CN108275152A

CN108275152A - Follow the system and method that vehicle control is used under scene closely

Info

Publication number: CN108275152A
Application number: CN201711384190.1A
Authority: CN
Inventors: J·蒂萨; 三枝重信; Z·梅代尼察
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2017-01-04
Filing date: 2017-12-20
Publication date: 2018-07-13
Anticipated expiration: 2037-12-20
Also published as: CN108275152B; DE102017223364A1

Abstract

This application involves follow the system and method that vehicle control is used under scene closely.Specifically, a kind of for controlling the method implemented by computer of main vehicle relative to the first vehicle for being close in main front side, this method comprises the following steps：It detects in main vehicle rear and the second vehicle for being travelled in track identical with main vehicle.This method comprises the following steps：It detects by the brake operating of the vehicle system start of main vehicle.The brake operating is based on accelerating control rate that main vehicle is made to slow down, to keep referring to forward travel distance with the front of the first vehicle.This method comprises the following steps：It determines relative to rear with reference to the opposite rear forward travel distance between forward travel distance, main vehicle and the second vehicle, and forward travel distance is referred to based on opposite rear forward travel distance and rear, to change acceleration control rate.In addition, this method comprises the following steps：Vehicular system is controlled according to modified acceleration control rate.

Description

Follow the system and method that vehicle control is used under scene closely

Related application

It is described this application claims the priority for the U.S.Provisional Serial 62/442333 that on January 4th, 2017 submits During U.S. Provisional Application is expressly incorporated herein by reference.The application also requires the U.S. submitted on January 4th, 2017 to face When patent application serial numbers 62/442190 priority, during the U.S. Provisional Application is also expressly incorporated herein by reference.

Further, the application is that Shen is continued in the part for the Application U.S. Serial No 15/630864 submitted on June 22nd, 2017 Please, the application also requires the priority of U.S. Provisional Application Serial No. 62/442333 and 62/442190, all these with reference Mode be expressly incorporated herein.Application U.S. Serial No 15/630864 is also the U.S. Shen submitted on June 23rd, 2016 Please sequence number 15/191358 part continuation application, during the U. S. application is expressly incorporated herein by reference.

The part continuation application for the Application U.S. Serial No 15/630866 that the application or on June 22nd, 2017 submit, this Application also requires the priority of U.S. Provisional Application Serial No. 62/442333 and 62/442190, all these also with the side of reference During formula is expressly incorporated herein.Application U.S. Serial No 15/630866 is also the U. S. application sequence submitted on June 23rd, 2016 The part continuation application of row number 15/191358, during the U. S. application is expressly incorporated herein by reference.

Further, continue the part for the Application U.S. Serial No 15/679068 that the application or August in 2017 are submitted on the 16th Application, the U. S. application also require the priority of U.S. Provisional Application Serial No. 62/442333, and all these applications are also to draw During mode is expressly incorporated herein.In addition, the application is the Application U.S. Serial No 15/ submitted on June 23rd, 2016 191358 part continuation application, during the U. S. application is also expressly incorporated herein by reference.

Technical field

This disclosure relates to follow the system and method for being used for vehicle control under scene (tailgating situation) closely.

Background technology

Vehicle traveling may be influenced by many different variables, such as other vehicles, object, barrier, danger and Environmental aspect (herein referred as danger).It is traffic jam, Lane Closed, disabled person's vehicle on road, tight as illustrated examples It may lead to the notable delay of vehicle traveling with vehicle (tailgating vehicle), collision and/or clast and may endanger Road safety.The driver of vehicle may be unaware that these the different variables for influencing vehicle traveling.In some cases, it drives Member can not see the danger of the certain environment beyond vehicle.For example, the sight of driver may be by oversize vehicle, traffic jam And/or weather conditions weaken or blocking completely.Followed by observe when following vehicle closely, the sight of driver is similarly subjected to limit System.In turn, the sight of driver may also be reduced due to road geometry (such as curvature).

In addition, driver does not know that the driver's of the dynamic and other vehicles about other vehicles on road is detailed usually Details condition.For example, driver may be unaware that the speed of other vehicles or motor-driven intention on road.The vehicle implemented in the car Sensor-based system (for example, radar, camera) can detect some danger.However, adjacent ambient of these sensor-based systems in vehicle It is interior that there is limited detection range.Therefore, driver does not have about other than the ambient enviroment of vehicle, more front or more after Just, neither in the information of road level nor the barrier in the level of track.When the information synergism conveyed is applied to one When vehicle or many vehicles, some danger as discussed above can be solved by carrying out vehicle communication with other vehicles and infrastructure Danger.

Invention content

According to one side, a kind of the method implemented by computer for controlling the Vehicular system of main vehicle, the Vehicular system Main vehicle is controlled relative to the movement in main vehicle the first vehicle immediately front, which includes the following steps：It uses One or more vehicle sensors, to detect in main vehicle rear and the second vehicle for being travelled in track identical with main vehicle；And make With one or more vehicle sensors, to detect the brake operating of the vehicle system start by main vehicle.Brake operating is based on by vehicle Acceleration control rate that system generates and so that main vehicle is slowed down, to keep referring to forward travel distance with the front of the first vehicle (preceding headway reference distance).This method includes：Using one or more vehicle sensors, come Determine relative to rear with reference to forward travel distance (rear headway reference distance), main vehicle and the second vehicle it Between opposite rear forward travel distance, and forward travel distance is referred to based on opposite rear forward travel distance and rear, to change acceleration control Rate.In turn, this method includes：According to modified acceleration control rate, the brake operating of Vehicular system is controlled, so that main vehicle subtracts Speed.

A kind of Vehicular system for main vehicle according to another aspect, the Vehicular system control main vehicle relative in main vehicle The movement of first vehicle immediately front, the Vehicular system include：Sensing system and processor, the processor are operably connected, For carrying out computer communication with sensing system.Processor is using one or more vehicle sensors, to detect after main vehicle Side and the second vehicle travelled in track identical with main vehicle, and received from the Vehicular system of main vehicle and accelerate control rate.When by leading When vehicle executes, control rate is accelerated to start brake operating by the Vehicular system of main vehicle, to keep referring to the front of the first vehicle Forward travel distance.In turn, processor is based on opposite rear forward travel distance and rear refers to forward travel distance, to change acceleration control rate, And according to modified acceleration control rate, to control the brake operating of Vehicular system, so that main vehicle slows down.

According to another aspect, a kind of includes the non-transitory computer-readable storage media instructed, and the instruction is by handling Device causes processor to proceed as follows when executing：Detect main vehicle rear and travelled in track identical with main vehicle second Vehicle, and received from the Vehicular system of main vehicle and accelerate control rate.Accelerate control rate generated by Vehicular system, with keep with it is tight in main vehicle The front of first vehicle in front refers to forward travel distance.In turn, processor calculate relative to rear with reference to forward travel distance, main vehicle and Opposite rear forward travel distance between second vehicle, and forward travel distance is referred to based on opposite rear forward travel distance and rear, to change Accelerate control rate.Modified acceleration control rate is sent to Vehicular system by the processor.

Description of the drawings

Figure 1A is the schematic diagram of exemplary traffic scene according to one embodiment；

Figure 1B is the schematic diagram of the vehicle in the second lane 104b of Figure 1A according to illustrative embodiments；

Fig. 2 is the schematic diagram of vehicle communication network according to illustrative embodiments；

Fig. 3 is the block diagram of the vehicle control system of vehicle according to illustrative embodiments；

Fig. 4 be according to one embodiment can exemplary vehicle system associated with the vehicle of Fig. 3 schematic diagram；

Fig. 5 is the schematic diagram of the example internal of vehicle according to illustrative embodiments；

Fig. 6 is the schematic diagram according to illustrative embodiments for controlling the C-ACC Controlling models of vehicle control system；

Fig. 7 is the block diagram of the Exemplary control system of C-ACC control systems according to illustrative embodiments；

Fig. 8 is the process flow diagram flow chart according to illustrative embodiments for controlling the method for vehicle control system；

Fig. 9 is the process flow diagram flow chart according to illustrative embodiments for calculating the method for the acceleration control rate of main vehicle；

Figure 10 is the process flow diagram flow chart of the method according to illustrative embodiments for selecting head vehicle；

Figure 11 is the communication link according to illustrative embodiments for monitoring the packet loss between main vehicle and long-range vehicle Method process flow diagram flow chart；

Figure 12 is the schematic diagram of the exemplary traffic scene for hazard detection according to one embodiment；

Figure 13 is the process of the method according to illustrative embodiments for detecting danger and controlling vehicle control system Flow chart；

Figure 14 A are the process flows diagram flow chart of the method according to illustrative embodiments for classifying to long-range vehicle；

Figure 14 B are the classification according to illustrative embodiments for describing the long-range vehicle to the main front side of Figure 14 A Illustrated examples；

Figure 14 C are the process streams according to illustrative embodiments for predicting the method for the lateral shift of long-range vehicle classification Cheng Tu；

Figure 15 is according to illustrative embodiments for detecting magnitude of traffic flow danger based on vehicle communication and controlling vehicle The process flow diagram flow chart of the method for control system；

Figure 16 is according to illustrative embodiments to detect danger and control vehicle for being changed based on long-range vehicle track The process flow diagram flow chart of the method for control system；

Figure 17 is the schematic diagram according to illustrative embodiments for detecting dangerous traffic scene；

Figure 18 is the schematic diagram of the exemplary traffic scene for merging auxiliary according to one embodiment；

Figure 19 is according to illustrative embodiments for providing the process flow for merging auxiliary using vehicle communication network Figure；

Figure 20 is according to illustrative embodiments for assisting offer speed to guide to merging using vehicle communication network Process flow diagram flow chart；

Figure 21 is according to illustrative embodiments for assisting offer position to guide to merging using vehicle communication network Process flow diagram flow chart；

Figure 22 A are the illustrated embodiments of the scene according to illustrative embodiments that radar object is not detected；

Figure 22 B are the illustrated embodiments according to illustrative embodiments for merging scene side by side；

Figure 22 C are the illustrated embodiments that tail portion according to illustrative embodiments merges main vehicle under scene；

Figure 22 D are the illustrated embodiments for the main vehicle that front according to illustrative embodiments merges under scene；

Figure 22 E are the explanations of the intermediate main vehicle for merging scene according to illustrative embodiments according to front safe distance Property embodiment；

Figure 22 F are the explanations of the intermediate main vehicle for merging scene according to illustrative embodiments according to rear safe distance Property embodiment；

Figure 23 A are the schematic diagrames for following the exemplary traffic scene under scene closely according to an embodiment；

Figure 23 B are the schematic diagrames of the vehicle in the second lane 2304b according to Figure 23 A of an illustrative embodiments；

Figure 24 is the block diagram according to the vehicle control system of the vehicle of an illustrative embodiments；

Figure 25 is according to an illustrative embodiments, C-ACC and/or control for brake for controlling vehicle control system The schematic diagram of model；

Figure 26 is according to an illustrative embodiments, the method for controlling the Vehicular system for following the main vehicle under scene closely Process flow diagram flow chart；

Figure 27 is the process flow diagram flow chart according to the detailed view of an illustrative embodiments, the method for showing Figure 26；

Figure 28 is according to an illustrative embodiments, shows the relational graph of brake pedal force and time；

Figure 29 be according to an illustrative embodiments, for control follow closely the main vehicle under scene Vehicular system it is another The process flow diagram flow chart of method；

Figure 30 is the process flow diagram flow chart according to the detailed view of an illustrative embodiments, the method for showing Figure 29；With And

Figure 31 is the process flow according to another detailed view of an illustrative embodiments, the method for showing Figure 29 Figure.

Specific implementation mode

The definition of the selected term included below used herein.The definition includes falling within the scope of term and can be used for The various examples and/or form of the component of implementation.These examples are not intended to limit.In addition, the component being discussed herein can be with it His component combination is omitted or is organized together with other component, or is organized into different frameworks.

" bus " refers to the framework of interconnection as used herein, is operably connected to computer-internal or computer Between other machine elements.Bus can transmit data between machine element.Bus can be memory bus, deposit Reservoir processor, peripheral bus, external bus, crossbar switch and/or local bus etc..Bus can also be vehicle bus, The agreements such as (MOST), processor Local Area Network (CAN), local interconnection network (LIN) are transmitted using the system towards media To interconnect the component of vehicle interior.

As used herein " component " refer to computer related entity (for example, hardware, firmware, it is in execution instruction, its Combination).Machine element may include the process for example run on a processor, processor, object, executable program, execution Thread and computer.Machine element may reside in process and/or thread.Machine element can be localized at one On computer and/or it can be distributed between multiple computers.

" computer communication " refers to two or more computing devices (for example, computer, a number as used herein Word assistant, cellular phone, network equipment) between communication, and can be for example transmission of network, file transmission, it is small apply journey Sequence transmission, Email, hypertext transfer protocol (HTTP) transmission etc..Computer communication can cross over such as wireless system (example Such as, IEEE 802.11), Ethernet system (for example, IEEE 802.3), token loop system (for example, IEEE 802.5), local The generations such as net (LAN), wide area network (WAN), Point-to-Point system, circuit switching system, packet switching system.

" computer-readable medium " refers to the non-transitory medium of store instruction and/or data as used herein.It calculates Machine readable medium can take many forms, including but not limited to non-volatile media and Volatile media.Non-volatile media May include such as CD, disk.Volatile media may include such as semiconductor memory, dynamic memory.It calculates The common form of machine readable medium can include but is not limited to floppy disk, foldable disk, hard disk, tape, other magnetic mediums, ASIC, CD, other optical mediums, RAM, ROM, memory chip or card, memory stick and computer, processor or other electronic devices can With from other media wherein read.

" database " is for referring to table as used herein.In other examples, " database " is used to refer to one group of table. In other other examples, " database " may refer to one group of data for accessing and/or manipulating those data repositories Repository and method.Database can be stored in such as disk and/or memory.

" disk " can be such as disc driver, solid magnetic disc driver, floppy disk, tape as used herein Driver, Zip drivings, flash card and/or memory stick.In addition, disk, which can be CD-ROM (CD ROM), CD, can record driver (CD-R drive), CD recordable drives (CD-RW drive) and/or digital video ROM drive (DVD ROM).Disk can With storage control or the operating system of the resource of distribution computing device.

" input/output device " (I/O devices) may include the device and/or use for receiving input as used herein In the device of output data.Input and/or output can be used for the difference that control includes various vehicle parts, system and subsystem Vehicle characteristics.Specifically, term " input unit " includes but not limited to：Keyboard, microphone, indicator device and selection device, phase Machine, imaging device, video card, display, button, knob etc..Term " input unit " includes occurring in user interface in addition Figure input control, the user interface can pass through the control such as based on software and hardware, interface, touch screen, touch Various types of mechanism such as plate or plug-and-play apparatus are shown." output device " includes but not limited to：It display device and is used for The other equipment of output information and function.

" logic circuit " includes but not limited to the non-transitory calculating of hardware, firmware, store instruction as used herein Machine readable medium executes on machine and/or causes (such as execution) from another logic circuit, module, method and/or be The instruction of the action of system.Logic circuit may include processor, discrete logic (for example, ASIC), the simulation electricity controlled by algorithm Road, digital circuit, programmed logic device, memory device containing instruction etc. and/or can be part of it.Logic can wrap Include one or more doors, the combination of door or other circuit blocks.In the case where describing multiple logics, multiple logics can be closed And at a physical logic.It similarly, can be by the single assignment of logical in multiple physics in the case where describing single logic Between logic.

" memory " may include volatile memory and/or nonvolatile memory as used herein.It is non-volatile Property memory may include such as ROM (read-only memory), PROM (programmable read only memory), EPROM (erasable PROM) With EEPROM (electric erasable PROM).Volatile memory may include such as RAM (random access storage device), synchronous random access memory (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), Double Data Rate SDRAM (DDRSDRAM) and direct RAM buses RAM(DRRAM).Memory can store control or distribute the operating system of the resource of computing device.

" being operatively connected " or entity " being operatively connected " by connection be that can send and/or receive signal, object Reason communication and/or the connection of logic communication.It is operable connection may include wireless interface, physical interface, data-interface and/ Or electrical interface.

" module " includes but not limited to the non-transitory computer-readable medium of store instruction, in machine as used herein Instruction, hardware, firmware, the software executed on machine, and/or the combination of each executed on device is to execute function or move Make, and/or causes the function from another module, method and/or system or action.Module can also include logic, software The microprocessor of control, analog circuit, digital circuit, programmed logic device, contains the storage executed instruction at discrete logic Device device, logic gate, the combination of door and/or other circuit blocks.Multiple modules can be combined into a module, and single mould Block can be distributed between multiple modules.

