control module, executable by the data processor, being configured to; receive input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle; generate a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle; generate a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle; combine the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; adjust the velocity command using a dynamic gain; and control the autonomous vehicle to conform to the adjusted velocity command. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A method comprising:
-
receiving input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle; generating a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle; generating a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle; combining the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; adjusting the velocity command using a dynamic gain; and controlling the autonomous vehicle to conform to the adjusted velocity command. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
-
-
17. A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
-
receive input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle; generate a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle; generate a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle; combine the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; adjust the velocity command using a dynamic gain; and control the autonomous vehicle to conform to the adjusted velocity command. - View Dependent Claims (18, 19, 20)
-
Specification