System for and method of determining a host vehicle lane change
First Claim
1. A tracking system (10) adapted for use with a traveling host vehicle (12) spaced from and communicatively coupled to at least one traveling remote vehicle (16) that precedes the host vehicle (12), said system comprising:
- a locator device (20) configured to autonomously determine and cause to be stored for at least a minimum period a set current position coordinates, and a plurality of sets of trail coordinates for said host and at least one remote vehicle (12,16);
a remote vehicle sensor (36) configured to autonomously determine and cause to be stored for at least a minimum period a data value of a condition relating to the remote vehicle (16), at each of said stored remote vehicle positions;
a host vehicle sensor (36) configured to autonomously determine and cause to be stored for at least a minimum period data values of the condition relating to the host vehicle (12), at the current host vehicle position; and
a host vehicle controller (38) communicatively coupled to the device (20) and sensors (36r,h), and configured to;
compare the current position and trail coordinates of the host and remote vehicles (12,16), so as to determine the relative positioning of the vehicles (12,16),compare the host vehicle current position data value to the stored remote vehicle data values at the two most proximate remote vehicle trail coordinates, relative to the current host vehicle position, when the remote vehicle (16) precedes the host vehicle (12), so as to autonomously determine a data discrepancy, andcompare the discrepancy to a threshold, so as to determine a congruent path divergence by the host vehicle (12), wherein said data, discrepancy, and threshold are cooperatively configured to indicate the congruent path divergence by the host vehicle (12).
12 Assignments
0 Petitions
Accused Products
Abstract
A tracking system adapted for use with communicatively coupled traveling host and remote vehicles, includes a locator device configured to determine sets of current position, and trail coordinates for each of the vehicles. The preferred system further includes sensors operable to determine a condition value for each vehicle at each of said set of coordinates, and a controller configured to determine a congruent path between the vehicles, and a congruent path divergence by the host vehicle, and cause the transmission of an alert of the divergence from the host vehicle to the remote vehicle using vehicle-to-vehicle communication.
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Citations
17 Claims
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1. A tracking system (10) adapted for use with a traveling host vehicle (12) spaced from and communicatively coupled to at least one traveling remote vehicle (16) that precedes the host vehicle (12), said system comprising:
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a locator device (20) configured to autonomously determine and cause to be stored for at least a minimum period a set current position coordinates, and a plurality of sets of trail coordinates for said host and at least one remote vehicle (12,16); a remote vehicle sensor (36) configured to autonomously determine and cause to be stored for at least a minimum period a data value of a condition relating to the remote vehicle (16), at each of said stored remote vehicle positions; a host vehicle sensor (36) configured to autonomously determine and cause to be stored for at least a minimum period data values of the condition relating to the host vehicle (12), at the current host vehicle position; and a host vehicle controller (38) communicatively coupled to the device (20) and sensors (36r,h), and configured to; compare the current position and trail coordinates of the host and remote vehicles (12,16), so as to determine the relative positioning of the vehicles (12,16), compare the host vehicle current position data value to the stored remote vehicle data values at the two most proximate remote vehicle trail coordinates, relative to the current host vehicle position, when the remote vehicle (16) precedes the host vehicle (12), so as to autonomously determine a data discrepancy, and compare the discrepancy to a threshold, so as to determine a congruent path divergence by the host vehicle (12), wherein said data, discrepancy, and threshold are cooperatively configured to indicate the congruent path divergence by the host vehicle (12). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A lane change determination system (10) adapted for use with a traveling host vehicle (12) spaced from and communicatively coupled to at least one traveling remote vehicle (16) that precedes the host vehicle (12), said system comprising:
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a locator device (20) configured to autonomously determine and cause to be stored for at least a minimum period sets of current position, and trail coordinates for said host and at least one remote vehicle (12,16); a remote vehicle yaw gyro (36) configured to autonomously determine and caused to be stored for at least a minimum period a data value of the instantaneous yaw rate of the remote vehicle (16) at each of said stored remote vehicle positions; a host vehicle yaw gyro (36) configured to autonomously determine and caused to be stored for at least a minimum period a data value of the instantaneous yaw rate of the host vehicle (12) at the current host vehicle position; and a host vehicle controller (38) communicatively coupled to the device (20) and gyros (36), and configured to; compare the current position and trail coordinates of the host and remote vehicles (12,16), so as to determine the relative positioning of the vehicles (12,16), determine a heading for each of said host and remote vehicles (12,16) at each of said positions, compare a host vehicle current position yaw rate, and heading to the stored remote vehicle yaw rates and headings at the two most proximate remote vehicle trail coordinates, relative to the current host vehicle position, when the remote vehicle (16) precedes the host vehicle (12), so as to autonomously determine a data discrepancy, and compare the discrepancy to a plurality of varying thresholds, so as to determine one of a plurality of categories of congruent path divergence by the host vehicle (12).
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14. A method of detecting a path divergence of a traveling host vehicle (12) by a communicatively coupled and congruently traveling remote vehicle (16), said method comprising:
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a) determining and storing a plurality of sets of current position and trail coordinates for the traveling remote and host vehicles; b) comparing the plurality of sets of coordinates, so as to determine the relative positioning of the vehicles (12,16); c) determining a relative headings for each of the vehicles (12,16) at each set of coordinates, and comparing the headings of the host vehicle (12) at its current position coordinates, and the two most proximate remote vehicle trail coordinates relative to the current host vehicle position, so as to determine a heading discrepancy, when the plurality of sets of coordinates indicate that the remote vehicle (16) precedes the host vehicle (12); d) comparing each discrepancy to a respective threshold, so as to determine a path divergence by the host vehicle (12); and e) communicating the host vehicle path divergence to the remote vehicle (16) utilizing vehicle-to-vehicle communication. - View Dependent Claims (15, 16, 17)
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Specification