Method and system for controlling a host vehicle
First Claim
1. A method of controlling a host vehicle, comprising the steps of:
- (a) receiving target vehicle readings from one or more target vehicle sensor(s) that monitor an area in front of the host vehicle;
(b) using the target vehicle readings to determine if one or more leading target vehicle(s) are currently located in the area in front of the host vehicle;
(c) if there are one or more leading target vehicle(s) currently located in the area in front of the host vehicle, then using the target vehicle readings to evaluate the behavior of the leading target vehicle(s) by identifying a leading vehicle maneuver in the form of a leading target vehicle swerving to avoid an object in the upcoming road segment and classifying the leading vehicle maneuver in one of a plurality of categories; and
(d) using the evaluated behavior of the one or more leading target vehicle(s) and the classified leading vehicle maneuver to develop a preemptive response that causes the host vehicle to automatically copy, mimic or otherwise emulate the leading vehicle maneuver so that the host vehicle avoids an otherwise unseen hazard in the upcoming road segment without directly sensing the hazard with the one or more target vehicle sensor(s).
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Accused Products
Abstract
A method and system that monitors the behavior of surrounding vehicles in order to predict and react to an upcoming hazard in the road, even in situations where the hazard has not been directly sensed. In an exemplary embodiment, the method monitors an area around the host vehicle and looks for the presence of one or more target vehicles. If target vehicles are detected, then the method evaluates their behavior, classifies their behavior into one of several categories, and assuming that their behavior suggests some type of upcoming hazard, develops an appropriate preemptive response for controlling the host vehicle. The preemptive response may include mimicking, copying and/or integrating with the behavior of the surrounding target vehicles according to so-called “flocking” techniques in order to avoid the otherwise unseen hazard.
61 Citations
15 Claims
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1. A method of controlling a host vehicle, comprising the steps of:
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(a) receiving target vehicle readings from one or more target vehicle sensor(s) that monitor an area in front of the host vehicle; (b) using the target vehicle readings to determine if one or more leading target vehicle(s) are currently located in the area in front of the host vehicle; (c) if there are one or more leading target vehicle(s) currently located in the area in front of the host vehicle, then using the target vehicle readings to evaluate the behavior of the leading target vehicle(s) by identifying a leading vehicle maneuver in the form of a leading target vehicle swerving to avoid an object in the upcoming road segment and classifying the leading vehicle maneuver in one of a plurality of categories; and (d) using the evaluated behavior of the one or more leading target vehicle(s) and the classified leading vehicle maneuver to develop a preemptive response that causes the host vehicle to automatically copy, mimic or otherwise emulate the leading vehicle maneuver so that the host vehicle avoids an otherwise unseen hazard in the upcoming road segment without directly sensing the hazard with the one or more target vehicle sensor(s). - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of controlling a host vehicle, comprising the steps of:
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(a) receiving target vehicle readings from one or more target vehicle sensor(s) that monitor an area in front of the host vehicle; (b) using the target vehicle readings to determine if one or more leading target vehicle(s) are currently located in the area in front of the host vehicle; (c) if there are one or more leading target vehicle(s) currently located in the area in front of the host vehicle, then using the target vehicle readings to evaluate the behavior of the leading target vehicle(s) by identifying a leading vehicle maneuver in the form of a leading target vehicle shifting lanes to address a traffic event in the upcoming road segment and classifying the leading vehicle maneuver in one of a plurality of categories; and (d) using the evaluated behavior of the one or more leading target vehicle(s) and the classified leading vehicle maneuver to develop a preemptive response that causes the host vehicle to automatically copy, mimic or otherwise emulate the leading vehicle maneuver so that the host vehicle also addresses the traffic event in the upcoming road segment without directly sensing the traffic event with the one or more target vehicle sensor(s).
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8. A method of controlling a host vehicle, comprising the steps of:
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(a) receiving target vehicle readings from one or more target vehicle sensor(s) that monitor an area in front of the host vehicle; (b) using the target vehicle readings to determine if one or more leading target vehicle(s) are currently located in the area in front of the host vehicle; (c) if there are one or more leading target vehicle(s) currently located in the area in front of the host vehicle, then using the target vehicle readings to evaluate the behavior of the leading target vehicle(s) by identifying a leading vehicle maneuver and employing a corroboration technique that requires multiple leading target vehicles to perform roughly the same maneuver before concluding that a leading vehicle maneuver has taken place; and (d) using the leading vehicle maneuver to develop a preemptive response that avoids a hazard in the upcoming road segment without directly sensing the hazard with the one or more target vehicle sensor(s).
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9. A method of controlling a host vehicle, comprising the steps of:
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(a) receiving target vehicle readings from one or more target vehicle sensor(s) that monitor an area in front of the host vehicle; (b) using the target vehicle readings to determine if one or more leading target vehicle(s) are currently located in the area in front of the host vehicle; (c) if there are one or more leading target vehicle(s) currently located in the area in front of the host vehicle, then using the target vehicle readings to evaluate the behavior of the leading target vehicle(s) by identifying a leading vehicle maneuver and employing a confirmation technique that uses navigation-related information provided by a navigation module before concluding that a leading vehicle maneuver has taken place; and (d) using the leading vehicle maneuver to develop a preemptive response that avoids a hazard in the upcoming road segment without directly sensing the hazard with the one or more target vehicle sensor(s).
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10. A method of controlling a host vehicle, comprising the steps of:
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(a) receiving target vehicle readings from one or more target vehicle sensor(s) that monitor an area around the host vehicle; (b) using the target vehicle readings to determine if one or more surrounding target vehicle(s) are currently located in the area around the host vehicle; (c) if there are one or more surrounding target vehicle(s) currently located in the area around the host vehicle, then using the target vehicle readings to evaluate the behavior of the surrounding target vehicle(s) located on the lateral sides of the host vehicle by identifying a high-level surrounding maneuver in the form of first and second surrounding target vehicles laterally encroaching on the host vehicle where the first and second surrounding target vehicles are on each side of the host vehicle and a collision is likely to occur, and classifying the surrounding vehicle maneuver in one of a plurality of categories; and (d) using the evaluated behavior of the one or more surrounding target vehicle(s) and the classified surrounding vehicle maneuver to develop a preemptive response that controls the lateral position of the host vehicle relative to the surrounding target vehicle(s) by seeking to maintain an equidistant lateral spacing between the host vehicle and the first and second surrounding target vehicles. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification