System and method for adaptive cruise control for defensive driving

Patent metadata

Field	Value
Publication number	US-10493988-B2
Application number	US-201715640514-A
Country	US
Kind code	B2
Filing date	Jul 1, 2017
Priority date	Jul 1, 2017
Publication date	Dec 3, 2019
Grant date	Dec 3, 2019

Abstract

A system and method for adaptive cruise control for defensive driving are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle; generating a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle; generating a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle; combining the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; and controlling the autonomous vehicle to conform to the velocity command.

First claim

What is claimed is:

1. A system comprising:
a data processor; and
an adaptive cruise control module, executable by the data processor, being configured to:
receive input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle;
generate a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle, the desired distance and a distance weight coefficient of the weighted distance differential being separately user configurable;
generate a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle, a velocity weight coefficient of the weighted velocity differential being separately user configurable;
combine the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; and
control the autonomous vehicle to conform to the velocity command.

2. The system of claim 1 wherein the input object data includes distance data from one or more light imaging, detection, and ranging (LIDAR) sensors.

3. The system of claim 1 wherein the weighted distance differential is produced by multiplying a distance weight coefficient with the difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle.

4. The system of claim 1 wherein the weighted velocity differential is produced by multiplying a velocity weight coefficient with the difference between the velocity of the autonomous vehicle and a velocity of the lead vehicle.

5. The system of claim 1 further including summing the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle.

6. The system of claim 1 wherein controlling the autonomous vehicle further includes directing a vehicle control subsystem of the autonomous vehicle to cause the autonomous vehicle to achieve a speed corresponding to the velocity command.

7. A method comprising:
receiving input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle;
generating a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle, the desired distance and a distance weight coefficient of the weighted distance differential being separately user configurable;
generating a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle, a velocity weight coefficient of the weighted velocity differential being separately user configurable;
combining the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; and
controlling the autonomous vehicle to conform to the velocity command.

8. The method of claim 7 wherein the input object data includes distance data from one or more light imaging, detection, and ranging (LIDAR) sensors.

9. The method of claim 7 wherein the weighted distance differential is produced by multiplying a distance weight coefficient with the difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle.

10. The method of claim 7 wherein the weighted velocity differential is produced by multiplying a velocity weight coefficient with the difference between the velocity of the autonomous vehicle and a velocity of the lead vehicle.

11. The method of claim 7 further including summing the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle.

12. The method of claim 7 wherein controlling the autonomous vehicle further includes directing a vehicle control subsystem of the autonomous vehicle to cause the autonomous vehicle to achieve a speed corresponding to the velocity command.

13. A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
receive input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle;
generate a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle, the desired distance and a distance weight coefficient of the weighted distance differential being separately user configurable;
generate a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle, a velocity weight coefficient of the weighted velocity differential being separately user configurable;
combine the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; and
control the autonomous vehicle to conform to the velocity command.

14. The non-transitory machine-useable storage medium of claim 13 wherein the input object data includes distance data from one or more light imaging, detection, and ranging (LIDAR) sensors.

15. The non-transitory machine-useable storage medium of claim 13 wherein the weighted distance differential is produced by multiplying a distance weight coefficient with the difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle.

16. The non-transitory machine-useable storage medium of claim 13 wherein the weighted velocity differential is produced by multiplying a velocity weight coefficient with the difference between the velocity of the autonomous vehicle and a velocity of the lead vehicle.

Assignees

• TuSimple

Inventors

• Liu Liu
• Lin Wutu

Classifications

• B60W2554/804

  Relative longitudinal speed · CPC title

• B60W2554/801

  Lateral distance · CPC title

• B60W2754/30

  Longitudinal distance · CPC title

• B60W2050/0022

  Gains, weighting coefficients or weighting functions · CPC title

• B60W30/16 Primary

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title