Wind and transmission delay management for connected vehicles

Patent metadata

Field	Value
Publication number	US-12296903-B2
Application number	US-202318368193-A
Country	US
Kind code	B2
Filing date	Sep 14, 2023
Priority date	Sep 14, 2023
Publication date	May 13, 2025
Grant date	May 13, 2025

Abstract

In some examples, a service computing device receives, from a vehicle computing device onboard a vehicle, a communication including sensor data obtained from at least one sensor onboard the vehicle. Based on the communication, the service computing device determines a transmission delay corresponding to a difference between a time when the vehicle sent the communication and a time when the communication was received. Based on the communication, the service computing device determines a trajectory of the vehicle on a travel route. Based on the sensor data, transmission delay, wind direction and magnitude, surrounding objects, and trajectory, the service computing device determines vehicle control information for the vehicle. The service computing device sends, to the vehicle, based at least on the vehicle control information, at least one instruction causing the vehicle to perform at least one control operation for traversing one or more locations associated with the trajectory of the vehicle.

First claim

What is claimed:

1. A system comprising:
one or more service computing devices configured by executable instructions to perform operations comprising:
receiving, from a vehicle computing device onboard a vehicle, a communication including sensor data obtained from at least one sensor onboard the vehicle;
determining, based at least on the communication, a transmission delay corresponding to a difference between a time when the vehicle sent the communication and a time when the communication was received by the one or more service computing devices;
determining, based at least on the communication, a trajectory of the vehicle on a travel route of the vehicle;
determining, based at least on the sensor data, wind information for one or more locations associated with the trajectory of the vehicle;
determining vehicle control information for the vehicle based at least on the wind information, the trajectory, and the transmission delay; and
sending, to the vehicle, based at least on the vehicle control information, at least one instruction causing the vehicle to perform at least one control operation for traversing the one or more locations.

2. The system as recited in claim 1 , wherein the at least one instruction causes the vehicle computing device to perform the at least one control operation to control at least one vehicle system based at least in part on a predicted effect of wind on the vehicle at the one or more locations.

3. The system as recited in claim 1 , wherein determining, based at least on the sensor data, wind information for one or more locations associated with the trajectory of the vehicle further comprises:
determining, from the received sensor information, a roll, pitch, and yaw of the vehicle; and
determining, based at least on the roll, pitch, and yaw of the vehicle, at least one of a wind direction or a wind speed at a location associated with the vehicle.

4. The system as recited in claim 1 , the operations further comprising:
determining, based at least on the sensor data, a location of at least one object relative to the vehicle, wherein at least one instruction sent to the vehicle is further based on the location of the at least one object relative to the vehicle.

5. The system as recited in claim 1 , the operations further comprising storing the transmission delay in a transmission delay data structure in association at least with a vehicle location and vehicle information including at least one of an identifier of the vehicle, a speed of the vehicle, a communication protocol used by the vehicle, a communication provider used by the vehicle, or a size of the sensor data,
wherein the operation of determining the vehicle control information based on the transmission delay is further based on information in the transmission delay data structure.

6. The system as recited in claim 1 , the operations further comprising:
generating, based at least on the communication received from the vehicle, a local map including a plurality of waypoints for an upcoming period, the plurality of waypoints corresponding the one or more locations associated with the trajectory of the vehicle; and
determining a plurality of wind data points for the plurality of waypoints, the plurality of wind data points each indicating a predicted wind direction and wind speed at a respective location of the wind data point,
wherein the at least one instruction is determined based on the predicted wind direction and wind speed at the respective locations of the wind data points.

7. The system as recited in claim 1 , the operations further comprising:
determining a location associated with the wind information determined based at least on the sensor data;
searching a wind information database to determine whether an entry in the database already exists that corresponds to the location;
based on locating an existing entry in the wind information database corresponding to the location, determining whether a difference between the wind information determined based on the sensor data and wind information for the existing entry is less than a wind threshold; and
based on the difference being less than the wind threshold, updating the wind information database with an entry that is based on both the wind information determined based on the sensor data and the wind information for the existing entry.

8. A method comprising:
receiving, by one or more service computing devices, from a vehicle computing device onboard a vehicle, a communication including sensor data obtained from at least one sensor onboard the vehicle;
determining, based at least on the communication, a transmission delay corresponding to a difference between a time when the vehicle sent the communication and a time when the communication was received by the one or more service computing devices;
determining, based at least one the communication, a trajectory of the vehicle on a travel route of the vehicle;
determining, based at least one the sensor data, wind information for one or more locations associated with the trajectory of the vehicle;
determining vehicle control information for the vehicle based at least on the sensor data, the trajectory, the wind information, and the transmission delay
sending, to the vehicle, based at least on the vehicle control information, at least one instruction causing the vehicle to perform at least one control operation for traversing the one or more locations associated with the trajectory of the vehicle.

9. The method as recited in claim 8 , wherein the at least one instruction causes the vehicle computing device to perform the at least one control operation to control at least one vehicle system based at least in part on a predicted effect of wind on the vehicle at the one or more locations.

10. The method as recited in claim 9 , wherein determining, based at least on the sensor data, the wind information for the one or more locations associated with the trajectory of the vehicle further comprises:
determining, from the received sensor information, a roll, pitch, and yaw of the vehicle; and
determining, based at least on the roll, pitch, and yaw of the vehicle, at least one of a wind direction or a wind speed at a location associated with the vehicle.

11. The method as recited in claim 8 , further comprising:
determining, based at least on the sensor data, a location of at least one object relative to the vehicle, wherein the at least one instruction sent to the vehicle is further based on the location of the at least one object relative to the vehicle.

12. The method as recited in claim 8 , further comprising storing the transmission delay in a transmission delay data structure in association at least with a vehicle location and vehicle information including at least one of an identifier of the vehicle, a speed of the vehicle, a communication protocol used by the vehicle, a communication provider used by the vehicle, or a size of the sensor data,
wherein the operation of determining the vehicle control information based on the transmission delay is further based on information in the transmission delay data structure.

13. The method as recited in claim 8 , further comprising:
generating, based at least on the communication received from the vehicle, a local map including a plurality of waypoints for an upcoming period, the plurality of waypoints corresponding the one or more locations associated with the trajectory of the vehicle; and
determining a plurality of wind data points for the plurality of waypoints, the plurality of wind data points each indicating a predicted wind direction and wind speed at a respective location of the wind da

Assignees

• Hitachi Astemo Ltd

Inventors

• Zhu Xiaoliang
• Kundu Subrata Kumar
• Liu Paul

Classifications

• B60W10/20

  including control of steering systems · CPC title

• B60W10/18

  including control of braking systems · CPC title

• G07C5/008 Primary

  communicating information to a remotely located station (transmission systems for measured values G08C) · CPC title

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B62D6/04 Primary

  responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel · CPC title