Coordinated driving through driver-to-driver V2X communication

Patent metadata

Field	Value
Publication number	US-11212654-B2
Application number	US-201815942939-A
Country	US
Kind code	B2
Filing date	Apr 2, 2018
Priority date	Nov 4, 2015
Publication date	Dec 28, 2021
Grant date	Dec 28, 2021

Abstract

According to one or more aspects, a system for coordinated driving may include a vehicle communication system receiving a proposed driving maneuver from a tractor vehicle, an input device receiving a response to the proposed driving maneuver from an occupant of a trailer vehicle, and a route generation module generating a route corresponding to the proposed driving maneuver based on the response to the proposed driving maneuver. The tractor vehicle may be engaged in segment-by-segment coordinated driving with the trailer vehicle utilizing a cooperative adaptive cruise control (CACC) module.

First claim

The invention claimed is:

1. A system for coordinated driving, comprising:
a vehicle communication system receiving a proposed driving maneuver from a tractor vehicle, wherein the proposed driving maneuver includes an executed driving maneuver associated with the tractor vehicle including a velocity of the tractor vehicle during the executed maneuver within an area having a posted speed limit and the tractor vehicle is currently engaged in segment-by-segment coordinated driving with the trailer vehicle in the area having the posted speed limit;
an input device receiving a response to the proposed driving maneuver from an occupant of a trailer vehicle; and
a route generation module generating a route corresponding to the proposed driving maneuver based on the response to the proposed driving maneuver,
wherein the route generation module generates the route corresponding to the proposed driving maneuver based on the response including a partial decline to the proposed driving maneuver, wherein the partial decline to the proposed driving maneuver includes a lane change from a current lane of the trailer vehicle to a lane associated with the tractor vehicle.

2. The system for coordinated driving of claim 1 , wherein the tractor vehicle is engaged in segment-by-segment coordinated driving with the trailer vehicle utilizing a cooperative adaptive cruise control (CACC) module.

3. The system for coordinated driving of claim 1 , wherein the proposed driving maneuver includes a driving maneuver currently being executed or already executed by the tractor vehicle.

4. The system for coordinated driving of claim 1 , wherein the proposed driving maneuver is a lane change maneuver, a passing maneuver, an acceleration maneuver, a deceleration maneuver, a stop maneuver, a turning maneuver, or a parking maneuver.

5. The system for coordinated driving of claim 1 ,
wherein the vehicle communication system disengages the coordinated driving between the tractor vehicle and the trailer vehicle based on the response including a decline to the proposed driving maneuver; or
wherein the route generation module generates the route corresponding to the proposed driving maneuver based on the response including an acceptance of the proposed driving maneuver.

6. The system for coordinated driving of claim 1 , comprising a vehicle sensor detecting an obstacle in an operating environment.

7. The system for coordinated driving of claim 6 ,
wherein the proposed driving maneuver includes a driving maneuver already executed by the tractor vehicle at a first time, wherein the tractor vehicle executing the driving maneuver is unimpeded by the obstacle;
wherein the vehicle sensor detects the obstacle at a second time after the first time, the obstacle impeding the route corresponding to the proposed driving maneuver;
the system comprising a coordinated driving module determining an alternative route corresponding to the proposed driving maneuver.

8. The system for coordinated driving of claim 7 , wherein the alternative route includes a delayed implementation of the route corresponding to the proposed driving maneuver or a different path than the already executed driving maneuver.

9. The system for coordinated driving of claim 1 ,
wherein the route generation module generates the route corresponding to the proposed driving maneuver based on the response including an acceptance of the proposed driving maneuver;
wherein the vehicle communication system receives an updated driving maneuver from the tractor vehicle; and
wherein the route generation module automatically generates an updated route corresponding to the driving maneuver and updated driving maneuver based on the response including the already accepted proposed driving maneuver.

10. The system for coordinated driving of claim 1 , wherein the vehicle communication system automatically responds to the proposed driving maneuver with a decline based on a detected obstacle.

11. The system for coordinated driving of claim 1 , comprising a cooperative adaptive cruise control (CACC) module determining an execution parameter associated with the route corresponding to the proposed driving maneuver including a velocity, an acceleration, a position, a path, or a timing for the trailer vehicle.

12. The system for coordinated driving of claim 1 , wherein the vehicle communication system receives a previous driving parameter associated with the tractor vehicle, a current driving parameter associated with the tractor vehicle, or an anticipated driving parameter associated with the tractor vehicle.

13. The system for coordinated driving of claim 12 , wherein the execution parameter associated with the route is determined based on the previous driving parameter, the current driving parameter, or the anticipated driving parameter associated with the tractor vehicle.

14. The system for coordinated driving of claim 13 , wherein the previous driving parameter, the current driving parameter, or the anticipated driving parameter associated with the tractor vehicle includes a velocity, an acceleration, a position, a path, or a timing for the tractor vehicle.

15. A method for coordinated driving, comprising:
receiving a proposed driving maneuver from a tractor vehicle, wherein the proposed driving maneuver includes an executed driving maneuver associated with the tractor vehicle including a velocity of the tractor vehicle during the executed maneuver within an area having a posted speed limit and the tractor vehicle is currently engaged in segment-by-segment coordinated driving with the trailer vehicle in the area having the posted speed limit;
receiving a response to the proposed driving maneuver from an occupant of a trailer vehicle; and
generating a route corresponding to the proposed driving maneuver based on the response to the proposed driving maneuver, wherein the response includes a partial decline to the proposed driving maneuver, wherein the partial decline to the proposed driving maneuver includes a lane change from a current lane of the trailer vehicle to a lane associated with the tractor vehicle.

16. The method of claim 15 , comprising:
disengaging the coordinated driving between the tractor vehicle and the trailer vehicle based on the response including a decline to the proposed driving maneuver; or
generating the route corresponding to the proposed driving maneuver based on the response including an acceptance of the proposed driving maneuver.

17. The method of claim 15 , comprising detecting an obstacle in an operating environment.

18. The method of claim 17 ,
wherein the proposed driving maneuver includes a driving maneuver already executed by the tractor vehicle at a first time, wherein the tractor vehicle executing the driving maneuver is unimpeded by the obstacle;
wherein the method includes detecting the obstacle at a second time after the first time, the obstacle impeding the route corresponding to the proposed driving maneuver; and
determining an alternative route corresponding to the proposed driving maneuver.

19. The method of claim 18 , wherein the alternative route includes a delayed implementation of the route corresponding to the proposed driving maneuver or a different path than the already executed driving maneuver.

20. A system for coordinated driving, comprising:
a vehicle electronic control unit (ECU) monitoring and defining a driving maneuver associated with a tractor vehicle;
a vehicle communication system transmitting a proposed driving maneuver to a trailer vehicle, w

Assignees

• Honda Motor Co Ltd

Inventors

• Bai Xue
• Moradi-Pari Ehsan

Classifications

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title

• G01C21/3453

  Special cost functions, i.e. other than distance or default speed limit of road segments · CPC title

• B60W2050/0075

  Automatic parameter input, automatic initialising or calibrating means · CPC title

• B60W30/09

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W30/143

  Speed control (B60W30/16 takes precedence) · CPC title