" mancarried device " is that usually have to input (for example, touching device, keyboard) with user as used herein Display screen and the processor for calculating computing device.Mancarried device includes but not limited to hand-held device, mobile dress It sets, smart phone, laptop computer, tablet computer and electronic reader.

" processor " handles signal and executes general-purpose computations and arithmetic function as used herein.It is handled by processor Signal may include that the digital signal that can be received, transmit and/or detect, data-signal, computer instruction, processor refer to It enables, message, numerical digit, bit stream.In general, processor can be various processors, including multiple monokaryons and multi-core processor With coprocessor and other multiple monokaryons and multi-core processor and coprocessor framework.Processor may include executing to move The logic circuit of work and/or algorithm.

" vehicle " is to refer to carry one or more human passengers and energy in any form as used herein Measure any mobile vehicle of power supply.Term " vehicle " include but not limited to automobile, truck, cargo, jubilee wagen, SUV, Motorcycle, scooter, canoe, kart, recreational vehicle, railway transportation, personal watercraft and aircraft.In some cases, motor vehicle Include one or more engines.In addition, term " vehicle " can refer to carry one or more human passengers and complete Fully or partially by the electric vehicle (EV) of one or more power electric motors, the electro-motor is battery powered.EV can be wrapped Include cell electric vehicle (BEV) and plug-in hybrid-power electric vehicle (PHEV).Term " vehicle " can also refer to by any type of The Autonomous Vehicles and/or automatic driving vehicle of energy power supply.Autonomous Vehicles can carry one or more human passengers.In addition, term " vehicle " may include having the automation of predefined paths or the vehicle of non-automated or free-moving vehicle.

What " vehicle display " can include but is not limited to often find in the car as used herein is used to show The LED display panel of information about automobile, LCD display panel, CRT monitor, plasma display panel, touch screen are shown Device etc..Display can receive input (for example, touch input, keyboard input, from the defeated of various other input units from user Enter).Display can be located in each position of vehicle, such as on instrument board or central control board.In some implementations In mode, display is a part (for example, possessing Vehicular occupant or associated with Vehicular occupant) for mancarried device, navigation system System, information entertainment etc..

" vehicle control system " and/or " Vehicular system " can include but is not limited to can be used for increasing as used herein Strong vehicle, driving and/or any automatic or manual system of safety.Exemplary vehicle system includes but not limited to：Electronics is steady Qualitative control system, anti-lock braking system, brake assist system, automatic braking pre-fill system, low speed system for tracking, cruise control System processed, collision warning system, impact-moderation braking system, automatic cruise control system, deviation warning system, blind spot refer to Show that system, track keep auxiliary system, navigation system, transmission system, brake pedal system, electrical power steering system, vision Device (for example, camera system, proximity sensor system), atmosphere control system, electronics pretensioning system, monitoring system, passenger Detecting system, vehicle suspension system, seat configuration system, carlighting system, audio system, sensor-based system, inside or External camera system etc..

I. system survey

System and method described herein relate generally to using may include multiple vehicles and infrastructure vehicle it is logical Communication network controls vehicle.Information is conveyed to allow the background in traffic scene using vehicle communication network and/or sensitive information Under to one or more vehicles carry out Collaborative Control.Specifically, method described herein and system, which provide, uses vehicle communication net Cooperative self-adapted cruise control (C-ACC), hazard detection and the merging auxiliary of network.Figure 1A is shown will be herein for describing The exemplary traffic scene 100 of some system and method.Traffic scene 100 is related to one or more vehicles on road 102. Road 102 has first lane 104a, second lane 104b and third lane 104c.It should be understood that road 102 can have Figure 1A In unshowned various constructions, and can have any amount of track.

In figure 1A, traffic scene 100 includes main vehicle (HV) 106 and one or more long-range vehicles, and the long-range vehicle is usual It will be referred to as long-range vehicle 108.More particularly, however, long-range vehicle 108 includes long-range vehicle (RV) 108a, long-range vehicle 108b, long-range vehicle 108c, long-range vehicle 108d, long-range vehicle 108e, long-range vehicle 108f and long-range vehicle 108g.One or more long-range vehicles 108 can also be by Referred to as multiple long-range vehicles 108.In some embodiments, one or more of long-range vehicle 108 can be relative to main vehicle 106 To identify.For example, long-range vehicle 108d can be identified as the front truck relative to main vehicle 106.Specifically, long-range vehicle 108d is to be located at It is close in before main vehicle 106 or is close in the front truck in the front of main vehicle 106.In some embodiments, in long-range vehicle 108 One can be a vehicle, it is the long-range vehicle before main vehicle and front truck.For example, in figure 1A, head vehicle can be identified as far Journey vehicle 108a, the long-range vehicle are before main vehicle 106 and front truck 108d.In other embodiments, head vehicle can be remote Journey vehicle 108b.

In some embodiments, one or more of the long-range vehicle 108 in traffic scene 100 can be identified as one Team's vehicle 108.For example, main vehicle 106, long-range vehicle 108a, long-range vehicle 108b, long-range vehicle 108c and long-range vehicle 108d can be A part for the one group of vehicle 108 travelled in same track (that is, second lane 104b).Figure 1B is the second lane in Figure 1A The long-range vehicle 108 travelled in 104b is (that is, main vehicle 106, long-range vehicle 108a, long-range vehicle 108b, long-range vehicle 108c and long-range vehicle Schematic diagram 108d).In some embodiments, vehicle string shown in Figure 1B can be one group of vehicle 108.It should be understood that main vehicle 106 and long-range vehicle 108 may be at the configuration different from shown in Figure 1A and 1B and position.

In the system and method being discussed herein, main vehicle 106 can be based partially on and be communicated about via vehicle communication network The data of long-range vehicles of one or more 108 control.Main vehicle 106 and one or more long-range vehicles 108 can be logical as vehicle A part for communication network is communicated.Specifically, vehicle communication described herein can use Dedicated Short Range Communications (DSRC) To implement.However, it should be understood that vehicle communication described herein can be implemented with any communication or procotol, for example, from group Wireless access, cellular network, Wi-Fi network (for example, IEEE 802.11), bluetooth, WAVE, CALM in network, vehicle etc.. In addition, vehicle communication network can be vehicle to vehicle (V2V) or vehicle to all things (V2X).

In figure 1A, main vehicle 106 can use DSRC to other vehicles, user or infrastructure transmission, receive and/or with Exchange communication, including data, message, image and/or other information.Specifically, main vehicle 106 equipped with vehicle to vehicle (V2V) transceiver 110, the transceiver can with can be used to and main vehicle 106 carry out computer communication other vehicles, use Family or infrastructure exchange message and information.For example, V2V transceivers 110 can be via V2V transceivers 112a and long-range vehicle 108a, via V2V transceivers 112b and long-range vehicle 108b, via V2V transceivers 112c and long-range vehicle 108c and via V2V Transceiver 112d is communicated with long-range vehicle 108g.V2V transceivers 110 can also be with wireless network antenna 114 and/or roadside equipment (RSE) it 116 is communicated.Similarly, long-range vehicle 108a, long-range vehicle 108b, long-range vehicle 108c and long-range vehicle 108g can be used Its corresponding V2V transceiver come with each other, main vehicle 106, wireless network antenna 114 and/or RSE 116 communicate.Shown in Figure 1A Embodiment in, long-range vehicle 108d, long-range vehicle 108e and long-range vehicle 108f are not equipped with (for example, being received without DSRC V2V Hair device) for being communicated with main vehicle 106 using vehicle communication network.It should be understood that in other embodiments, long-range vehicle One or more of 108d, long-range vehicle 108e and long-range vehicle 108f may include logical with main vehicle 106 using vehicle communication network The equipment of letter.

It such as will be discussed herein, various types of data can be transmitted using vehicle communication network.For example, the type of vehicle And/or specification, navigation data, road hazard data, traffic location data, course data, navigation historical data, projection navigation Data, dynamic data, current vehicle location data, range or range data, speed and acceleration information, position data, vehicle Sensing data, vehicle subsystem data and/or any other information of vehicles.Some embodiments being discussed herein, which are included in, to be used for The swapping data and information of the online vehicles of vehicle drive.More specifically, transmitted data can be based partially on to execute The control of vehicle.Therefore, DSRC communications can be used for controlling one or more vehicle control systems.Vehicle control system include but It is not limited to cooperation adaptive learning algorithms (C-ACC) system；Adaptive learning algorithms (ACC) system；Smart cruise control system； Autonomous driving system；Driver assistance system；Deviation warning system；Merge auxiliary system；Highway merge, leave the theatre and Replace system in track；Collision warning system；Security system based on integrated vehicle and automatic guiding system.Some realities herein Mode is applied to be described under the background of C-ACC systems, vehicle control system and/or merging auxiliary system.

In addition, in the system and method being discussed herein, main vehicle 106 can be based partially on to be sensed about by main vehicle 106 The data of long-range vehicles of one or more 108 control.In figure 1A, long-range vehicle 108 can sense each of on road 102 By the adjacent vehicle and object shown by the arcuate path that is sent out from long-range vehicle 108.Long-range vehicle 108 can use one or more Sensor (for example, radar sensor) senses neighbouring vehicle and object.Main vehicle 106 may include that one or more sensors are used In data of the sensing about other vehicles and object near main vehicle 106, the sensor will be made further detailed herein It discusses.For example, main vehicle 106 can sense distance, acceleration and the speed of other vehicles about front truck 108d or close to main vehicle 106 Degree.Therefore, although front truck 108d is unworthy of being ready for use on carries out V2V communications with main vehicle 106, main vehicle 106 still can use vehicle-mounted Sensor obtains the data about front truck 108d.

A. vehicle communication network

Referring now to Figure 2, showing the schematic diagram of vehicle communication network 200 according to illustrative embodiments.Vehicle is logical Communication network 200 can be implemented in vehicle shown in figure 1A and 1B.In fig. 2, main vehicle 106 includes C- ACC systems 202.C- ACC system 202 can exchange vehicle and traffic data via the vehicle compatible with other DSRC of V2V transceivers 110.For example, V2V is received Hair device 110 can exchange data via V2V transceivers 112a using communication link 203 with long-range vehicle 108a.Although in Fig. 2 only Show a long-range vehicle, it should be appreciated that main vehicle 106 can be configured to carry out DSRC communications in the vehicle communication network 200 More than one long-range vehicle communicated.Therefore, in some embodiments, can be established using the communication link of DSRC It main vehicle 106 and is configured between the multiple long-range vehicles (for example, long-range vehicle 108) for carrying out V2V communications using DSRC.

In the implementation discussed herein, the control of main vehicle 106 is based on directly remote with one or more in main vehicle 106 The information that is communicated between journey vehicle 108 executes.However, in some embodiments, it can be with other infrastructure and server Exchange data.For example, in fig. 2, C-ACC systems 202 network 204 can be carried directly or indirectly to service by radio communication Donor 212 transmits information and receives information from ISP 212.ISP 212 may include being configured as leading to each other Remote server 214, remote transmission apparatus 216, remote receiver 218 and the remote memory 220 of letter.In one embodiment, Main vehicle 106 can receive data and information by a pair of of multi communication network 222 from ISP 212.A pair of of multi communication network 222 may include the system that can information be sent to multiple receivers from a source.The example of a pair of of multi communication network can be with Including TV, radio, satellite network etc..

In fig. 2, V2V transmitters 110 can be used by C-ACC systems 202 come network 204 by radio communication and all Such as internet broadband network 210 receives information from ISP 212 and other information supplier and transmits information to it. In alternate embodiments, radio frequency (RF) transceiver 224 in main vehicle 106 can be by C-ACC systems 202 using passing through wireless network Network antenna 114 transmits information to ISP 212 to cordless communication network 204 and receives from it information.RF transceivers 224 can To include but not limited to radio telephone, radio modem, Wi-Fi compatible transceivers and/or use cordless communication network 204 with any other devices of other network communications.Main vehicle 106 can also to traffic data supplier 206 and/or one or Multiple other information suppliers 208 transmit information and receive from it information.This information can include but is not limited to traffic data, Vehicle location and course data, high traffic events timetable, weather data or other transport related datas etc..Traffic data is supplied Person 206 and other information supplier 208 can be communicated by broadband network 210 with ISP 212.

In some embodiments, ISP 212 can be by network connection, such as via wireless network antenna 114 (Figure 1A) and/or other network connections, are linked to multiple vehicles.In addition it is possible to use can be transmitted any other of data Wireless communication system, satellite, honeycomb, Wi-Fi, microwave etc..ISP 212 can also by such as broadband cable or Optical fiber connection etc., and/or can transfer data to such as wired connections, Ethernet, DSL, ADSL, telephone modem Any other wired communication system of the traffic infrastructures such as RSE 116 is linked.

B. Vehicular system and C-ACC are summarized

Main vehicle 106 and C-ACC systems 202 is more fully described referring now to Fig. 3.Fig. 3 is the exemplary control of main vehicle 106 The block diagram of system 300 processed.However, components and functionality shown in Fig. 3 can be associated with other vehicles.For example, long-range vehicle 108 May include one or more components and functionalities of control system 300.Therefore, control system 300 can be alternatively by other realities Body uses or is used in other application the system.In addition, in some embodiments, control system 300 will be referred to as C-ACC Control system (for example, C-ACC systems 202).Other C-ACC systems associated with some vehicles may include as being configured to C- The different elements and/or arrangement of ACC system 202, but the element and/or arrangement may be configured to pass through vehicle communication network 200 communicate with other one or more C-ACC systems, vehicle control system or merging auxiliary system.

Main vehicle 106 can have such as one or more of Fig. 3 computers and/or computing device, control system 300 to wrap Include vehicle computer system 302.In some embodiments being discussed herein, vehicle computer system 302 will be referred to as C-ACC Computer system 302.In other embodiments, vehicle computer system 302 can be with another type of vehicle control system It is associated, or can be the general-purpose vehicle computing device for promoting functionality described herein.

Vehicle computer system 302 includes processor 304 and memory 306.In some embodiments, vehicle computer System 302 may include for execute C-ACC system functions and/or merge auxiliary system function programmable logic circuit and/ Or the logic circuit being pre-configured.Memory 306 stores the information that can be accessed by processor 304, including can be executed by processor 304 Or the instruction 308 otherwise used by processor 304 and data 310.When being executed by processor 304, control logic (is originally being shown In example, software instruction or computer program code) cause processor 304 to execute the function of embodiment as described herein.It deposits Reservoir 306 can be that can store can be including computer-readable by any kind of memory for the information that processor 304 accesses Other media for the data that medium or storage can be read by electronic device, such as hard disk drive, flash drive, storage Card, ROM, RAM, DVD or other CDs and other writable and read-only memory.System and method may include foregoing teachings Various combination, thus the different piece of instruction and data be stored on different types of medium.

Instruction 308 can directly be executed (such as machine code) by processor 304 or execute (such as script) indirectly Any instruction set.For example, instruction can be stored as the computer code on computer-readable medium.In this respect, term " refers to Enable " and " program " may be used interchangeably herein.Instruction can be stored with object identification code format, so as to straight by processor 304 Connect processing, or with any other computer language (including the as needed or script of independent modules of source code that compiles in advance or Set) storage.The function, method and routine of instruction is described in detail below.

Data 310 can be retrieved, stored or changed according to instruction 308 by processor 304.Although for example, vehicle meter Calculation machine system 302 is not limited by any specific data structure, but data 310 can be stored in computer register, conduct In the relational database of table, XML document or flat file with multiple and different fields and record.Data 310 can also be to appoint What computer-readable format formats.Data 310 may include being enough to identify any information of relevant information, such as number, Descriptive text, proprietary code, other regions (including other network positions to being stored in the same memory or different memory Set) in data reference or the information of related data is calculated by function use.

In figure 3, data 310 may include traffic data 312, map component data 314,316 and of traffic auxiliary data Pooled model 318.Traffic data 312 may include the commercially available number of transportation data, traffic data and traffic schedule etc. According to library.Map component data 314 may include identify road shape and height, lane line, intersection, crossing, oneself Runway, school district, rate limitation, traffic signals, building, mark, Real-time Traffic Information or other that can be used for vehicle The map of transit information.For example, map component data 314 may include information (such as road, vehicle of one or more mappings Connection between road, intersection and these features) network.Each feature can be stored as map component data 314, and And can be associated with the information such as geographical location, and whether it is linked to other correlated characteristics, for example, the conjunction widened And the size in track can be linked to site of road and access ramp etc..The traffic being discussed in further detail herein is auxiliary It may include carrying out the traffic data of the inside and outside each introduces a collection of Autonomous Vehicles 106 to help data 316.In addition, pooled model 318 can be with Include the type of the merging scene for merging auxiliary, the discussion that following article will carry out in Section IV part.

