System for and method of determining a host vehicle lane change

• US 7,920,969 B2
• Filed: 05/18/2006
• Issued: 04/05/2011
• Est. Priority Date: 08/18/2005
• Status: Expired due to Fees

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations Incorporated (Motors Liquidation Co. GUC Trust)
• Inventors: Hamilton, William E., Mudalige, Upali Priyantha
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US11/436,497
• Publication Number:
  US 20070043506A1
• Time in Patent Office: 1,783 Days
• Field of Search: 701/93, 701/207, 701/213, 701/301, 340/903, 340/435, 340/436
• US Class Current: 701/301
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G08G 1/163 involving continuous checking

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.

Claims

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, 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).

2. The system as claimed in claim 1, each of said remote and host vehicle sensors (36) including a yaw rate gyro, said condition being a instantaneous yaw rate, φ

.

3. The system as claimed in claim 1, each of said remote and host vehicle sensors (36) being a steering angle sensor, said condition being a steering wheel angle.

4. The system as claimed in claim 1,

each of said remote and host vehicle sensors (36) being a turn signal activation sensor,

said condition being a status of turn signal activation.

5. The system as claimed in claim 1,

said controller (38) being further configured to determine a heading, h, for each of said host and remote vehicles (12,16) at each of said positions, and compare the host vehicle heading at its current position coordinates to the stored remote vehicle headings at the two most proximate sets of trail coordinates, so as to determine a heading discrepancy.

6. The system as claimed in claim 1,

said controller (38) being further configured to trigonometrically determine a closest point along a line defined by the two most proximate set of trail coordinates, to the current host vehicle position, and extrapolate correlative condition data values at the closest point based on the condition data values at the two most proximate set of trail coordinates.

7. The system as claimed in claim 6,

said controller (38) being further configured to extrapolate remote vehicle condition values at the closest point, in accordance with the following formula:

(Δ

(data value)_Pj/P_j+1P_j)(P_j+1N),

 

where,

Δ

(data value)_Pj is equal to the difference between the data values at the two most proximate sets of remote vehicle trail coordinates relative to the current host vehicle coordinates,

P_j+1P_j is the linear distance between the two most proximate remote vehicle trail positions, and

P_j+1N is the linear distance between an extrapolated position and a most antecedent of the two most proximate sets of remote vehicle trail coordinates.

8. The system as claimed in claim 6,

said controller (38) being further configured to determine a change in lateral distance, based on the host vehicle current position and trail coordinates, and correlative extrapolated remote vehicle trail coordinates, and further compare the change in lateral distance to a distance threshold, so as to determine the congruent path divergence.

9. The system as claimed in claim 1,

said controller (38) being further configured to determine the data discrepancy at a plurality of host vehicle positions during the period, so as to determine a plurality of data discrepancies, a discrepancy profile based on the discrepancies and period, and a cumulative discrepancy summation, and compare the summation to a cumulative threshold, so as to determine the congruent path divergence by the host vehicle (12) during the period.

10. The system as claimed in claim 9,

said controller (38) being further configured to compare the discrepancy profile 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).

11. The system as claimed in claim 10,

said controller (38) being further configured to determine a sharp or gradual divergence by the discrepancy profile.

12. The system as claimed in claim 10,

said controller (38) being further configured to determine a left or right divergence by the discrepancy profile.

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:

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).

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:

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.

15. The method as claimed in claim 14,

steps (a), and (c) further including the steps of sensing yaw rates at each set of coordinates, for the traveling remote and host vehicles (12,16), and comparing the yaw rates and headings of the host vehicle (12) at its current position coordinates, and the two most proximate remote vehicle trail coordinates, so as to determine yaw rate and heading discrepancies, when the plurality of sets of coordinates indicate that the remote vehicle precedes the host vehicle.

16. The method as claimed in claim 14,

steps (a), and (c) further including the steps of determining a minimum distance between the current host vehicle position, and a line defined by the two most proximate remote vehicle trail coordinates at multiple instances during a period, and comparing the yaw rates, headings, and minimum distances, so as to determine yaw rate, heading, and minimum distance discrepancies, when the plurality of sets of coordinates indicate that the remote vehicle (16) precedes the host vehicle (12).

17. The method as claimed in claim 14,

steps (a), and (c) further including the steps of sensing yaw rates, steering angles, or turn signal activation, and determining a minimum distance between a current host vehicle position, and a line defined by the two most proximate remote vehicle trail coordinates at multiple instances during a period, and comparing the yaw rates, headings, and minimum distances, so as to determine yaw rate, heading, and minimum distance discrepancies, when the plurality of sets of coordinates indicate that the remote vehicle (16) precedes the host vehicle (12),

step (d) further including the steps of determining a weight factor based on turn signal activation status, and discrepancy threshold comparisons, and comparing the weight factor to a weight threshold to determine a path divergence.