GAP MEASUREMENT FOR VEHICLE CONVOYING
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Accused Products
Abstract
A variety of methods, controllers and algorithms are described for identifying the back of a particular vehicle (e.g., a platoon partner) in a set of distance measurement scenes and/or for tracking the back of such a vehicle. The described techniques can be used in conjunction with a variety of different distance measuring technologies including radar, LIDAR, camera based distance measuring units and others. The described approaches are well suited for use in vehicle platooning and/or vehicle convoying systems including tractor-trailer truck platooning applications. In another aspect, technique are described for fusing sensor data obtained from different vehicles for use in the at least partial automatic control of a particular vehicle. The described techniques are well suited for use in conjunction with a variety of different vehicle control applications including platooning, convoying and other connected driving applications including tractor-trailer truck platooning applications.
23 Citations
49 Claims
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1-20. -20. (canceled)
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21. A method comprising:
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at a first vehicle, sensing information about the distance from the first vehicle to a second vehicle using a first sensor while the first and second vehicles are in motion; receiving at the first vehicle from the second vehicle, information about the second vehicle via a communication link; utilizing the received second vehicle information in a determination of whether the sensed information about the distance to the second vehicle is a valid measurement of the distance; and at least partially automatically controlling the first vehicle based at least in part on an aspect of the sensed information about the second vehicle. - View Dependent Claims (22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 35)
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27. (canceled)
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36. A connected vehicle control system for at least partially automatically controlling a host vehicle based at least in part on a measured distance to a second vehicle, the connected vehicle control system including comprising:
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a distance measurement unit for sensing a distance from the host vehicle to the second vehicle; a communications unit for receiving information about the second vehicle from the second vehicle via a communication link; a verification unit configured to utilize the received second vehicle information in a determination of whether the sensed distance to the second vehicle is a valid measurement of the distance to the second vehicle; and a vehicle controller for at least partially automatically controlling the host vehicle based at least in part on an aspect of the validated measurement of the distance to the second vehicle. - View Dependent Claims (37, 38, 39, 40, 41, 42, 43, 44, 45)
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46. A method comprising:
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at a first vehicle, utilizing a distance measurement unit to measure a distance from the first vehicle to a second vehicle, the distance measurement unit selected from the group consisting of a radar unit and a lidar unit; receiving at the first vehicle from the second vehicle, information about the second vehicle via a communication link, the information about the second vehicle including at least one selected from the group consisting of (i) a current position or relative position of the second vehicle, (ii) a global navigation satellite systems (GNSS) position measurement of a current position of the second vehicle, (iii) speed information indicative of a speed or relative speed of the second vehicle, (iv) an indication of at least one of an acceleration, an orientation, a steering angle, a yaw rate, a tilt, an incline, or a lateral motion of the second vehicle;
or (v) a predicted state of the second vehicle, the predicted state including at least one of a predicted position, a predicted speed, a predicted acceleration, a predicted orientation, a predicted yaw rate, a predicted tilt, a predicted incline and a predicted lateral motion of the second vehicle;utilizing the received second vehicle information to estimate a state of the second vehicle′ utilizing the estimated state of the second vehicle in a determination of whether the measured distance from the first vehicle to the second vehicle is a valid measurement; and determining control commands for at least partially automatically controlling the first vehicle based at least in part on the validated distance measurement. - View Dependent Claims (47, 48, 49)
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Specification