Vehicle computer system 302 can be communicated with the various parts of main vehicle 106.For example, vehicle computer system 302 It can communicate, and can be sent and received information from the various systems of main vehicle 106 with Vehicle Electronic Control Unit (ECU) 320, Such as Vehicle Sensor System 322, vehicular communication system 324, Vehicular navigation system 326 and vehicle interfaces system 328.Work as vehicle When computer system 302 is engaged, vehicle computer system 302 can control in these functions of main vehicle 106 some or it is complete Portion.Although it should be understood that various systems and vehicle computer system 302 are shown as in main vehicle 106, these elements can be with In the outside of main vehicle 106 and/or physically separate big distance.In addition, vehicle computer system 302 can be via such as bus 330 are operably connected to the other component for computer communication to main vehicle 106.

Vehicle Sensor System 322 includes internally and/or externally being sensed from main vehicle 106 and/or the various vehicles of measurement data Sensor.More specifically, Vehicle Sensor System 322 may include for sensing and measuring and main vehicle 106 and/or main vehicle The vehicle sensors of the 106 associated stimulation (for example, signal, attribute, measurement, quantity) of particular vehicle system.In some realities Apply in mode, vehicle sensors be used to sense and measure near main vehicle 106 vehicle and/or the associated stimulation of object.It will Vehicle Sensor System 322 and various vehicle sensors are discussed in more detail herein in connection with Fig. 4.

As described above, main vehicle 106 can also include vehicular communication system 324.Vehicle computer system 302 can with for The external communication device for sending and receiving data is communicated.For example, vehicular communication system 324 includes can be with vehicle communication network The V2V transceivers 110 of compatibility DSRC transceiver communication in 200.Described in Fig. 2, vehicular communication system 324 can be with Including RF transceivers 224, ISP 212 is wirelessly communicated to for network 204 by radio communication.It should be understood that Vehicle may be not equipped with the communication equipment that V2V and/or V2X communications are carried out using DSRC or other kinds of communication protocols.For example, Long-range vehicle 108d, long-range vehicle 108e and long-range vehicle 108f shown in figure 1A be not equipped with can with it is simultaneous in vehicle communication network 200 Hold the V2V transceivers that DSRC transceiver is communicated.

Main vehicle 106 further includes Vehicular navigation system 326.Vehicular navigation system 326 can be to main vehicle 106 and/or vehicle meter Calculation machine system 302 provides navigation map and information.Vehicular navigation system 436 can be it is any kind of it is known, it is relevant or Later developed navigation system, and may include GPS unit (not shown).Phrase " navigation information " refers to that can be used for assisting Any information in the navigation road of main vehicle 106 or path.Navigation information may include traffic data, map datum and classification of road letter Cease data.The example of navigation information may include street address, street name, street or address digit, intersection information, scape Point, park, water body, any politics or geographical subdivision, including town, township, province, area under one's jurisdiction, city, state, area, ZIP or postcode and Country.Navigation information can also include business information, including business and dining room title, shopping centre, shopping center and parking facility. Navigation information can also include geography information, include the information obtained from any global navigational satellite infrastructure (GNSS), packet Include global positioning system or satellite (GPS), Glonass (Russia) and/or Galileo (Europe).

In addition, main vehicle 106 includes that can be used for receiving input from user and/or provide a user the vehicle interfaces system of feedback System 328.Therefore, vehicle interfaces system 328 may include display portion and importation.In some embodiments, vehicle circle Plane system 328 is the man-machine interface (HMI) being located in main vehicle 106 and/or head up display (HUD).Vehicle interfaces system 328 can To receive one or more user's inputs from one or more users (for example, driver, Vehicular occupant).Vehicle interfaces system 328 importation can enable such as driver or Vehicular occupant user and main vehicle 106 and/or vehicle computer system 302 interaction of system provides it input, user's input, gesture, click, point, selection, voice command etc..For example, at some In embodiment, user can enable vehicle computer system 302 and/or control by being interacted with vehicle interfaces system 328 The feature of vehicle computer system 302.

As an example, the importation of vehicle interfaces system 328 may be embodied as touch screen, touch tablet, track pad, one Or multiple hardware buttons (for example, on radio or steering wheel), such as one or more soft button of one or more buttons, one A or multiple software push buttons, one or more Interactive Buttons, one or more switches, keyboard, microphone, one or more biographies Sensor etc..In one or more embodiments, vehicle interfaces system 328 can be implemented in a manner of integrative display part, make Vehicle interfaces system 328 is obtained output (for example, rendering content as display portion) was both provided or has received input (for example, user Input).The example of such case can be touch screen.Other examples of importation may include for capturing voice from user The microphone of input.

Vehicle interfaces system 328 can show information (for example, figure, alarm and notice).For example, vehicle computer system 302 can generate information, suggestion, alarm and/or police in the display device (for example, display portion) of vehicle interfaces system 328 Show and provides it to vehicle operators.Information, alarm etc. can include but is not limited to one or more navigation maps, symbol, Icon, figure, color, image, photo, video, text, audible information etc..Vehicle interfaces system 328 can also include to user The other systems of vision, the sense of hearing and/or tactile/touch feedback are provided.For example, may include that active force pedal (AFP) is used as master A part for accelerator pedal in vehicle 106, to provide active feedback power to the foot of driver when driver pushes accelerator pedal.

Main vehicle 106 may include associated with Vehicular system various for communicating and being used in some cases to control The other equipment of component.The various vehicles that main vehicle 106 can be controlled and/or be communicated are discussed in more detail referring now to Fig. 4 System.Fig. 4 is the schematic diagram of main vehicle 106, including can Vehicular system associated with the vehicle control system 300 of Fig. 3 and Component.As above for mentioned by Fig. 3, components and functionality shown in Fig. 4 can be associated with other vehicles.For example, long-range vehicle 108 may include one or more components and functionalities shown in Fig. 4.

In Fig. 4, ECU 320 can be with data logger system 402, one or more Vehicular systems 404, automobile navigation System 326, Vehicle Sensor System 322, vehicle V2V transceivers 110, RF transceivers 224, camera 416 and laser 418 are logical Letter.In some embodiments being discussed herein, ECU 320 be configured as from vehicle computer system 302 receive instruction with from One or more component retrieval data shown in Fig. 4.It is used for for example, ECU 320 can be received from C-ACC computer systems 302 According to the instruction for accelerating control rate order to activate or inhibit particular vehicle system 404 (for example, brake or accelerator).

Data logger system 402 can be communicated with ECU 320 to obtain and record from any Vehicular system 404 and/or The data that Vehicle Sensor System 416 is collected.As discussed above, main vehicle 106 may include being configured as communicating with ECU 320 Vehicular navigation system 326.Navigation system 326 may include GPS receiver 406, navigation system display 408 (for example, vehicle A part for interface system 328), and map and location information can be stored in navigational route database 410.Navigation system is aobvious Show that device 408 can use any kind of display technology to show navigation map and information to user.Navigation system display 408 is also Any kind of known the relevant technologies or later developed Audiotechnica can be used, such as by using predetermined sound or electricity The voice that son generates transmits information to main vehicle 106.

As described above, Vehicle Sensor System 322 may include various vehicle sensors, and can with any configuration with ECU 320 and the communication of any amount of Vehicular sensor device.322 device of Vehicle Sensor System can be by collecting for knowing Not and the movement, vehicular traffic of the tracking such as traffic entity of long-range vehicle 108 or any other condition, reality that data can be provided The data of body or vehicle and be advantageous.It should be understood that vehicle sensors can be the parameter for detecting and/or sensing the system Any Vehicular system in any sensor for using.Example vehicle sensor includes but not limited to：Acceleration sensor, speed Sensor, braking sensor, proximity sensor, visual sensor, seat sensor, seat belt sensor, door sensor, environment Sensor, Yaw rate sensor, rotation direction sensor, GPS sensors etc..

It should also be understood that vehicle sensors can be any kind of sensor, for example, acoustics, electrical, environment, optics, at Picture, light, pressure, power, heat, temperature, degree of approach etc..Vehicle sensors can be placed in one or more parts of main vehicle 106. For example, vehicle sensors be desirably integrated into instrument board, seat, safety belt, door, bumper, front, rear portion, corner, instrument board, Steering wheel, central control board, roof or main vehicle 106 any other part in.However, in other cases, vehicle sensors Can be the portable sensor worn by driver's (not shown), be integrated into carried by driver's (not shown) it is portable In device (not shown), it is integrated into the clothing (not shown) of driver's wearing or is integrated into driver's body and (such as be implanted into Object) (not shown).

Referring now to the example vehicle sensor in Fig. 4, Vehicle Sensor System 322 may include sensor 412, thunder Up to system 414, camera 416 and laser 418, wherein can each be placed in any range of profitability of main vehicle 106.Although Fig. 4 In show a sensor 418, it should be appreciated that sensor 418 is mounted in the one or more inside or outside main vehicle 106 The expression of sensor.In some embodiments, vehicle sensors 418 sensing about the car speed of main vehicle 106, rate of acceleration, Brake rate and other vehicle power data.In some embodiments, vehicle sensors 418 can use rear portion, front and Side proximity test sensor 418 is collected close to data.

Radar system 414 may include preceding remote radar and/or preceding intermediate distance radar.Preceding remote radar can be surveyed Measure the distance (for example, transverse direction, longitudinal direction) and speed of the object around main vehicle 106.For example, preceding remote radar can measure main vehicle The distance and speed of one or more long-range vehicles 108 around 106.In some embodiments, radar system 414 can be in master The different location of vehicle 106 includes multiple radars.For example, being located at the left front radar of the left front angular zone of main vehicle 106, being located at main vehicle Radar before the right side of angular zone before 106 right side, positioned at main vehicle 106 left back angular zone left back radar and positioned at main vehicle 106 Radar behind the right side of angular zone behind the right side.

Fig. 4 also shows the V2V transceivers 110 of the main vehicle 106 for vehicle communication compatible with other V2V.In embodiment party In formula, V2V transceivers 110 can from may be configured to vehicle, pedestrian, bicycle, building, pylon, billboard, traffic letter Number, road sign or it is any transport related entities or user other DSRC transceivers collect traffic data.It is operably connected Display to DSRC transceiver can also be shown in and in vehicle communication network 200 be transferred to DSRC user or receive from it Any message, map, vehicle location, data, image, warning and alarm.Communication link between DSRC transceiver is (for example, Fig. 2 In communication link 203) can be initiated by any user.In embodiments, DSRC transceiver can continuously be searched for from it The signal of his DSRC transceiver, such as cyclical signal by sending out search response.In other embodiments, DSRC is received and dispatched Device can be with the cyclical signal of the response of DSRC transceiver of the transmitting search in range.If DSRC transceiver response, Communication link can be established.The information and data received by main vehicle 106 can be saved to data logger system 402 and/or Data 310 are simultaneously handled by vehicle computer system 302.

The example internal view of main vehicle 106 is shown in Figure 5.Specifically, Fig. 5 is the main vehicle 106 and vehicle control with Fig. 3 The schematic diagram of the exemplary design of 300 associated vehicle interior 500 of system.Vehicle interior 500 may include such as instrument board 502, such as turning facilities of steering wheel 504, dashboard 506 and central part 508.Central part 508 may include and vehicle Internal associated one or more devices, including but not limited to：Audio devices, video-unit, navigation device and it is any its The device of his type.In addition, central part 508 can be associated with the control of one or more systems of main vehicle 106, including But it is not limited to：Atmosphere control system, radio and audio system and other kinds of system.

Main vehicle 106 can also have display device 510, and the display device can be one of vehicle interfaces system 328 Point, for showing the information from vehicle control system 300 and/or other related or incoherent Vehicular systems.Display device 510 example includes but not limited to LCD, CRT, ELD, LED, OLED or each is aobvious with or without the Electronic Paper of touch screen Show device and other kinds of display.Display device 510 may include the user input apparatus as vehicle interfaces system 328 Touch screen.For example, using vehicle interfaces system 328, user can activate or deactivate one or C-ACC system models, merging Auxiliary mode, and allow users to vehicle computer system 302 navigation purpose is provided or the information such as traffic information.

In an alternative embodiment, vehicle interfaces system 328 may include button, keypad or other kinds of input dress It sets.In another embodiment, vehicle interfaces system 328 may include projection (HUD) escope that comes back, the display quilt It is configured to project image onto on one or more surfaces of main vehicle 106, such as windshield 512.In some embodiments, Display device 510 can be located in any part of main vehicle 106, or can be mancarried device (not shown).For example, display Device 510 can be located in dashboard 506.

In addition, such as above in association with Fig. 3 discussion, display device 510, which can be configured as, is presented vehicle computer system 302 The visual information of other equal devices or system with Vehicular navigation system 326 in main vehicle 106.For example, vehicle interfaces system 328 can be to the prediction traffic of driver notification vision or the information of sense of hearing warning or the magnitude of traffic flow, hazard detection, another vehicle Merge etc..For example, when one or more long-range vehicles 108 are by the operation for influencing main vehicle 106, display device 510 can be configured For the dangerous warning of display, merge warning and with 108 relevant traffic datas of one or more long-range vehicles.In addition, in Figure 5, showing Accelerator pedal 514 and brake pedal 516 are gone out.As described above, in some embodiments, accelerator pedal 514 may include master Power pedal (AFP), when driver pushes accelerator pedal 514, the active force pedal can provide master to the foot of driver Dynamic feedback force.

C.C-ACC Controlling models

As described above, in some embodiments, the system and method being discussed herein use about main vehicle 106 data and Main vehicle 106 is controlled about the data in one or more long-range vehicles 108.Data about one or more long-range vehicles 108 can To be received using vehicle communication network 200 by C-ACC control systems 300.In some embodiments, about one or more remote The data of journey vehicle 108 can be connect by C-ACC control systems 300 using the sensor (for example, radar sensor) on main vehicle 106 It receives.The fusion and analysis of this data can be used for controlling main vehicle 106, to allow main vehicle 106 in advance on that can influence main vehicle 106 operation or the traffic scene of driving path and one or more long-range vehicles 108 are reacted.It will be described in further detail now The exemplary control of C-ACC control systems 300.

In some embodiments being discussed herein, the movement of main vehicle 106 can be controlled for example by C-ACC control systems 300 System.Specifically, C-ACC control systems 300 can control the longitudinal movement of main vehicle 106 using above-mentioned data.For example, C-ACC Control system 300 can accelerate control rate and/or modification to be controlled when preacceleration control rate (for example, target rate of acceleration) by generation System accelerates and/or slows down.By using above-mentioned data, C-ACC control systems 300 can assess main vehicle 106 and long-range vehicle 108 Dynamical state, and therefore adapt to the control of main vehicle 106.Referring now to Figure 6, showing for controlling showing for vehicle control system Meaning property C-ACC Controlling models 600.Component with reference to figure 2-5 is described into Fig. 6.Controlling model 600 receive main car data 602, The long-range car datas 604 of V2V and the long-range car data 606 sensed are used as input.Main car data 602 includes about main vehicle 106 Vehicle power data.For example, speed, acceleration, rate, yaw rate, steering angle, throttle-open angle, range or range data etc.. Via bus 330 main car data 602 can be accessed from Vehicle Sensor System 322.Main car data 602 can also include about not With the status information of Vehicular system.For example, main car data 602 may include turn signal state, course data, course history number According to, projection route data, dynamic date, current vehicle location data and about any other information of vehicles of main vehicle 106.

The long-range car datas of V2V 604 include about the long-range vehicles of the one or more that is communicated via vehicle communication network 200 108 Long-range vehicle dynamic data.The long-range car datas of V2V 604 may include about one or more long-range vehicles 108 speed, accelerate Degree, rate, yaw rate, steering angle and throttle-open angle, range or range data etc..The long-range car datas of V2V 604 can also wrap Include course data, navigation historical data, the aeronautical data of projection, dynamic date, current vehicle location data and about transmission Any other information of vehicles of the long-range vehicle 108 of the long-range car datas of V2V 604.

The long-range car data 606 of sensing may include being received and/or being sensed by Vehicular system sensor 322 about connecing The long-range vehicle 108 of one or more of nearly main vehicle 106 and/or the data of other objects.For example, in the implementation discussed herein In, the long-range car data 606 sensed includes the vehicle data obtained from radar system 414, including close to data.For example, institute The long-range car data 606 of sensing may include the distance and speed of one or more long-range vehicles 108 around main vehicle 106.

