Forward collision avoidance
First Claim
1. A method for use in traversing a vehicle transportation network, the method comprising:
- traversing, by a host vehicle, a vehicle transportation network, wherein traversing the vehicle transportation network includes;
receiving, at a host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information,identifying host vehicle information for the host vehicle,determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based on the host vehicle information, the remote vehicle information, and a reference direction,determining a remote vehicle dynamic state code based on the remote vehicle information,determining a host vehicle dynamic state code based on the host vehicle information,identifying an expected forward collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code,identifying a deceleration rate for safely traversing the vehicle transportation network in response to identifying the expected forward collision condition, andidentifying a vehicle control action based on the deceleration rate; and
traversing a portion of the vehicle transportation network in accordance with the vehicle control action.
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Accused Products
Abstract
A method and apparatus for use in traversing a vehicle transportation network may include a host vehicle receiving a remote vehicle message including remote vehicle information, identifying host vehicle information, determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected forward collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, identifying a deceleration rate for safely traversing the vehicle transportation network in response to identifying the expected forward collision condition, identifying a vehicle control action based on the deceleration rate, and traversing a portion of the vehicle transportation network in accordance with the vehicle control action.
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Citations
20 Claims
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1. A method for use in traversing a vehicle transportation network, the method comprising:
traversing, by a host vehicle, a vehicle transportation network, wherein traversing the vehicle transportation network includes; receiving, at a host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, identifying host vehicle information for the host vehicle, determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based on the host vehicle information, the remote vehicle information, and a reference direction, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected forward collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, identifying a deceleration rate for safely traversing the vehicle transportation network in response to identifying the expected forward collision condition, and identifying a vehicle control action based on the deceleration rate; and traversing a portion of the vehicle transportation network in accordance with the vehicle control action. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for use in traversing a vehicle transportation network, the method comprising:
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traversing, by a host vehicle, a vehicle transportation network, wherein traversing the vehicle transportation network includes; receiving, at a host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, determining a relative position code indicating geospatial location of the remote vehicle relative to the host vehicle based on the host vehicle information, the remote vehicle information, and a reference direction, determining a host vehicle dynamic state code based on the host vehicle information, and traversing a portion of the vehicle transportation network, wherein traversing the portion of the vehicle transportation network includes performing forward collision avoidance based on the relative position code and the host vehicle dynamic state code. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A method for use in traversing a vehicle transportation network, the method comprising:
traversing, by a host vehicle, a vehicle transportation network, wherein traversing the vehicle transportation network includes; receiving, at a host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, determining a relative position code indicating geospatial location of the remote vehicle relative to the host vehicle based on the host vehicle information, the remote vehicle information, and a reference direction, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected forward collision condition based on the relative position code and the host vehicle dynamic state code, identifying a current geospatial distance between the host vehicle and the remote vehicle, identifying a deceleration rate for safely traversing the vehicle transportation network in response to identifying the expected forward collision condition, wherein identifying the deceleration rate includes identifying the deceleration rate based on the current geospatial distance between the host vehicle and the remote vehicle, a current speed of the remote vehicle, and a current speed of the host vehicle, such that traversing the vehicle transportation network by decelerating in accordance with the deceleration rate includes decelerating such that a difference between a speed of the host vehicle at a post-deceleration location and an expected speed for the remote vehicle temporally corresponding to the post-deceleration location is within a relative speed threshold for forward collision avoidance, and a difference between a geospatial location of the host vehicle corresponding to the post-deceleration location and an expected geospatial location for the remote vehicle corresponding to the post-deceleration location exceeds a minimum distance threshold for forward collision avoidance, identifying a vehicle control action based on the deceleration rate, and traversing a portion of the vehicle transportation network, wherein traversing the portion of the vehicle transportation network includes operating the host vehicle in accordance with the vehicle control action.
Specification