Operation of a vehicle by classifying a preceding vehicle lane
First Claim
1. A method for operating a host vehicle, comprising:
- identifying remote vehicle information indicating at least a geospatial state for a remote vehicle;
identifying host vehicle information indicating at least a geospatial state for the host vehicle;
for a sequence of sampling points;
determining a distance between the remote vehicle and the host vehicle within a transportation network based on the remote vehicle information and the host vehicle information, the host vehicle behind the remote vehicle in a direction of travel;
calculating an angle from a centerline extending from the host vehicle for the distance, the angle varying as a function of the distance; and
determining a conically-shaped zone using the angle, wherein the conically-shaped zone diverges from the host vehicle; and
responsive to the remote vehicle being located within the conically-shaped zone, operating the host vehicle based on the remote vehicle being in a lane in which the host vehicle is traveling.
2 Assignments
0 Petitions
Accused Products
Abstract
Operating a host vehicle is described as including identifying remote vehicle information indicating at least a geospatial state for a remote vehicle and identifying host vehicle information indicating at least a geospatial state for the host vehicle. For a sequence of sampling points, a distance between the remote vehicle and the host vehicle within a transportation network is determined based on the remote vehicle information and the host vehicle information, an angle from a centerline extending from the host vehicle for the distance is calculated, the angle varying as a function of the distance, and a conically-shaped zone is determined using the angle. Responsive to the remote vehicle being located within the conically-shaped zone, the host vehicle is operated based on the remote vehicle being in a lane in which the host vehicle is traveling. The host vehicle is behind the remote vehicle in a direction of travel. A method, vehicle, and apparatus are described.
49 Citations
20 Claims
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1. A method for operating a host vehicle, comprising:
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identifying remote vehicle information indicating at least a geospatial state for a remote vehicle; identifying host vehicle information indicating at least a geospatial state for the host vehicle; for a sequence of sampling points; determining a distance between the remote vehicle and the host vehicle within a transportation network based on the remote vehicle information and the host vehicle information, the host vehicle behind the remote vehicle in a direction of travel; calculating an angle from a centerline extending from the host vehicle for the distance, the angle varying as a function of the distance; and determining a conically-shaped zone using the angle, wherein the conically-shaped zone diverges from the host vehicle; and responsive to the remote vehicle being located within the conically-shaped zone, operating the host vehicle based on the remote vehicle being in a lane in which the host vehicle is traveling. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A host vehicle, comprising:
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a powertrain; a sensor; and an operation system to operate the host vehicle, the operation system configured to; identify remote vehicle information indicating at least a geospatial state for a remote vehicle; identify, using at least the sensor, host vehicle information indicating at least a geospatial state for the host vehicle; for a sequence of sampling points; determine a distance between the remote vehicle and the host vehicle within a transportation network based on the remote vehicle information and the host vehicle information, the host vehicle behind the remote vehicle in a direction of travel; and calculate an angle from a centerline extending from the host vehicle for the distance, the angle varying as a function of the distance; responsive to the remote vehicle being located within a first conically-shaped zone determined by a first angle calculated at a first sampling point of the sequence, operate the host vehicle based on the remote vehicle being in a lane in which the host vehicle is traveling; responsive to calculating a second angle larger than the first angle at a second sampling point of the sequence; determine whether the remote vehicle remains in the lane in which the host vehicle is traveling by determining whether the remote vehicle is located within a second conically-shaped zone determined by the second angle; and responsive to calculating a third angle smaller than the first angle at the second sampling point of the sequence; determine whether the remote vehicle remains in the lane in which the host vehicle is traveling by determining whether the remote vehicle is located within the first conically-shaped zone determined by the first angle. - View Dependent Claims (15, 16)
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17. An apparatus for controlling a host vehicle, comprising:
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a processor; and memory storing instructions that cause the processor to perform a method comprising; identifying remote vehicle information indicating at least a geospatial state for a remote vehicle; identifying host vehicle information indicating at least a geospatial state for the host vehicle; for a sequence of sampling points; determining a distance between the remote vehicle and the host vehicle within a transportation network based on the remote vehicle information and the host vehicle information, the host vehicle behind the remote vehicle in a direction of travel; calculating an angle from a centerline extending from the host vehicle for the distance, the angle varying as a function of the distance; and determining a conically-shaped zone using the angle, wherein the conically-shaped zone diverges from the host vehicle; and operating the host vehicle based on the remote vehicle being in a lane in which the host vehicle is traveling as long as the remote vehicle remains within the conically-shaped zone. - View Dependent Claims (18, 19, 20)
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Specification