The long-range car data 604 of main car data 602, V2V and the long-range car data 606 sensed can be input to C- ACC meters Calculation machine system 302, and handled using control algolithm, the control algolithm will be described in further detail herein.C-ACC Computer system 302 can export acceleration to ECU 320 and/or then deceleration command, ECU 320 hold corresponding vehicle system The row order, such as brake actuator 608 (for example, it can be a part for brake assist system) and/or air throttle cause Dynamic device 610.For example, based on main car data 602, the long-range car data 606 V2V long-range car datas 604 and sensed, C-ACC meters Calculation machine system 302 can generate acceleration control rate, and the acceleration control rate can be the target rate of acceleration of main vehicle 106.Based on master The current rate of acceleration of vehicle 106, C-ACC computer systems 302 can generate control signal to realize acceleration control rate.Control signal Can be sent to ECU 320, ECU 320 then for example by control brake actuator 608 and/or throttle actuator 610 come Execute signal.

In addition, C-ACC computer systems 302 and/or ECU 320 can be to HMI 612 (for example, vehicle interfaces system 328) order is executed.For example, based on main car data 602, the long-range car data 606 V2V long-range car datas 604 and sensed, it can To be generated via HMI 612 and provide vision, the sense of hearing and/or touch feedback.Therefore, main car data 602, the long-range vehicles of V2V are based on The fusion of data 604 and the long-range car data 606 sensed, main vehicle 106 is controlled according to control algolithm, will be made now to it It is described in further detail.

C-ACC computer systems 302 implement control algolithm to generate acceleration control rate, and the acceleration control rate can be used for phase Main vehicle 106 is controlled for one or more long-range vehicles 108 (i.e. previous vehicle and head vehicle).For example, with reference to figure 1B, it can be opposite Main vehicle 106 is controlled in head vehicle 108a and front truck 108d.Control algolithm may include based between main vehicle 106 and front truck 108d Relative distance and front refer to forward travel distance (headway reference distance) distance controlling component.Distance Control component can be expressed as with mathematical way：

Wherein x_i-1It is the distance from the rear end of main vehicle 106 to the front end of front truck 108d, x_iIt is the length of main vehicle 106, It is that scheduled front refers to forward travel distance and L_PVIt is the length of front truck 108d.These variables are schematically shown in fig. ib. Control algolithm can also include the rate control component based on the relative velocity between main vehicle 106 and front truck 108d.Therefore, one In embodiment, rate control component can be expressed as with mathematical way：

Wherein v_i-1It is the speed of front truck 108d, v_iIt is the speed and K of main vehicle 106_vIt is speed dynamic gain coefficient. In some embodiments, acceleration control rate is calculated based on distance controlling component and rate control component, mathematics side can be used Formula is expressed as：

In one embodiment, it can be calculated based on the distance component and velocity component that are discussed in equation (3) above Acceleration control reference based on the acceleration data transmitted via vehicle communication network 200, and be used as accelerating control reference Feedforward control inputs.More specifically, in one embodiment, control algolithm includes acceleration data and front truck based on front truck 108a The acceleration of the acceleration data of 108d controls component.Acceleration data about front truck 108a are to use 200 (example of vehicle communication network Such as, via DSRC) receive the long-range car datas of V2V.In one embodiment, it is sensed to be about the acceleration data of front truck 108d The long-range car data received using the onboard sensor (for example, radar system 414) of main vehicle 106.Therefore, in an embodiment In, the acceleration control reference based on the acceleration data transmitted via vehicle communication network can be expressed as with mathematical way：

Wherein a_i-1It is the rate of acceleration of the front truck 108d detected by radar system 414,It is the vehicle acceleration of front Dynamic gain coefficient, a_LIt is to use DSRC via vehicle communication network 200 by the head vehicle that from the beginning vehicle 108a is received of main vehicle 106 The rate of acceleration and K of 108a_dsrcIt is that a vehicle accelerates dynamic gain coefficient.In the example being discussed herein, the acceleration of front truck 108d Rate is sensed to be long-range car data 606 (for example, the radar data detected using radar sensor), it should be appreciated that at other In embodiment, the rate of acceleration of front truck 108d can be received using DSRC via vehicle communication network 200 by main vehicle 106 The long-range car datas of V2V.Based on the above, C-ACC computer systems 302 can use distance component, the speed of front truck 108d The acceleration component of component, acceleration component and front truck 108a generates acceleration control rate.This can be expressed as with mathematical way,

As described above, C-ACC computer systems 302 can implement feed-forward control algorithm, added with being based on above-mentioned equation generation Fast control rate controls main vehicle 106.Referring now to Figure 7, showing the C-ACC computer systems 302 according to above-mentioned control algolithm Exemplary control system 700 block diagram.In the figure 7, control system 700 includes defeated as C-ACC control systems 704 The feedforward control system 702 entered.Feedforward control system 702 receives the front truck received via vehicle communication network 200 using DSRC The rate of acceleration of 108a and the rate of acceleration of the front truck 108d received using radar system 414 are as input.By dynamic gain (that is, The acceleration dynamic gain coefficient of head vehicle) it is inputted to change, to generate acceleration reference signalThe acceleration is with reference to letter Number by C-ACC control systems 704 receive as input.The determination of C-ACC control systems 704 is such as begged for above in association with equation (1)-(3) The distance component and velocity component of opinion, and the input received from feedforward control system 702 can be used to calculate acceleration control Rate.

II.C-ACC control methods

Referring now to Figure 8, according to illustrative embodiments description for there is vehicle control system using vehicle communication control The method 800 of the main vehicle of system.Fig. 8 reference will also be made to Figure 1A, 1B and Fig. 2-7 is described.In one embodiment, method 800 is used In main vehicle 106 of the control with vehicle control system (for example, C-ACC computer systems 302), the vehicle control system control Movement of the main vehicle 106 relative to front truck 108d.As shown in Figure 1A and 1B, front truck 108d is located at the front for being close in main vehicle 106. In box 802, method 800 includes the long-range car data received about one or more long-range vehicles.More specifically, in an embodiment party In formula, box 802 includes via between each of vehicle communication network 200 and main vehicle 106 and one or more long-range vehicles 108 Communication link receive the long-range car datas of V2V 604 that main vehicle 106 is transferred to from one or more long-range vehicles 108.In some implementations In mode, the long-range car datas of V2V 604 are from long-range with the one or more in the preset distance of main vehicle 106 (for example, 300m) Vehicle 108 receives.As discussed above in association with Figure 1A, 1B and Fig. 2, main vehicle 106 is equipped with V2V transceivers 110, the V2V transmitting-receivings Device can be communicated with other the long-range vehicles 108 that can carry out V2V communications on road 102.For example, V2V transceivers 110 can be via V2V transceivers 112a and long-range vehicle 108a, via V2V transceivers 112b and long-range vehicle 108b, via V2V transceivers 112c with It long-range vehicle 108c and is communicated with long-range vehicle 108g via V2V transceivers 112d.

It is remote in main vehicle 106 and the operable one or more to carry out V2V communications on road 102 in order to promote to communicate Communication link is established between journey vehicle 108.Communication link can be established between V2V transceivers.For example, V2V transceivers 110 can To continuously search for the signal from other V2V transceivers, such as pass through the cyclical signal of transmitting search response.In other realities It applies in mode, V2V transceivers 110 can be with transmit cycle signal, the response of V2V transceivers within the scope of the signal search.Such as Fruit V2V transceiver responses, then can establish communication link.Exemplary communication links between main vehicle 106 and long-range vehicle 108a 203 is shown in Figure 2.

As discussed above in association with Fig. 6, main vehicle 106 can be from the one or more long-range vehicles 108 for being ready for use on V2V communications Receive the long-range car datas of V2V 604.Therefore, as discussed above in association with Fig. 6, the long-range car datas of V2V 604 can contain transmission The parameter of the long-range vehicle 108 of the long-range car datas of V2V 604.In some embodiments, the long-range car datas 604 of V2V contain from In the message package that one or more long-range vehicles 108 transmit.For example, message package can be the basic security defined for DSRC standards Message (BSM) format.Vehicle can periodically broadcast BSM to report its position, speed and other attributes to other vehicles. The information and data received by main vehicle 106 can be saved data logger system 402 and/or data 310, and be counted by C-ACC The processing of calculation machine system 302.

Referring again to the box 802 of Fig. 8, in one embodiment, it includes receiving from positioned at main vehicle to receive long-range car data With the long-range car data of the head vehicle transmission in front of front truck.For example, in figs. 1 a and 1b, from the beginning main vehicle 106 vehicle 108a can receive The long-range car datas of V2V 604.In one embodiment, the long-range car datas 604 of V2V include the rate of acceleration of head vehicle 108a.

In another embodiment, it includes receiving about long-range vehicle and/or main vehicle that long-range car data is received in box 802 The long-range car data of neighbouring barrier.For example, long-range car data may include the rate of acceleration of front truck 108d.What is be discussed herein In embodiment, the rate of acceleration of front truck 108d can using the vehicle-mounted sensor of main vehicle 106, (such as radar senses by main vehicle 106 Device) it detects.Therefore, the long-range car data sensed by main vehicle 106 can be the long-range car data 606 of sensing.For example, about master Vehicle 106 and Fig. 6, main vehicle 106 detect the long-range car data 606 of front truck 108d sensed using radar system 414.Although this The acceleration data sensed by radar are utilized in the system and method that text discusses, it should be appreciated that in other embodiments, if preceding Vehicle 108d operationally matches to be ready for use on carries out V2V communications with main vehicle 106, then can receive and accelerate via vehicle communication network 200 Data.

Referring again to FIGS. 8, in box 804, method 800 includes accessing main car data from main vehicle.As above in association with Fig. 6 institutes It discusses, main car data 602 can be accessed from Vehicle Sensor System 322 via bus 330.In some embodiments, main vehicle Data 602 include the rate of acceleration of the speed and main vehicle 106 of main vehicle 106, it should be appreciated that main car data 602 may include about master The other kinds of data of vehicle 106.

In box 806, method 800 includes calculating the acceleration control rate of main vehicle.In one embodiment, by processor 304 calculate acceleration control rate according to the C-ACC Controlling models discussed above in association with equation (1)-(5).It now will be about Fig. 9 more Describe box 806 in detail.Fig. 9 shows according to illustrative embodiments for calculating the method 900 for accelerating control rate. In box 902, method 900 includes the opposite forward travel distance determined with reference to forward travel distance relative to front between main vehicle and front truck. For example, as discussed that processor 304 can be based on the relative distance between main vehicle 106 and front truck 108d above in association with equation (1) With front distance controlling component is calculated with reference to forward travel distance.Front is between main vehicle 106 and front truck 108d with reference to forward travel distance Desired interval (for example, distance).Front can be predetermined and stored in reference to forward travel distance in such as memory 306.

In box 904, method 900 includes the relative velocity between the speed and the speed of front truck for determining main vehicle.For example, As discussed that processor 304 can be calculated based on the speed of main vehicle 106 and the speed of front truck 108d above in association with equation (2) Rate control component.In box 906, method 900 includes determining the rate of acceleration of front truck.For example, such as above in association with the box of Fig. 8 802 are discussed, main vehicle 106 can determine the rate of acceleration of front truck 108d using radar system 414.

In box 908, method 900 include calculate it is main it is automobile-used come keep the front between main vehicle and front truck with reference to advance away from From acceleration control rate.Specifically, the acceleration control rate of main vehicle is the acceleration based on opposite forward travel distance, relative velocity, front truck The rate of acceleration of rate and head vehicle.Therefore, in one embodiment, processor 304 calculates main vehicle according to equation discussed above (5) 106 acceleration control rate.

In one embodiment, the acceleration control rate for calculating main vehicle can be based on associated with the rate of acceleration of head vehicle variable Gain.For example, being such as shown in equation (4) and (5), K_dsrcIt is that a vehicle accelerates dynamic gain coefficient.Therefore, in box 910, side Method 900 can include determining that variable gain.In one embodiment, variable gain is to be based on the distance between main vehicle and head vehicle. In some embodiments, variable gain be based between main vehicle and head vehicle forward travel distance and main vehicle and head vehicle between before Into the time.In some embodiments, forward travel distance is opposite forward travel distance.

Variable gain can be the function of the distance between main vehicle and head vehicle.As the distance between main vehicle and head vehicle subtract Small, variable gain can increase.As the illustrated examples with reference to Figure 1B, according to one embodiment, long-range vehicle 108a is head The variable gain of vehicle by be less than the long-range vehicle 108c based on the distance to main vehicle 106 vehicle variable gain.In other implementations In mode, variable gain can be the advance time between forward travel distance and/or main vehicle and head vehicle between main vehicle and head vehicle Function.Variable gain increases with the increase of forward travel distance and/or time of advancing.The variable gain determined in box 910 It can be used for changing the rate of acceleration of main vehicle by variable gain in box 912.In addition, similar to the box 806 of Fig. 8, it can be with It is calculated at box 908 and accelerates control rate.

Referring back to Fig. 8, method 800 is included in the vehicle control system that main vehicle is controlled in box 808.In an embodiment In, box 808 may include controlling the vehicle control system of main vehicle according to control rate is accelerated.For example, accelerating control rate can be with ECU 320 is output to by C-ACC control systems 300, so as to according to the one or more Vehicular systems of acceleration control rate control.Example It such as, can be by controlling brake actuator 608 and/or throttle actuator via the C-ACC control systems 300 of ECU 320 610, based on control rate is accelerated start that main vehicle 106 is made to slow down or accelerate automatically.Alternatively or simultaneously, the acceleration of main vehicle 106 and/ Or under braking, the vehicle control system that main vehicle is controlled in box 808 may include control vehicle interfaces system 328.For example, C- ACC control systems 300 can generate information, suggestion, alarm and/or warning, and driving is provided it in display device 510 Member.In other embodiments, touch feedback can be provided according to acceleration control rate.For example, when driver pushes accelerator pedal 514 to promote based on the acceleration and/or deceleration for accelerating control rate when, the AFP of accelerator pedal 514 can be provided anti-with active force Feedback.

As described in combined method 800 above, control rate is accelerated to be based partially on the rate of acceleration of a vehicle.The suitable control of main vehicle can It is identified as a vehicle to depend on which long-range vehicle.It is such as described referring now to Figure 10, in some embodiments, is based on Long-range car data, specifically, the long-range car data of the V2V that is transmitted between main vehicle 106 and one or more long-range vehicle 108 604 Select head vehicle.Figure 10 shows the method 1000 according to illustrative embodiments for selecting head vehicle from multiple long-range vehicles. In box 1002, method 1000 includes receiving long-range car data from multiple long-range vehicles.For example, as above in association with 802 institute of box Discuss, main vehicle 106 equipped with V2V transceivers 110, the V2V transceivers can with can be used to carry out on road 102 Other vehicle communications of V2V communications.

In box 1004, method 1000 includes by selecting head based on the long-range car data received in box 1002 Vehicle to select head vehicle from multiple long-range vehicles.In one embodiment, it includes selecting to master that head vehicle is selected from multiple long-range vehicles The driving path of the operation of vehicle and/or main vehicle influences maximum long-range vehicle.It is long-range based on the V2V transmitted from multiple long-range vehicles 108 Car data 604 and main car data 602 about main vehicle 106, processor 304 can determine the long-range vehicle of which of multiple long-range vehicles Influence to main vehicle is maximum.For example, determine influence maximum of which long-range vehicle 108 to main vehicle 106 can be based on speed, distance, Braking etc..

In one embodiment, include being selected apart from main vehicle from multiple long-range vehicles from head vehicle is selected in multiple long-range vehicles Predetermined advance time threshold in head vehicle.As the illustrated examples about Figure 1B, C-ACC control systems 300 can be set Such as it is stored in the scheduled advance time threshold at memory 306.In one embodiment, scheduled advance time threshold is Apart from main vehicle 106 5 (5) second.Therefore, in one embodiment, C-ACC control systems 300 from main vehicle 106 (for example, long-range Vehicle 108a, 108b, 108c) selection is carried out in multiple long-range vehicles of vehicle communication in the time thresholds that advanced apart from five seconds of main vehicle 106 Head vehicle in value.As illustrated examples, long-range vehicle 108c has three seconds advance time, long-range vehicle 108b apart from main vehicle 106 There is five seconds advance time apart from main vehicle 106, and long-range vehicle 108a has seven seconds advance time apart from main vehicle 106.Root According to this example, head vehicle will be selected as long-range vehicle 108c or long-range vehicles 108b, long-range vehicle 108c or long-range vehicles 108b all away from Advance in the time within five seconds from main vehicle 106.

