Vehicle velocity control

Patent metadata

Field	Value
Publication number	US-10703373-B2
Application number	US-201816111658-A
Country	US
Kind code	B2
Filing date	Aug 24, 2018
Priority date	Aug 24, 2018
Publication date	Jul 7, 2020
Grant date	Jul 7, 2020

Abstract

A first vehicle velocity target is determined based on a velocity of a proximate second vehicle and at least one of a curvature of a road, a gradient of the road, a bank angle of the road, visibility, and a coefficient of friction on a surface of the road.

First claim

What is claimed is:

1. A method, comprising: in a first vehicle, assigning respective weights to each of a plurality of second vehicles according to a respective location relative to the first vehicle of each second vehicle; identifying one of the second vehicles as an immediately forward vehicle, and increasing the weight assigned to the immediately forward vehicle based on at least one of the curvature of the road, the gradient of the road, the bank angle of the road, visibility, or a coefficient of friction on the surface of the road; and controlling a first vehicle velocity based on respective velocities of the plurality of second vehicles and at least one of a curvature of a road, a gradient of the road, a bank angle of the road, visibility, or a coefficient of friction on a surface of the road, including adjusting a target speed of the first vehicle according to the respective velocities of the second vehicles, each adjusted by the respective weight assigned to each respective second vehicle.

2. The method of claim 1 , further comprising determining a first vehicle velocity target further based on a location of one of the second vehicles in addition to the immediately forward vehicle relative to the first vehicle.

3. The method of claim 1 , further comprising increasing the weight assigned to the immediately forward vehicle based on at least two of the curvature of the road, the gradient of the road, the bank angle of the road, visibility, or a coefficient of friction on the surface of the road.

4. The method of claim 1 , wherein each of the second vehicles are in a same lane as the first vehicle.

5. The method of claim 1 , wherein one second vehicle is in a same lane as the first vehicle and another second vehicle is in a different lane than the first vehicle.

6. The method of claim 1 , wherein the first vehicle velocity is controlled according to the target speed determined by the following equation: target speed=Σi−1 to n speed vehicle i *weight vehicle i wherein i specifies a number of second vehicles, speed vehicle i represents the speed of an ith second vehicle, and weight vehicle i is the weight assigned to the ith second vehicle.

7. The method of claim 1 , further comprising identifying one of the second vehicle as being in an adjacent lane, and setting the weight assigned to the identified second vehicle in the adjacent lane to zero upon determining that a difference between a speed of the first vehicle and a speed of the identified second vehicle exceeds a predetermined threshold.

8. A computer comprising a processor and a memory, the memory storing instructions executable by the processor for: in a first vehicle, assigning respective weights to each of a plurality of second vehicles according to a respective location relative to the first vehicle of each second vehicle; identifying one of the second vehicles as an immediately forward vehicle, and increasing the weight assigned to the immediately forward vehicle based on at least one of the curvature of the road, the gradient of the road, the bank angle of the road, visibility, or a coefficient of friction on the surface of the road; and controlling a first vehicle velocity based on respective velocities of the plurality second vehicles and at least one of a curvature of a road, a gradient of the road, a bank angle of the road, visibility, or a coefficient of friction on a surface of the road, including adjusting a target speed of the first vehicle according to the respective velocities of the second vehicles, each adjusted by the respective weight assigned to each respective second vehicle.

9. The computer of claim 8 , the instructions further comprising instructions for determining a first vehicle velocity target further based on a location of one of the second vehicles in addition to the immediately forward vehicle relative to the first vehicle.

10. The computer of claim 8 , wherein each of the second vehicles are in a same lane as the first vehicle.

11. The computer of claim 8 , wherein one second vehicle is in a same lane as the first vehicle and another second vehicle is in a different lane than the first vehicle.

12. The computer of claim 8 , wherein the first vehicle velocity is controlled according to the target speed determined by the following equation: target speed=Σi−1 to n speed vehicle i *weight vehicle i wherein i specifies a number of second vehicles, speed vehicle i represents the speed of an ith second vehicle, and weight vehicle i is the weight assigned to the ith second vehicle.

13. The computer of claim 8 , the instructions further comprising instructions for identifying one of the second vehicle as being in an adjacent lane, and setting the weight assigned to the identified second vehicle in the adjacent lane to zero upon determining that a difference between a speed of the first vehicle and a speed of the identified second vehicle exceeds a predetermined threshold.

14. The computer of claim 8 , the instructions further comprising instructions for increasing the weight assigned to the immediately forward vehicle based on at least two of the curvature of the road, the gradient of the road, the bank angle of the road, visibility, or a coefficient of friction on the surface of the road.

Assignees

• Ford Global Tech Llc

Inventors

• Fernando Raveen
• Nemec Barnabas Joseph
• Awad Alla Michael Adel
• Tsai Tsung-Han
• Hamilton Kathryn
• Siciak Ray C

Classifications

• B60W2552/40

  Coefficient of friction · CPC title

• B60W2552/30

  Road curve radius · CPC title

• B60W2555/20

  Ambient conditions, e.g. wind or rain · CPC title

• B60W40/105

  Speed · CPC title

• B60W2552/15

  Road slope, i.e. the inclination of a road segment in the longitudinal direction · CPC title