Detecting and responding to tailgaters
First Claim
1. A method of controlling a first vehicle, the method comprising:
- detecting a second vehicle behind the first vehicle;
determining whether the second vehicle is a tailgater based on a comparison of the distance threshold to a distance between the second vehicle and the first vehicle;
determining, by a processor, a difference in distance between a distance threshold and the distance between the second vehicle and the first vehicle;
determining an amount of time for the first vehicle to travel the difference;
increasing a minimum headway buffer defined in time between the first vehicle and a third vehicle in front of the first vehicle using the amount of time; and
controlling the first vehicle based on the increased minimum headway buffer.
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Accused Products
Abstract
An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. For example, a vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. For example, when the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle may respond to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. For example, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.
48 Citations
20 Claims
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1. A method of controlling a first vehicle, the method comprising:
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detecting a second vehicle behind the first vehicle; determining whether the second vehicle is a tailgater based on a comparison of the distance threshold to a distance between the second vehicle and the first vehicle; determining, by a processor, a difference in distance between a distance threshold and the distance between the second vehicle and the first vehicle; determining an amount of time for the first vehicle to travel the difference; increasing a minimum headway buffer defined in time between the first vehicle and a third vehicle in front of the first vehicle using the amount of time; and controlling the first vehicle based on the increased minimum headway buffer. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of controlling a first vehicle, the method comprising:
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detecting a second vehicle behind the first vehicle; identifying the second vehicle as a possible tailgater; determining, by a processor, a difference in distance between the first vehicle and the possible tailgater; determining an amount of time for the first vehicle to travel the difference; determining that the possible tailgater is a tailgater based on a comparison of the amount of time to a time threshold; determining a difference in time between the time threshold and the amount of time; increasing a minimum headway buffer defined in time between the first vehicle and a third vehicle in front of the first vehicle using the difference; and controlling the first vehicle based on the increased minimum headway buffer. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A system for controlling a first vehicle, the system comprising:
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memory storing a distance threshold and a minimum headway buffer defined in time between the first vehicle and a third vehicle in front of the first vehicle; and a processor configured to; detect a second vehicle behind the first vehicle; determine that the second vehicle is a tailgater based on a comparison of the distance threshold to a distance between the second vehicle and the first vehicle; determine a difference in distance between a distance threshold and the distance between the second vehicle and the first vehicle; determine an amount of time for the first vehicle to travel the difference; increase the minimum headway buffer using the amount of time; and control the first vehicle based on the increased minimum headway buffer. - View Dependent Claims (15, 16, 17)
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18. A system for controlling a first vehicle, the system comprising:
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memory storing a time threshold for determining whether a vehicle is tailgating and a minimum headway buffer value defined in time between the first vehicle and a third vehicle in front of the first vehicle; and a processor configured to; detect a second vehicle behind the first vehicle; identifying the second vehicle as a possible tailgater; determine a difference in distance between the first vehicle and the possible tailgater; determine an amount of time for the first vehicle to travel the difference; determine that the possible tailgater is a tailgater based on a comparison of the amount of time to a time threshold; determine a difference in time between the time threshold and the amount of time; increase the minimum headway buffer using the difference; and control the first vehicle based on the increased minimum headway buffer. - View Dependent Claims (19, 20)
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Specification