In another embodiment, it includes the rate of deceleration based on multiple long-range vehicles from more that head vehicle is selected from multiple long-range vehicles Head vehicle is selected in a long-range vehicle.As discussed herein, multiple long-range vehicles 108 of vehicle communication are carried out with main vehicle 106 to be transmitted The long-range car datas 604 of V2V, including speed data, braking-distance figures, acceleration data and deceleration data.Therefore, in an embodiment In, head vehicle is chosen to have the long-range vehicle 108 of the maximum deceleration rate of multiple long-range vehicles 108.

In another embodiment, it includes the speed based on multiple long-range vehicles from multiple that head vehicle is selected from multiple long-range vehicles Head vehicle is selected in long-range vehicle.As discussed herein, the multiple long-range vehicles 108 for vehicle communication being carried out with main vehicle 106 can transmit V2V Long-range car data 604, including speed data.Therefore, in one embodiment, head vehicle is chosen to have multiple long-range vehicles most The long-range vehicle of low velocity.As the illustrated examples about Figure 1B, the speed of long-range vehicle 108c is 35mph, long-range vehicle 108b's Speed is 25mph, and the speed of long-range vehicle 108a is 15mph.In this example, it is based on that there is minimum speed, long-range vehicle 108a will It is selected as a vehicle.

In another embodiment, it includes the rate of deceleration based on multiple long-range vehicles and more that head vehicle is selected from multiple long-range vehicles The speed of a long-range vehicle selects head vehicle from multiple long-range vehicles.In other embodiment, head vehicle is that have multiple long-range vehicles Minimum speed and the long-range vehicle in the predetermined advance time threshold apart from main vehicle.In the present embodiment, it and refers to Above-mentioned example, long-range vehicle 108b will be selected as a vehicle, because long-range vehicle 108b is predetermined apart from five seconds of main vehicle 106 In advance time threshold, and with the minimum speed of the long-range vehicle 108 in scheduled advance time threshold.

In box 1006, when selecting head vehicle, method 1000 receives long-range car data including from the beginning vehicle, such as accelerates Rate is such as described above in association with box 802.It should be understood that rate of acceleration can also be received in box 1002.In box 1008, side Method 1000 may return to the box 802 of method 800.

From the beginning the long-range car datas 604 of V2V that vehicle receives are most important for providing the accurately response that main vehicle 106 is made. In some embodiments, the long-range car datas of V2V 604 may be due to 200 problem of vehicle communication network or main vehicle 106 and each remote The problem of communication link between journey vehicle 108 and there is deviation or unavailable.Therefore, in some embodiments, in box Front truck is selected in 1004 and/or from the beginning vehicle receives the long-range car datas of V2V 604 in box 1006 may include for monitoring nothing The method of line traffic connectivity and quality.Referring now to Figure 11, will be discussed in detail for monitoring the communication between main vehicle and front truck Method 1100.

In box 1102, method 1100 includes the communication link monitored between main vehicle and front truck.Such as reference chart 8 above Box 802 discussed, for the ease of communication, in main vehicle 106 with operable to carry out one of V2V communications on road 102 Or establish communication link between multiple long-range vehicles 108.For example, in fig. 2, communication link 203 is illustrated in main vehicle 106 and long-range Between vehicle 108a.Monitor the packet loss and communications link signals intensity of communication link 203.In box 1104, method 1100 is wrapped Include whether determining message package has lost.From the beginning vehicle 108a periodically broadcasts DSRC message packages to main vehicle 106.Implement one In mode, message package is per second to be sent ten times.When from the beginning vehicle 108a receives message package to main vehicle 106, main vehicle 106 can be via Data logger system 402 and/or data 310 message package is counted and is stored and by C-ACC computer systems 302 into Row processing.By tracking the message package received, main vehicle 106 can identify whether packet has been lost in box 1104.One In a little embodiments, main vehicle 106 can determine packet loss error rate and be compared packet loss error rate with predetermined threshold. In other embodiment, in box 1104, the signal strength of the communication link 203 between main vehicle 106 and head vehicle 108a is determined Whether predetermined threshold is less than.

If being determined as "Yes" in box 1104, method 1100 continues to box 1106.In box 1106 In, it for example falls into a trap for the box 806 in Fig. 8 using come the long-range car data of the message package of free head vehicle 108a precedent transmissions It calculates and accelerates control rate.The counter i for the instruction packet loss quantity that memory 306 stores also is incremented by box 1106.

In box 1108, counter i is compared with predetermined threshold N.If the quantity of lost package i is more than predetermined threshold Value N, then method 1100 continue to box 1110.In box 1110, method 1100 includes selecting new head vehicle.For example, In one embodiment, include being selected from multiple long-range vehicles closest to when front vehicle from new head vehicle is selected in multiple long-range vehicles New head vehicle.With reference to figure 1B, as illustrated examples, long-range vehicle 108a is to work as front vehicle.Select new head vehicle that can be based on With the degree of approach as front vehicle, that is, long-range vehicle 108a.Therefore, in fig. ib, processor 304 can select long-range vehicle 108b as New head vehicle, because long-range vehicle 108b is closest to the long-range vehicle of long-range vehicle 108a.It should be understood that in some embodiments, choosing Selecting new head vehicle can be based on the other factors (for example, the rate of deceleration, speed) that the box 1004 above in association with Figure 10 describes.

In box 1112, method 1100 includes the communication link monitored between main vehicle and new head vehicle.Monitor main vehicle and The packet loss and signal strength of communication link between new head vehicle are similar to box 1102.Therefore, in box 1114, really Determine whether message package has lost.In other embodiments, it in box 1114, determines logical between main vehicle and new head vehicle Believe whether the signal strength of link is less than predetermined threshold.If being determined as "Yes" in box 1114, method 1100 continue into Row arrives box 1116.In box 1116, in order to control vehicle control system, processor 304 gives up from the beginning vehicle (for example, new Head vehicle) the long-range car datas of V2V 604 that receive.For example, processor 304 can be based only upon by onboard sensor (for example, using thunder Up to system 414) the main car data 602 that obtains and the long-range car data 606 that senses calculate acceleration control rate.In addition, one In a little embodiments, in box 1116, the communication link between main vehicle 106 and new head vehicle 108b can be terminated.As combined The quality of data is controlled described in Figure 11 alleviates deviation or the long-range car datas of not available V2V 604 to vehicle control described herein The influence of method.

III. hazard detection method

As described above, it may include multiple vehicles and infrastructure that system and method described herein, which is usually directed to use, Vehicle communication network controls vehicle.In some embodiments, the system and method being discussed herein be based partially on one or The vehicle communication of multiple long-range vehicles detects the danger that may be constituted a threat to the operation of main vehicle and/or driving path.Therefore, vehicle System described in communication network 200 and Fig. 2-7 can be used for promoting to use by providing track grade risk prediction in real time The hazard detection and vehicle control of V2V communications.

Figure 12 is shown the exemplary traffic field for describing some hazard detection system and method discussed in this article Scape 1200.Traffic scene 1200 is the simple version of the traffic scene 100 of Fig. 1.In fig. 12, road 1202 has the first vehicle Road 1204a, second lane 1204b and third lane 1204c.It should be understood that road 1202 can be with unshowned each in Figure 12 Kind construction, and can have any amount of track.Road 1202 includes main vehicle 1206 and long-range vehicle.For simplicity, Long-range vehicle will be generally referred to as long-range vehicle 1208 herein.In addition, for simplicity, main vehicle 1206 and long-range vehicle 1208 all wrap V2V transceivers are included, but they are not numbered individually in fig. 12.It should be understood that main vehicle 1206 and long-range vehicle 1208 can have with Above in association with 108 same or similar components and functionality of Figure 1A, 1B, Fig. 2-7 main vehicle 106 discussed and long-range vehicle.For example, main Vehicle 1206 can using the DSRC of Fig. 2 and vehicle communication network 200 come transmit, receive communication and/or with other vehicles, Yong Huhuo Infrastructure exchanges communication, and the communication includes the communication of data, message, image and/or other information.

By the way that via DSRC, using come the information of vehicles of the long-range vehicle 1208 around Autonomous Vehicles 1206, main vehicle 1206 obtains It context aware to upcoming danger and/or can be provided in the upcoming dangerous or track level problems of expection pair The more preferable control of Vehicular system.For example, acceleration and deceleration parameters (for example, C-ACC computer systems 302) can be controlled with smooth It brakes and the traffic congestion that hard brake down may be brought is eliminated based on upcoming dangerous or track grade problem in ground.It therefore, can be with Be based partially on the data from the DSRC communicated with long-range vehicle 1208 control main vehicle 1206 dynamic (for example, movement) and/or The interface (for example, vehicle interfaces system 328) of main vehicle 1206.Therefore, long-range vehicle 1208 is passed in 1206 front of main vehicle and/or below The information broadcast provides the valuable information that can increase safety and provide smoother driving experience to main vehicle 1206.Now The detailed system, method and illustrated examples of hazard detection and vehicle control will be discussed in more detail.

Figure 13 shows the method 1300 for the vehicle control system that main vehicle is controlled using hazard detection.In box 1302 In, method 1300 includes receiving long-range car data.For example, as the box 802 above in association with Fig. 8 discusses, main vehicle 1206 is equipped with Having can be with operable to carry out the V2V transceivers of other vehicle communications of V2V communications on track 1202.Therefore, main vehicle 1206 can be from receiving the long-range car datas of V2V 604 with being ready for use on the long-range vehicle 1208 that DSRC is communicated.In box 1304, method 1300 include accessing main car data.For example, as in conjunction with Fig. 8 box 804 and Fig. 6 discuss, can be via bus 330 from vehicle Sensing system 322 accesses main car data 602.In box 1306, method 1300 includes being based on long-range car data and main vehicle number It is dangerous according to detection.In some embodiments, it includes identifying each long-range vehicle 1208 relative to the vertical of main vehicle 1206 that detection is dangerous It is travelled to position (for example, above or below), long-range vehicle 1208 relative to main vehicle 1206 and with main vehicle 1206 not in identical vehicle The track of the long-range vehicle 1208 in road, the transverse direction (for example, left and right) relative to main vehicle 1206.Therefore, in one embodiment, exist It may include passing through track relative to main vehicle 1206 and/or position pair one in box 1308 that danger is detected in box 1306 A or multiple long-range vehicles 1208 are classified.Box 1308 will be discussed in further detail about Figure 14 A and 14B herein.

In fig. 13, in box 1310, method 1300 can be optionally included calculates acceleration control rate based on danger. In one embodiment, processor calculates adding for main vehicle 1206 according to the Controlling model discussed above for equation (1)-(5) Fast control rate.For example, in one embodiment, it may include the box 1004 as combined Figure 10 that danger is detected in box 1306 Description selects head vehicle according to danger.For example, such as will be discussed herein, in one embodiment, there is maximum deceleration rate in track And/or the long-range vehicle of minimum (for example, most slow) speed can be identified as danger.This long-range vehicle can be selected as to main vehicle 1206 operation and/or driving path influence maximum head vehicle.Therefore, in box 1310, adding for this long-range vehicle can be used Rate calculates acceleration control rate.In box 1312, method 1300 may include based on danger and/or according to acceleration control speed Rate controls vehicle control system, is similar to the box 808 of Fig. 8.

As described above, in some embodiments being discussed herein, hazard detection include each long-range vehicle of identification relative to The lengthwise position (for example, above or below) of main vehicle, long-range vehicle are travelled relative to main vehicle and with main vehicle not in same track The track of long-range vehicle, the transverse direction (for example, left and right) relative to main vehicle.In general, the V2V received in the box 1302 of Figure 12 Long-range car data 604 is analyzed and is compared the previous position of the position of long-range vehicle and long-range vehicle with the position of main vehicle. It discusses in more detail referring now to Figure 14 A and is classified to long-range vehicle 1208 by track relative to main vehicle 1206 and position Method.

Figure 14 A show the method 1400 according to illustrative embodiments for classifying to long-range vehicle.Specifically, Method 1400 provides long-range vehicle and classifies relative to the lane-level of main vehicle.For in box 1402 along identical as main vehicle 1206 Each of direction running long-range vehicle 1208, method 1400 continue to box 1404, wherein determining whether long-range vehicle is located at 1206 front of main vehicle.More specifically, in box 1404, processor 304 determines the lengthwise position (example relative to main vehicle 1206 Such as, above or below).In one embodiment, processor 304 can use the position data received from long-range vehicle 1208 true Determine lengthwise position.For example, if long-range vehicle orientation angles are more than -90 degree and less than 90 degree, long-range vehicle is determined to be in main vehicle 1206 fronts.As the illustrated examples in Figure 12, long-range vehicle 1208a-c, 1208e-f and 1208h-j in the front of main vehicle 1206, And long-range vehicle 1208d, 1208g and 1208k are behind main vehicle 1206.If long-range vehicle 1208 is in 1206 front of main vehicle, method 1400 continue to box 1406.In box 1406, method 1400 includes calculating and/or predicting long-range vehicle 1208 and main vehicle Prediction lateral shift between 1206.In some embodiments, box 1406 further includes calculating and/or predicting long-range vehicle 1208 Prediction vertical misalignment between main vehicle 1206.

Box 1406 will be more fully described in conjunction with Figure 14 B now, Figure 14 B are before main vehicle 1416 and in the road of bending The schematic diagram 1412 of the long-range vehicle 1414 travelled in a same direction on road 1420.Long-range vehicle 1414 and main vehicle 1416 are shown For in x-axis and y-axis coordinate system with reference point (0, VCenterY).In one embodiment, working as using main vehicle 1416 The long-range vehicle trail trace 1418 of front position (HVvehiclePos (0)) and long-range vehicle 1414 come predict lateral shift (prediction ) and vertical misalignment (LongOffset of prediction) LatOffset.Long-range vehicle trail trace 1418 is made of path histories point, institute Path histories point is stated to be illustrated as in fig. 14b as the circle along long-range vehicle trail trace 1418.Past history point can be with It is by V2V communications receptions or the long-range car data for being sensed by main vehicle 1416 and being stored by main vehicle 1416.

The current location RVPos (0) of long-range vehicle by being connected to the continuous path of long-range vehicle by long-range vehicle trail trace 1418 History point RVPos (- 1) is defined to the line segment of long-range RVPos (- N), and wherein N is the sum of path histories point.In an embodiment party In formula, in order to calculate vertical misalignment (LongOffset of prediction), based on by the current location vehiclePos (0) of main vehicle 1416 It is connected to a series of to determine along each line segment distance of the nearest path histories point of the long-range vehicle trail trace 1418 along y-axis Vertical misalignment point.If road curvature, as shown in Figure 14B, then vertical misalignment (LongOffset of prediction) can be based on prediction The course of path 1420 (for example, arc, radius of predicted path 1420) and main vehicle 1416.

In order to determine the lateral shift (LatOffset of prediction) of prediction, in one embodiment, it is based on main vehicle 1416 Current location and long-range vehicle trail trace 1418 on the main vehicle 1416 of distance along between the closest approach of the current location of x-axis hang down Straight distance calculates a series of lateral shift points along long-range vehicle trail trace 1418.For being bent as shown in Figure 14 B Road, the current location (RVPOS (0)) that the lateral shift (LatOffset of prediction) of prediction can be based on long-range vehicle 1414 with it is main Vertical range between the projection arc length of vehicle 1416.Other lateral shift point can be based on the arc of long-range vehicle trail trace 1418 It is long.

Lateral shift point based on calculating, it may be determined that the lateral shift of prediction.For example, in one embodiment, passing through Each lateral shift point be averaged to determine the lateral shift of prediction.In another embodiment, the lateral shift for calculating prediction is examined Consider weighted factor.More specifically, in one embodiment, the lateral shift for calculating prediction includes：Present bit based on main vehicle Set the continuous road of the one or more vertical ranges and long-range vehicle between one or more path histories points of long-range vehicle The distance between the current location of diameter history point and long-range vehicle, to calculate the lateral shift of prediction.Referring now to Figure 14 C, show Method detailed 1422 according to illustrative embodiments for predicting lateral shift.In box 1424, such as from storage Look-up table at data 310 reads configuration parameter.In box 1426, based on the configuration parameter from box 1424, determine Whether enabling weights.If not enabled weights, method continues to box 1428, and using flat as discussed above The lateral shift of prediction is calculated, without weighting.For example, can be determined by calculating the average value of multiple lateral shift points The lateral shift of prediction.

If weighting is enabled in box 1426, in box 1430, it is determined whether based on matching from box 1424 Parameter is set to enable reversed distance weighted (IDW).IDW is to the current location closer to long-range vehicle on two-dimentional Euclidean distance Path histories point provide bigger meaning.In one embodiment, weighted value can be as path histories point be apart from long-range vehicle Current location distance increase and reduce.If IDW is not activated, in box 1432, using with default-weight The average value of the factor calculates the lateral shift of prediction.For example, the default-weight factor can be expressed as with mathematical way：

If enabling IDW, method 1422 continues to box 1434, wherein calculating continuous road according to following functions Two-dimentional Euclidean distance between diameter history point (for example, continuous path history point in long-range vehicle trail trace 1418)：

Wherein x_cIt is the current x-axis position of long-range vehicle, y_cIt is the current y-axis position of long-range vehicle, x₁It is the nearest road of long-range vehicle Diameter history x-axis position (RVPosX (- 1)), y₁It is the nearest path histories y-axis position (RVPosY (- 1)) of long-range vehicle, x_nIt is remote Journey vehicle the n-th path histories x-axis position and y_nIt is long-range vehicle the n-th path histories y-axis position.Two-dimentional Euclidean distance considers The distance between the current location of the continuous path history point and long-range vehicle 1414 of long-range vehicle 1414.Referring again to Figure 14 C, in side In frame 1436, the weight of IDW functions is calculated based on the distance between the continuous path history point determined such as in box 1434 The factor.In one embodiment, weight factor can be expressed as：

Wherein p is the power factor for controlling weighted memory.Therefore, the weight factor in equation (8) depends on remote The continuous path history point of journey vehicle 1414 and the distance between the current location of long-range vehicle 1414.For example, in one embodiment, Weighted value can be with path histories point apart from the current location of long-range vehicle distance increase and reduce.Therefore, in box In 1438, the lateral shift of prediction is calculated using weight factor.This can be expressed as with mathematical way：

In box 1440, using the lateral shift of prediction come to long-range vehicle track and position classify, and journey Sequence returns to the box 1408 of Figure 14 A.Referring again to Figure 14 A, in box 1408, method 1400 includes based on the cross predicted The track of long-range vehicle is determined to offset and/or long-range vehicle is distributed into track.Relative to the determination of main vehicle and/or track is distributed, And track may include the durection component relative to main vehicle and/or main vehicle track.In one embodiment, it can be based on opposite Long-range vehicle track is determined in the prediction lateral shift of lane width.The data of lane width about road 1202 can example Such as obtained from map component data 314.Classification may include lane identification symbol (for example, adjacent lane, identical track), track phase Direction (for example, right side, left side) for main vehicle and/or main vehicle track and with track relative to main vehicle and/or main vehicle track Direction (for example, the leftmost side, rightmost side) associated distance.The track distribution of long-range vehicle and/or track, which are classified, may include But it is not limited to：It is identical as main vehicle track, in relative to main vehicle right side adjacent lane, in the rightmost side track relative to main vehicle In, in the left side adjacent lane relative to main vehicle and in the leftmost side track relative to main vehicle.For example, in fig. 12, Long-range vehicle 1208e is with main vehicle 1206 in same track (that is, second lane 1204b), and long-range vehicle 1208c is in left side adjacent lane In (that is, first lane 1204a), and long-range vehicle 1208j is in right side adjacent lane (that is, third lane 1204c).Ying Li Solution, it is possible to implement classify (for example, centrifugal pump, numerical value, successive value) in other kinds of track.

In box 1410, method 1400 includes being classified to long-range vehicle with track rank relative to main vehicle.This can be with Based on the long-range vehicle passage determined in box 1408.Classification may include lane identification symbol (for example, adjacent lane, identical vehicle Road), track is relative to the direction (for example, right side, left side) in main vehicle and/or main vehicle track and relative to the lengthwise position of main vehicle (for example, front, behind).For example, the long-range vehicle in track identical with main vehicle is classified as in the same track of main vehicle And in main front of the host.Long-range vehicle in left side adjacent lane is classified as in the left side adjacent lane of main vehicle and in master Before vehicle.The long-range vehicle of right side adjacent lane is classified as in the right side adjacent lane of main vehicle and in main front of the host.Make For the illustrated examples about Figure 12, long-range vehicle 1208c can be classified as in the left side adjacent lane 1204a of main vehicle 1206 And in 1206 front of main vehicle.It should be understood that, it is possible to implement other kinds of long-range vehicle classification is (for example, centrifugal pump, numerical value, continuous Value).It such as will be discussed herein, these are classified the determination for promoting the danger of track rank.

Referring now to Figure 15, showing hazard detection is carried out using vehicle communication according to another illustrative embodiments Illustrative methods 1500.In one embodiment, method 1500 can be used for track rank speed hazard detection.Magnitude of traffic flow shape State monitoring helps avoid unnecessary operational delay and the pressure to driver, especially under the traffic scene of congestion.Make It is communicated with DSRC as described herein, the track rank speed monitoring with the long-range car datas of V2V can help driving to main vehicle The person of sailing provides track rank traffic flow information and/or can be used for controlling main vehicle expection and the track rank magnitude of traffic flow is avoided to ask Topic.Figure 15 will be described with reference to figure 2-7, Figure 12 and Figure 13.In box 1502, method 1500 includes such as above in association with Figure 13 The description of box 1302 receive long-range car data.In addition, in box 1504, method 1500 includes the side such as above in association with Figure 13 Frame 1304, which discusses, accesses main car data.In box 1506, method 1500 includes that the box 1308 such as above in association with Figure 13 discusses, Classify to the track of each long-range vehicle and position relative to main vehicle.In box 1508, method 1500 includes calculating track Rank traffic flow data.

In one embodiment, it may include by average master track rank traffic flow data to be calculated in box 1508 The speed of the long-range vehicle in each of each track of front of the host determines the magnitude of traffic flow speed in each track.Show as illustrative Example, about Figure 12, can by first lane 1204a and positioned at the long-range vehicle 1208a of 1206 front of main vehicle, (for example, being received in box 1502) speed data of 1208b and 1208c averagely determines first lane 1204a's Magnitude of traffic flow speed.The magnitude of traffic flow speed of track 1204b and 1204c can be similarly determined.

In another embodiment, it may include that identification is each that track rank traffic flow data is calculated in box 1508 There is the long-range vehicle of minimum (for example, minimum) speed in all long-range vehicles in track in corresponding track.For example, processor 304 can determine the speed of the long-range vehicle in each of 1206 front of main vehicle based on the long-range car data received in box 1502. For each track, processor 304 determines which long-range vehicle has minimum speed.As illustrated examples, in first lane In 1204a, long-range vehicle 1208a can have the speed of 30mph with the speed of 45mph, long-range vehicle 1208b, and remote Journey vehicle 1208c can be with the speed of 35mph.In this example, the identification of processor 304 has most in first lane 1204a The long-range vehicle 1208b of low velocity.The long-range vehicle with minimum speed of track 1204b and 1204c can be similarly determined.

In some embodiments, method 1500 can be optionally included in box 1510, be based on traffic flow data Determine whether to detect magnitude of traffic flow danger.Magnitude of traffic flow danger may influence operation and/or the driving path of main vehicle 1206.Example Such as, in one embodiment, if the long-range vehicle in track identical with main vehicle is identified as with less than predetermined threshold Minimum speed, then processor 304 can determine dangerous.In some embodiments, if determination in box 1510 For "No", then method may return to box 1508.Otherwise, method 1500 can be optionally included in box 1512, be calculated The acceleration control rate of main vehicle.Accelerate control rate that can be based on traffic flow information.For example, accelerating control rate that can be based on knot above The Controlling model that equation (1)-(5) discuss is closed to determine.It in one embodiment, can be as described in the box 1004 in Figure 10 Based on be identified as having minimum speed and/or the identical track of the main vehicle of maximum deceleration rate in long-range vehicle, to select Head vehicle.

In box 1514, method 1500 includes controlling vehicle control based on traffic flow data and/or traffic flow danger System processed.For example, processor 304 can generate visual feedback on display 510, the feedback shows the friendship in each track Through-current capacity and/or the long-range vehicle of identification are that the magnitude of traffic flow is dangerous.For example, can highlight show be identified as with lowest speed The figure of long-range vehicle in the identical track of main vehicle of degree, it is dangerous to alert the potential magnitude of traffic flow of driver.It should be understood that can be with The other kinds of feedback based on traffic flow data is provided via vehicle interfaces system 328.Such as above in association with the box of Fig. 8 In the other embodiment of 808 descriptions, one or more Vehicular systems can be controlled based on control rate and/or danger is accelerated 404.For example, accelerating control rate that can be output to ECU 320 by C-ACC control systems 300, so as to according to acceleration control rate control The one or more Vehicular systems of system.

Another hazard detection method using vehicle communication is described referring now to Figure 16.Specifically, Figure 16 is shown It is according to illustrative embodiments based on identifying that long-range vehicle track variation carries out the method 1600 of hazard detection.Figure 16 will join It examines Fig. 2-7 and Figure 13 is described.In box 1602, method 1600 includes that the box 1302 such as above in association with Figure 13 describes Receive long-range car data.In addition, in box 1604, method 1600 includes that the box 1304 such as above in association with Figure 13 discusses access Main car data.In box 1606, method 1500 include relative to such as above in association with the box of Figure 13 1308 and Figure 14 A, 14B, The main vehicle that 14C is discussed classifies to the track of each long-range vehicle and position.In some embodiments, in box 1606, Identify the long-range vehicle (for example, classifying in such as Figure 14 A) travelled in main front of the host and in track identical with main vehicle.It will close Illustrated examples are described in Figure 17, Figure 17 shows the traffic scenes 1700 of the traffic scene 1200 similar to Figure 12.For letter For the sake of list, similar reference mark indicates similar element.In fig. 17, long-range vehicle 1208c, 1208d and 1208e with main vehicle In 1206 traveling ahead of main vehicle in 1206 identical tracks.

Referring again to Figure 16, in box 1608, method 1600 includes the track variation for the long-range vehicle for identifying main front of the host. In one embodiment, processor 304 analyze each long-range vehicle 1208 relative to 1206 track of main vehicle track (for example, current Position and previous position), to determine whether one or more long-range vehicles 1208 have changed track in predetermined time window.Processor 304 can be each remotely relatively horizontal between the turn signal state of vehicle 1208, long-range vehicle 1208 and main vehicle 1206 by analyzing To distance, laterally accelerate, yaw rate and course predict that ongoing track changes.In another embodiment, for In each of main front of the host traveling long-range vehicle 1208 in track identical with main vehicle 1206, the turn signal of long-range vehicle 1208 is determined Whether it is activated to determine the quantity of track variation.

In box 1610, determine the quantity of movable turn signal and/or identified track variation quantity whether More than scheduled threshold value.If being determined as "No" in box 1610, it is not detected danger, and method 1600 can be after It is continuous to return to box 1602.Otherwise, in box 1612, determine whether the speed of long-range vehicle 108 is less than predetermined speed threshold value.This Speed reduction can indicate that one or more long-range vehicles 1208 slow down in a similar way before changing track.If box It is determined as "No" in 1612, then danger is not detected, and method 1600 can continue back to box 1602.Otherwise, exist In box 1614, method 1600 can optionally include calculating and accelerate control rate.In one embodiment, 304 basis of processor The acceleration control rate of main vehicle 1206 is calculated above for the Controlling model of equation (1)-(5) discussion.In addition, in box 1616 In, method 1600 may include being changed and/or being accelerated control rate based on track to control the vehicle control system of main vehicle.For example, Processor 304 can generate visual feedback on display 510, and the feedback shows dangerous and/or provides in relation to the logical of danger Know.For example, processor 304 can generate the figure for showing the potential danger with main vehicle in same track.Track and/or danger It can highlight, it is dangerous to alert the potential magnitude of traffic flow of driver.It should be understood that can be carried via vehicle interfaces system 328 For the other kinds of feedback based on traffic flow data.In the other embodiment as described in the box 808 above in association with Fig. 8 In, one or more Vehicular systems 404 can be controlled based on control rate and/or danger is accelerated.For example, accelerating control rate can be with ECU 320 is output to by C-ACC control systems 300, so as to according to the one or more Vehicular systems of acceleration control rate control.

IV. merge assisted method

As described above, it may include multiple vehicles and infrastructure that system and method described herein, which is usually directed to use, Vehicle communication network controls vehicle.In some embodiments, it can use to match and be ready for use on V2V (for example, DSRC) communications Vehicle communication network between vehicle merges auxiliary to provide cooperation.It is, for example, possible to use DSRC communicates that main vehicle is assisted to merge Into the track of traffic congestion.Figure 18 is shown will be for describing for the example sexual intercourse for merging the system and method assisted that cooperates Logical scene 1800.In figure 18, traffic scene 1800 is related in the road with first lane 1804a and second lane 1804b One or more vehicles on 1802.It should be understood that road 1802 can have unshowned various constructions in Figure 18, and can be with With any amount of track.

Traffic scene 1800 is included in the main vehicle 1806 that driving intention in the 1804b of track is merged into the 1804a of track.One In a little embodiments, track 1804a will be referred to as merging track.Long-range vehicle just travels in the 1804a of track.Long-range vehicle usually by Element number 1808 indicates.More particularly, however, long-range vehicle 1808 can be referred to as long-range vehicle 1808a, long-range vehicle 1808b and Long-range vehicle 1808c.In some embodiments, long-range vehicle 1808 can be referred to as multiple long-range vehicles 1808.Scheme similar to combining The main vehicle 106 that 1A, 1B and Fig. 2-7 are discussed, main vehicle 1806 can use DSRC transmission, receive communication and/or with other vehicles, use Family or infrastructure exchange communication, and the communication includes data, message, image and/or other information.For simplicity, exist In Figure 18, main vehicle 1806 and long-range vehicle 1808 all include V2V transceivers.It should be understood that main vehicle 1806 and long-range vehicle 1808 can wrap Include 108 same or analogous components and functionality of main vehicle 106 above in conjunction and long-range vehicle.Merge the description of auxiliary in entire cooperation In, by the component with reference to figure 2-7.

Main vehicle 1806 may include the multiple medium range radars or other sensing dresses for the part that can be radar system 414 It sets.In figure 18, multiple medium range radars may include positioned at main vehicle 1806 left front angular zone left front medium range radar 1810, Before the right side of angular zone before the right side of main vehicle 1806 medium range radar 1812, positioned at main vehicle 1806 left back angular zone left back intermediate range Radar 1814 and the medium range radar 1816 behind the right side of angular zone behind the right side of main vehicle 1806.However, in other embodiments, Multiple medium range radars can be placed on any appropriate location on main vehicle 1806.

Referring now to Figure 19, showing according to illustrative embodiments for providing cooperation conjunction using vehicle communication network And the process flow diagram flow chart of the method 1900 assisted.In box 1902, method 1900 include activation merge auxiliary system (for example, Vehicle computer system 302).For example, user's input can be received from the importation of vehicle interfaces system 328 (for example, coming from Driver), to activate merging auxiliary mode.In box 1904, method 1900 includes receiving about one or more long-range vehicles Long-range car data, as the box 802 of reference chart 8 above discusses.Long-range car data may include from long-range vehicle 1808 The long-range car datas 604 of V2V and/or the long-range car data 606 sensed about long-range vehicle 1808.In one embodiment, locate Manage device 304 can via vehicle communication network 200 receive from merge track (for example, track 1804a) in travel one or The speed data that multiple long-range vehicles 1808 transmit.For example, processor 304 can be received via vehicle communication network 200 from one Or the speed data that multiple long-range vehicles 1808 transmit.

In addition, in some embodiments, the position data of one or more long-range vehicles 1808 can be from main vehicle 1806 The sensing system for monitoring the region around main vehicle 1806 receives.For example, processor 304 can connect via multiple middle-range sensor devices Receive about one or more long-range vehicles 1808 position data (for example, from radar system 414, the long-range vehicle number that senses According to 606), as reference chart 18 above discusses.In box 1906, method 1900 includes accessing main car data from main vehicle.For example, If the box 804 above in association with Fig. 8 discusses, main car data can be accessed from Vehicle Sensor System 322 via bus 330 602。

In box 1908, method 1900 can optionally include calculating and accelerate speed control.In some embodiments, It can accelerate control using shown in equation (1)-(5) and in conjunction with some or all components that the box of Fig. 8 806 discusses to calculate Rate processed.More specifically, processor 304 calculates main vehicle 1808 according to the Controlling model discussed in equation (1)-(5) above Accelerate control rate.By in an embodiment being discussed herein, the acceleration control rate of main vehicle 1806 can be based in box The average value of the speed data received in 1904.In box 1910, method 1900 may include controlling the vehicle system of main vehicle System is similar to the box 808 of Fig. 8.For example, in one embodiment, processor 304 can be by being based on that control rate is accelerated to provide Come to control main vehicle 1806 according to acceleration control rate for the automatic braking of speed control and/or acceleration.In some embodiments In, processor 304, which can control vehicle interfaces system 328 and be provided to the driver of main vehicle 1806, merges additional feedback.At other In embodiment, when driver push accelerator pedal 514 when, can control the active force pedal (AFP) of accelerator pedal 514 with to The foot of driver provides active feedback power.Method 1900 is more fully described referring now to Figure 20 and 21.

In one embodiment, merge auxiliary by providing speed and guiding to provide to main vehicle.Speed guiding assists main vehicle 1806 reach the appropriate speed merged relative to long-range vehicle 1808.Figure 20 is shown to be carried out using vehicle communication network 200 The method 2000 of speed guiding.In box 2002, method 2000 includes that activation merges auxiliary system, is similar to the box of Figure 19 1902.In box 2004, method 2000 includes receiving the long-range car datas of V2V 604 via vehicle communication network 200.More specifically Ground, processor 304 can be received via vehicle communication network 200 from one travelled in merging track (that is, track 1804a) Or the speed data that multiple long-range vehicles 1808 transmit.For example, processor 304 can be received via vehicle communication network 200 from one The speed data that a or multiple long-range vehicles 1808 transmit.

In box 2006, method 2000 may include accessing main car data from main vehicle.For example, as above in association with Fig. 8 Box 804 is discussed, can access main car data 602 from the Vehicle Sensor System 322 of main vehicle 1806 via bus 330. In one embodiment, processor 304 accesses and/or retrieves the position of the speed and main vehicle 1806 of main vehicle 1806.

In box 2008, method 2000 includes calculating merging one or more of track (i.e. track 1804a) far The average speed of journey vehicle 1808.Processor 304 can be based in box 2004 via vehicle communication network 200 from each remote The speed data that journey vehicle 1808 receives calculates average speed.In addition, processor 304 can be in box 2010 by average speed It is compared with the speed of main vehicle 1806.Based on the comparison, in box 2012, method 2000 may include based on average Speed and/or comparison between the average speed of main vehicle 1806 calculate acceleration control rate.Accelerate control rate can be by handling Device 304 calculates, the difference between average speed and the speed of main vehicle 1506 to minimize one or more long-range vehicles 1808.

In other words, the target rate of acceleration of main vehicle 1806 can be calculated and/or set using average speed.Processor 304 can determine whether the speed of main vehicle 1806 is higher or lower than target rate of acceleration.For example, if processor 304 determines main vehicle 1806 speed is less than target rate of acceleration, then processor 304 can be controlled in box 2014 main vehicle 1806 Vehicular system it is logical Know driver and/or automatically control main vehicle 1806 and accelerated with increasing, as discussed herein.For example, processor 304 can be based on The comparison of the AFP of accelerator pedal 514 sends order, encourages driver to provide more accelerate to be merged into track to provide Soft feedback in 1804a.Alternatively or in addition, processor 304 can provide visually indicate with increase to vehicle interfaces system 328 Acceleration.In addition, in some embodiments, in box 2014, processor 304 can will accelerate control rate to be output to vehicle System, to control the movement of main vehicle 1806 according to control rate is accelerated.

If processor 304 determines that the speed of main vehicle 1806 is more than the target velocity of main vehicle 1806, processor 304 exists The AFP of control accelerator pedal 514 can be sent commands in box 2014 to provide simulation motive force (example to the foot of driver Such as, push back or push to) active force feedback.The active force feedback of simulation motive force can be provided, had and main vehicle 1806 The relevant feedback force of difference between speed and the target velocity of main vehicle 1806.Therefore, encourage the driver of main vehicle 1806 with master The relevant power of difference between the speed of vehicle 1806 and the target velocity of main vehicle 1806 is come the main vehicle 1806 that accelerates and/or slow down.In addition, Processor 304, which can provide, to be visually indicated to reduce and/or increase the speed of vehicle interfaces system 328.The brightness visually indicated It can be synchronous with the positively related AFP feedback forces of same speed difference.

Other than providing and such as being guided above in association with the speed of Figure 20 discussion, the system and method being discussed herein can determine Accurate positionin for merging auxiliary.Referring now to Figure 21, show that use position according to illustrative embodiments is directed into Row merges the method 2100 of auxiliary.In box 2102, method 2100 includes the box 1902 similar to Figure 19, and activation merges auxiliary Auxiliary system.In box 2104, method 2100 includes receiving long-range car data.In one embodiment, processor 304 can be as It is discussed in the box of Figure 20 2004 above, receives the long-range car datas 604 (for example, speed data) of V2V.In addition, in this implementation In mode, processor 304 can receive the long-range car data 606 of sensing.More specifically, processor 304 can be via in multiple Journey sensor receive about one or more long-range vehicles 1808 position data (for example, from radar system 414, sense Long-range car data).It is discussed in addition, method 2100 may include the box 804 above in association with Fig. 8 such as in box 2106, Access main car data 602.

In box 2108, determine whether to detect any object (for example, remote based on the long-range car data 606 sensed Journey vehicle 1808, danger).More specifically, whether processor 304 determines one or more long-range vehicles 1808 based on position data In the region around main vehicle 1806.If being determined as "No" in box 2108, method 2100 can continue to Box 2114, to control the Vehicular system 404 of main vehicle 1806 based on position data.For example, Figure 22 A show traffic scene 2202, it is the simplified illustration for the traffic scene 1800 for including main vehicle 1806.In this example, in merging track 1804a not Detect radar object (for example, long-range vehicle, danger).Therefore, processor 304 can control vehicle interfaces system 328 to provide Main vehicle 1806 is merged into to merge in the 1804a of track be that safe this visually indicates.For example, vehicle interfaces system 328 can be with Green light is provided on display 510.In other embodiments, processor 304 can control one or more Vehicular systems 404 Merge track 1804a to assist driver and/or main vehicle 1806 to be merged into.

Referring again to Figure 21, if being determined as "Yes" in box 2108, method 2100 can optionally continue into Row arrives box 2110, to identify the class for merging scene with the relative position of one or more long-range vehicles 1808 based on main vehicle 1806 Type.In one embodiment, vehicle computer system 302 stores pooled model data 318.Pooled model data 318 can be used Merge the type of scene in identification.Therefore, the control for the Vehicular system 404 implemented in box 2114 can be based partially on merging The type of scene.In addition, in some embodiments, the long-range vehicle sorting technique described in Figure 13,14A and 14C can be used for Identification merges the type of scene and classifies to it.In one embodiment, the type for merging scene is following one：Side by side Merge scene, as shown in Figure 22 B；Tail portion merges scene, as shown in fig. 22 c；Front merges scene, as shown in figure 22d；In or Between merge scene, as shown in Figure 22 E and 22F.By each in the case where discussing these scenes in further detail herein.

In box 2112, method 2100 can be optionally included based on main vehicle 1206 and one or more long-range vehicles The speed of 1808 relative position, the speed of main vehicle 1806 and one or more long-range vehicle 1808, calculate accelerate control rate and/or Calculate the safe distance for being merged into track.In some embodiments, also based on the merging determined in box 2112 The type of scene accelerates speed control and/or safe distance to calculate.It should be understood that in some embodiments, can use upper Text discuss equation (1)-(5) come implement accelerate speed control calculating.

With reference to figure 22B, merging scene 2204 side by side is shown.More specifically, long-range vehicle, i.e., in long-range vehicle 1808a extremely Few one is located at the place adjacent with the main vehicle 1806 merged in the 1804a of track.It is sensed based on what is received in box 2104 Long-range car data 606 detect long-range vehicle 1808a.In this example, based on the type for merging scene, in box 2112, Processor 304, which can calculate, accelerates control rate so that main vehicle 1806 slows down.Processor 304 can be by carrying in box 2114 For the rate of deceleration braking system is controlled based on control rate is accelerated.In one embodiment, rate of deceleration 0.08G.Alternatively and/ Or other than automatic brake control, processor 304 can to vehicle interfaces system 328 provide visually indicate, with warning and/or It encourages to increase acceleration to merge.It is visually indicated for example, can be provided on display 510, with by providing red shine The driver that bright instruction carrys out the main vehicle of suggestion 1806 is slowed down.Red illumination instruction can also indicate receive to be merged into driver Merge in the 1804a of track.In addition, processor 304 can control AFP by providing big reverse feedback power.In an embodiment party In formula, big reverse feedback power may include 100% reaction force.

Referring again to Figure 21, as described above, in box 2112, method 2100 can also include determining for being merged into And the safe distance in track.In one embodiment, safe distance is main vehicle 1806 based on one in merging track 1804a A or multiple long-range vehicles 1808 are merged into the security boundary merged in the 1804a of track.In some embodiments, safe distance is Type based on the merging scene identified in box 2110.With reference to figure 22C, tail portion according to illustrative embodiments is shown Merge scene 2206.Herein, main vehicle 1806 is positioned to (for example, in adjacent lane) adjacent with long-range vehicle 1808a and remote The tail end of journey vehicle 1808a.In one embodiment, processor 304 determines that main vehicle 1806 is located at the side (example of long-range vehicle 1808a Such as, adjacent) and at the tail end of long-range vehicle 1808a, and can will merge the type of scene based on pooled model 318 It is identified as tail portion and merges scene.Based on merge scene type, in box 2112, processor 304 calculate accelerate control rate with Main vehicle 1806 is set to slow down.

In another embodiment, processor 304 makes main vehicle 1806 be merged into and merges track according to following equation determination Safe distance in 1804a：

DS=m+1.5s* (V_HV-V_RV) (10)

Wherein m is the constant variables as unit of rice, V_HVIt is the speed and V of main vehicle 1806_RVIt is long-range vehicle 1808a Speed.In some embodiments, safe distance is limited to preset range, can be based partially on merging type.For example, for Tail portion merges scene, between 4 meters and 25 meters.In ellustrative example, constant variables m is 5m.However, in some realities It applies in mode, the speed for the speed and long-range vehicle 1808a that the safe distance equation (10) being illustrated above can be based on main vehicle 1806. For example, if processor 304 determines that the speed of main vehicle 1806 is more than the speed of long-range vehicle 1808a, constant variables m can increase (for example, increasing to 10m from 5m), to generate the safe distance of bigger.However, if the speed of main vehicle 1806 is less than long-range vehicle The speed of 1808a, then the constant variables m can reduce (for example, being reduced to 2m from 5m), to generate smaller safety away from From.

In one embodiment, processor 304 determines D_XActual range between main vehicle 1806 and long-range vehicle 1808a, such as Shown in Figure 22 C.Actual range can be compared by processor 304 with safe distance.If actual range is less than safe distance, It is unsafe that then processor 304, which determines that main vehicle 1806 is merged into the 1804a of track, because of main vehicle 1806 and long-range vehicle 1808a Between exist collision risk.Therefore, in one embodiment, in box 2114, processor 304 can control vehicle circle Plane system 328 is fed back with providing so that main vehicle 1806 slows down.It visually indicates, indicates for example, can be provided on display 510 Merging is unsafe.Otherwise, if processor 304 determines that actual range is more than safe distance, processor 304 determines master It is safe that vehicle 1806, which is merged into the 1804a of track,.Processor 304 can control vehicle interfaces system 328 and is merged into providing It is safe feedback in the 1804a of track.For example, processor 304 can control display 510 to show that green light indicates.

In another embodiment, it can also include calculating for controlling vehicle system that safe distance is calculated at box 2112 The controlling value of system.For example, when determining that the actual range between main vehicle 1806 and long-range vehicle 1808a is less than safe distance, processing Device 304 can calculate controlling value according to the difference between actual range and safe distance.In one embodiment, controlling value according to Following equation calculates：

Controlling value can be saturated to preset range.In one example, controlling value is saturated to -1 to 0 range.Controlling value It can be used at box 2114 controlling one or more Vehicular systems 404.For example, determining actual range less than safe distance When, processor 304 can be based partially on controlling value to calculate acceleration control rate.As another example, processor 304 can control Display 510 has the red colored lamp for the brightness that can be modified and/or be adjusted based on controlling value to provide.For example, red colored lamp Brightness can increase with the increase of controlling value.Therefore, main vehicle 1806 is closer to long-range vehicle 1808a, controlling value it is higher and/or Feedback is stronger.In another embodiment, AFP reaction forces can be adjusted and/or changed based on controlling value (for example, feedback Power).AFP feedback forces can increase with the increase of controlling value.

Referring now to Figure 22 D, show that front merges scene 2208 according to illustrative embodiments.Herein, main vehicle 1806 Positioned at the side (for example, in adjacent lane) of long-range vehicle 1808a and in the front end of long-range vehicle 1808a.In an embodiment In, processor 304 determines that main vehicle 1806 is located at the side of long-range vehicle 1808a and in the front end of long-range vehicle 1808a, and can The type identification for merging scene is merged scene as front based on pooled model 318.In some embodiments, processor 304 can accelerate control rate so that main vehicle 1806 accelerates based on the type for merging scene to calculate.

DS=m+1.5s* (V_HV-V_RV) (12)

Wherein m is the constant variables as unit of rice, V_HVIt is the speed and V of main vehicle 1806_RVIt is long-range vehicle 1808a Speed.In some embodiments, safe distance is limited to preset range.For example, between 5 meters and 12 meters.It is said at one In bright property example, constant variables m is 8m.However, in some embodiments, the safe distance equation being illustrated above can be based on The speed of the speed of main vehicle 1806 and long-range vehicle 1808a.For example, if processor 304 determines that the speed of main vehicle 1806 is more than far The speed of journey vehicle 1808a, then constant variables m can increase (for example, increasing to 12m from 8m), to generate bigger safety away from From.However, if the speed of main vehicle 1806 be less than long-range vehicle 1808a speed, the constant variables m can reduce (for example, It is reduced to 4 m) from 8m, to generate smaller safe distance.

In one embodiment, processor 304 determines D_XActual range between main vehicle 1806 and long-range vehicle 1808a, such as Shown in Figure 22 D.Actual range can be compared by processor 304 with safe distance.If actual range is less than safe distance, It is unsafe that then processor 304, which determines that main vehicle 1806 is merged into the 1804a of track, because of main vehicle 1806 and long-range vehicle 1808a Between exist collision risk.Therefore, in one embodiment, in box 2014, processor 304 can control vehicle circle Plane system 328 is to provide feedback to increase the speed of main vehicle 1806.It is visually indicated for example, can be provided on display 510, It is unsafe that instruction, which merges,.Otherwise, if processor 304 determines that actual range is more than safe distance, processor 304 determines It is safe that main vehicle 1806, which is merged into the 1804a of track,.In such a scenario, processor 304 can control vehicle interfaces system 328 to provide, to be merged into the 1804a of track be safe feedback.For example, processor 304 can control display 510 show it is green Lamp indicates.

In another embodiment, it can also include calculating for controlling vehicle system that safe distance is calculated in box 2112 The controlling value of system.For example, when determining that the actual range between main vehicle 1806 and long-range vehicle 1808a is less than safe distance, processing Device 304 can calculate controlling value according to the difference between actual range and safe distance.In one embodiment, controlling value according to Following equation calculates：

Controlling value can be saturated according to preset range.For example, in one embodiment, controlling value is saturated to -1 to 0 Range.Controlling value can be used for controlling one or more Vehicular systems 404 in box 2114.For example, determining actual range When less than safe distance, processor 304 can be based partially on controlling value to calculate acceleration control rate.As another example, it handles Device 304 can control display 510 and provide the blue light with the brightness that can be modified and/or be adjusted based on controlling value. For example, the brightness of blue light can increase with the increase of controlling value.Therefore, main vehicle 1806 is closer to long-range vehicle 1808a, control Value processed is higher, and feeds back stronger.

With reference to figure 22E and Figure 22 F, intermediate merging scene 2210 and 2212 according to illustrative embodiments is shown. In Figure 22 E, main vehicle 1806 is positioned to (for example, in adjacent lane) adjacent with long-range vehicle 1808a and 1808b and positioned at remote Between journey vehicle 1808a and 1808b.In the present embodiment, in box 2112, processor 304 is based on from main vehicle 1806 to remote The front safe distance of journey vehicle 1808a and from main vehicle 1806 to the rear safe distance of long-range vehicle 1808b come calculate safety away from From.More specifically, front safe distance is calculated according to following equation：

Front_DS=m+1.5s* (V_HV-V_RVF) (14)

Wherein m is the constant variables as unit of rice, V_HVIt is the speed and V of main vehicle 1806_RVFIt is the long-range vehicle in front The speed of 1808a.In some embodiments, safe distance is limited to preset range, can be based partially on merging type.Example Such as, for mid-scene as shown in figure 22e, safe distance may be limited between 4 meters and 20 meters.In one embodiment, Processor 304 determines the practical forward travel distance D between main vehicle 1806 and the long-range vehicle 1808a in front_FX.Processor 304 can be by reality Border forward travel distance is compared with front safe distance.If practical forward travel distance is less than front safe distance, processor 304 It is unsafe to determine that main vehicle 1806 is merged into the 1804a of track, because existing between main vehicle 1806 and the long-range vehicle 1808a in front The risk of collision.Therefore, in one embodiment, in box 2114, processor 304 can control vehicle interfaces system 328 It is fed back with providing so that main vehicle 1806 slows down.It is visually indicated for example, can be provided on display 510, it is not that instruction, which merges, Safety.

In another embodiment, it can also include calculating for controlling vehicle system that safe distance is calculated in box 2112 The controlling value of system.For example, determining that it is safe that the practical forward travel distance between main vehicle 1806 and the long-range vehicle 1808a in front is less than front Apart from when, processor 304 can according between practical forward travel distance and front safe distance difference calculate controlling value.Implement one In mode, controlling value is calculated according to following equation：

Controlling value can be saturated to preset range.In one example, controlling value is saturated to -1 to 0 range.Controlling value It can be used for controlling one or more Vehicular systems 404 in box 2114.For example, determining that it is safe that practical forward travel distance is less than Apart from when, processor 304 can be based partially on controlling value to calculate acceleration control rate.As another example, processor 304 can be with Control display 510 provides the red colored lamp with the brightness that can be modified and/or be adjusted based on controlling value.For example, red The brightness of lamp can increase with the increase of controlling value.Therefore, main vehicle 1806 is closer to the long-range vehicle 1808a in front, controlling value Higher and feedback is stronger.In another embodiment, AFP reaction force (examples can be adjusted and/or changed based on controlling value Such as, feedback force).AFP feedback forces can increase with the increase of controlling value.

Intermediate with reference to figure 22F merges scene 2212, and main vehicle 1806 is more long-range vehicle 1808a than front closer to the long-range vehicle in rear 1808b.This merges scene 2210 on the contrary, wherein main vehicle 1806 vehicle 1808b more long-range than rear is before with the intermediate of Figure 22 E Fang Yuancheng vehicles 1808a.In the embodiment of Figure 22 F, in box 2112, processor 304 is based on from main vehicle 1806 to rear The rear safe distance of vehicle 1808b calculates safe distance.More specifically, calculating rear safe distance according to following equation：

Rear_DS=m+1.5s* (V_HV-V_RVR) (16)

Wherein m is the constant variables as unit of rice, is the speed and V of main vehicle 1806_RVRIt is the long-range vehicle 1808b in rear Speed.In some embodiments, safe distance is limited to preset range, can be based partially on merging type.For example, for Mid-scene as shown in figure 22f, safe distance may be limited between 5 meters and 8 meters.In one embodiment, processor 304 Determine D_RXPractical rear distance between main vehicle 1806 and the long-range vehicle 1808b in rear, as shown in figure 22f.Processor 304 can incite somebody to action Practical rear distance is compared with rear safe distance.If practical rear distance is less than safe rear distance, processor 304 to determine that main vehicle 1806 is merged into the 1804a of track be unsafe, because between main vehicle 1806 and the long-range vehicle 1808b in rear There are the risks of collision.Therefore, in one embodiment, in box 2114, processor 304 can control vehicle interfaces system 328 to provide feedback to increase the speed of main vehicle 1806.It is visually indicated for example, can be provided on display 510, instruction is closed And it is unsafe.

In another embodiment, it can also include calculating for controlling vehicle system that safe distance is calculated in box 2112 The rear controlling value of system.For example, determining the practical rear distance between main vehicle 1806 and the long-range vehicle 1808a in rear less than rear When safe distance, processor 304 can calculate controlling value according to the difference between practical rear distance and safe rear distance. In one embodiment, controlling value is calculated according to following equation：

Controlling value can be saturated to preset range.In one example, controlling value is saturated to -1 to 0 range.Controlling value It can be used for controlling one or more Vehicular systems 404 in box 2114.For example, determining practical rear distance less than rear When safe distance, processor 304 can be based partially on controlling value to calculate acceleration control rate.As another example, processor 304 Display 510 can be controlled, the blue light with the brightness that can be modified and/or be adjusted based on controlling value is provided.For example, The brightness of blue light can increase with the increase of controlling value.Therefore, main vehicle 1806 is closer to the long-range vehicle 1808b in rear, control Value processed is higher and feeds back stronger.

Based on above-mentioned equation, if processor 304 determines practical rear distance and is more than rear safe distance, and it is practical before Distance is more than front safe distance afterwards, then it is safe that processor 304, which determines that main vehicle 1806 is merged into the 1804a of track,.Processing Device 304 can control vehicle interfaces system 328, and to provide, to be merged into the 1804a of track be safe feedback.For example, processor 304, which can control display 510, shows green light instruction.

V. the method for following vehicle control under scene closely

The systems and methods can also be applied to follow scene closely.In the case where following scene closely, rear car travels after main vehicle, So that the distance between two vehicles (for example, forward travel distance) can not ensure, when any vehicle stops, capable of avoiding collision.In high speed row When sailing, it is proposed that the forward travel distance of main vehicle with the rear car keeps certain distance (timing at least two seconds).Distance less than two seconds can It is considered as and follows closely, and follows the probability that may increase rear-end impact closely.It follows closely and other challenges also is constituted to main vehicle.For example, main vehicle Driver can become uneasy in the presence of following vehicle closely, because when main vehicle brakes suddenly, may increase the general of collision Rate.To now discuss it is can partly or entirely implementing with above system and method, for handling the System and method for for following vehicle closely.

Figure 23 A are instantiated the exemplary traffic field for describing to follow closely certain System and method fors of vehicle control under scene Scape 2300.Traffic scene 2300 is the simple version of the traffic scene 100 of Figure 1A.For simplicity, similar reference mark table Show similar element.In Figure 23 A, track 2302 has first lane 2304a, second lane 2304b and third lane 2304c.It should be understood that track 2302 there can be unshowned various constructions in Figure 23 A, and there can be any amount of vehicle Road.Traffic scene 2300 includes main vehicle 2306 and long-range vehicle.For simplicity, long-range vehicle is generally referred to herein as long-range vehicle 2308。

It should be understood that main vehicle 2306 and long-range vehicle 2308 can be with the main vehicles 106 discussed in Figure 1A, Figure 1B, Fig. 2-Fig. 7 With 108 same or similar components and functionality of long-range vehicle.For example, main vehicle 2306 can use DSRC via the vehicle of Fig. 2 to vehicle (V2V) Transceiver 2310 and vehicle communication network 200, to transmit, receive and/or exchange with the logical of other vehicles, user or infrastructure Believe (including data, message, image and/or other information).In addition, long-range vehicle 2308a, long-range vehicle 2308b and long-range vehicle 2308d can use its respectively V2V transceiver, to communicate with one another and be communicated with main vehicle 2306.Although Figure 23 A are not shown, In some embodiments, long-range vehicle 2308c and long-range vehicle 2308e can also include the communication using vehicle communication network 200 Equipment.

Referring now to Figure 23 B, signal shows main vehicle 2306 of the traveling in the second lane 2304b of Figure 23 A and remote Journey vehicle 2308.More specifically, as shown in from left to right, long-range vehicle 2308a, long-range vehicle 2308b, main vehicle 2306 and long-range vehicle 2308d.As described above, component shown in Figure 23 B can have and the main vehicle 106 and long-range vehicle 108 that are discussed in Figure 1A and Figure 1B Same or similar components and functionality.In this embodiment, and it is as described herein it is exemplary follow System and method for closely, remotely Vehicle 2308a can be referred to as a vehicle (leading vehicle), and long-range vehicle 2308b can be referred to as front truck (preceding Vehicle), long-range vehicle 2308d can be referred to as rear car or Following Car (a rear vehicle or a following vehicle).In some embodiments, front truck can be referred to as the first vehicle, and rear car or Following Car can be referred to as second Vehicle.Rear car 2308d is in 2306 same track (that is, second lane 2304b) of main vehicle, traveling in the long-range of 2306 rear of main vehicle Vehicle.In some embodiments, rear car 2308d can be identified and be known as following vehicle closely.If will be more described in detail herein, master can be based on The comparison of the distance between vehicle 2306 and rear car 2308d and/or advance time and predetermined threshold, vehicle is followed closely to identify.In addition, tight It can be considered dangerous relative to the above embodiment in Section III part with vehicle.

In general, embodiment described herein includes being based partially on main vehicle rear and with main vehicle with the rear car travelled in track The control Vehicular system of related information.In some embodiments, it is based on rear car, main vehicle, front truck and/or head vehicle, to execute Control to one or more Vehicular systems.Specifically, method described herein and system provide control for brake and/or collaboration certainly Adapt to cruise control (C-ACC).In some embodiments, these method and systems can utilize vehicle communication shown in Fig. 2 Network 200.

Main vehicle 2306 is more fully described with reference to Figure 24.Figure 24 is follow main vehicle 2306 under scene closely exemplary The block diagram of control system 2400.Specifically, Figure 24 is the schematic diagram of the control system 300 of Fig. 3, but includes Fig. 5 and Fig. 6 initial Shown in braking system specific component.For simplicity, the similar reference mark in Fig. 3 and Figure 24 indicates similar member Part.Furthermore, it is to be understood that control system 2400 may include other portions for not being shown specifically and/or being discussed in detail above in Fig. 3 Part.

Component correlation function shown in Figure 24 can be implemented by other vehicles.For example, long-range vehicle 2308 may include control One or more components and functionalities of system 2400 processed.In addition, in some embodiments, control system 2400 will be referred to as Braking control system and/or C-ACC control systems.Other braking systems associated with certain vehicles and/or C-ACC systems It may include such as different from control system 2400 is configured to element and/or structure, but may be constructed such that and pass through vehicle Communication network 200 and other one or more braking systems, C-ACC systems, vehicle control system merge the progress of assistance system Communication.

In fig. 24, control system 2400 includes vehicle computer system 2402.In certain embodiments as described herein In, vehicle computer system 2402 is referred to as brake calculation machine system 2402 and/or C-ACC computer systems 2402.At other In embodiment, vehicle computer system 2402 can be associated with other kinds of vehicle control system, or can be just In the general vehicle computing device for realizing function described herein.If reference chart 3 above is described in detail, control system 2400 includes：Processing Device 2404, memory 2406, instruction 2408 and data 2410.Vehicle computer system 2402 can use such as bus 2430, to be communicated with all parts of main vehicle 2306.If reference chart 3 above is described in detail, vehicle computer system 2402 can be with With Vehicle Electronic Control Unit (ECU) 2420, Vehicle Sensor System 2422, vehicular communication system 2424, Vehicular navigation system 2426 and vehicle interface system 2428 communicated.

With reference to as described in figure 5 and Fig. 6, brake actuator and/or throttle actuator can be partly used, to execute acceleration And/or deceleration command (for example, according to control rate is accelerated).As shown in figure 24, control system 2400 includes being operably connected to The brake actuator 2432 of brake pedal 2434.Control system 2400 further includes being operably connected to the section of accelerator pedal 2438 Valve actuator 2436.By controlling for example via the brake fluid pressure of master cylinder, Fluid pressure controlling value and wheel cylinder (speed slows down) is slowed down in (not shown), the control of brake actuator 2432.Deceleration can also be via by stepping down in institute on pedal 2434 The driver received inputs to control, wherein brake actuator 2432 generates the brake fluid pressure for being transmitted to wheel cylinder.

On the contrary, aperture (opening) of the throttle actuator 2436 by change air throttle (not shown), accelerates to control (speed quickening).It can be inputted via by stepping down in driver received on accelerator pedal 2438, come part and control acceleration. Brake actuator 2432, brake pedal 2434, throttle actuator 2436 and accelerator pedal 2438 may include passing through vehicle The various sensors that sensing system 2422 is shown in Figure 24.In some embodiments, these components can be that braking is assisted A part for the braking control system of system or any other type, with brake actuator 2432, brake pedal 2434, air throttle Actuator 2436 and 2438 associated sensor of accelerator pedal can include but is not limited to acceleration transducer, wheel speed sensing Device, brake hydraulic pressure sensor, brake-pedal-travel sensor, brake pedal force sensor and brake pedal application sensor. As will be more described in detail herein, control system 2400 for example controls brake actuator 2432 (for example, braking based on accelerating control rate Power) and throttle actuator 2436 (for example, aperture of air throttle), so that the speed-raising of main vehicle 2306 is calculated to close to by C-ACC The speed for the acceleration control rate that machine system 2402 generates.

Referring now to Figure 25, show for follow closely scene, control for control for brake and/or C-ACC it is exemplary Controlling model 2500.Figure 25 is similar to the C-ACC Controlling models of Fig. 6, but includes specific brake component.Specifically, Figure 25 includes： Brake pedal 2434 and accelerator pedal 2438.For simplicity, the similar reference mark in Fig. 6 and Figure 25 indicates similar member Part.If reference chart 6 above is described in detail, Controlling model 2500 receives as input, main car data 2502, the long-range car datas of V2V 2504 and the long-range car data 2506 that senses.Main car data 2502 includes automobile mechanics data related with main vehicle 106. For example, speed, acceleration, rate, yaw rate, steering angle, throttle opening, range or distance data etc..It can be through By bus 2430 main car data 2502 is accessed from Vehicle Sensor System 2422.In addition, as shown in figure 25, brake pedal 2434 And/or accelerator pedal 2438 can be the source of main car data 2502.Can via with brake actuator 2432, throttle actuation Device 2436, brake pedal 2434 and/or 2438 associated the sensor of accelerator pedal are (for example, Vehicle Sensor System 2422) main car data 2502 is provided.In some embodiments, by with brake actuator 2432, throttle actuator 2436, The main car data 2502 that brake pedal 2434 and/or 2438 associated sensor of accelerator pedal are provided herein can be by Referred to as main vehicle braking-distance figures.

It is such as described in detail with reference to figure 6, the long-range car datas of V2V 2504 include one communicated with via vehicle communication network 200 The related long-range vehicle dynamic data of a or multiple long-range vehicles 2308.The long-range car datas of V2V 2504 may include with it is one or more 2308 related speed of long-range vehicle, acceleration, rate, yaw rate, steering angle and throttle opening, range or distance Data etc..In some embodiments, the long-range car datas 2504 of V2V associated with the brake operating of long-range vehicle are herein It can be referred to as the long-range vehicle braking-distance figures of V2V.As described above, the long-range car data 2506 sensed may include：With pass through vehicle It is that sensing system 2422 is received and/or is sensed, close to one or more remotely vehicles 2308 of main vehicle 2306 and/or other The related data of object.In some embodiments, long-range car data that is associated with the brake operating of long-range vehicle, sensing 2506 can be referred to as the long-range vehicle braking-distance figures sensed herein.

The long-range car data 2504 of main car data 2502, V2V and the long-range car data 2506 sensed can be input to meter Calculation machine system 2402 is handled using the control algolithm described herein for following scene closely.In one embodiment, computer system 2402 can will accelerate and/or deceleration command be output to ECU 2420, then, ECU 2420 execute respective Vehicular system (for example, Brake actuator 2432 and/or throttle actuator 2436) the order.

A. the method that braking promotes control

In general, some drivers have found to be not easy to implement suddenly when an emergency situation is encountered (for example, when front truck slows down suddenly) Braking (for example, emergency braking, panic braking).More it is difficult to, implement violent braking in the case where following vehicle closely and occurring.Work as driving When member recognizes that following vehicle closely occurs, they can be not very willing to touch on the brake, and may result in and follow closely chasing after for vehicle because touching on the brake Tail collides.Therefore, it based on panic brake operating, front truck and/or vehicle can be followed closely is assisted to provide braking.In certain embodiments In, the V2V communications which assists can be supplied to other vehicles, to further decrease risk of collision.In system as described herein System with method in, follow closely vehicle (for example, following vehicle closely) include follow object vehicle (for example, main vehicle) rear and by distance and/or The vehicle that advance time-division is opened, the distance and/or time of advancing are sufficiently small, to ensure further to analyze various reasons.For example, As described herein, braking promotes operation and can be applied to object vehicle, is knocked into the back object vehicle with reducing rear car (for example, following vehicle closely) Probability.

Referring now to Figure 26, it will describe to follow closely showing for control for brake under scene with reference to figure 23A, Figure 23 B, Figure 24 and Figure 25 Example property method 2600.Method 2600 includes：At box 2602, panic braking is detected using one or more vehicle sensors Operation.In other embodiments, panic brake operating can be referred to as violent brake operating or emergency brake operations.Processor 2404 can use the main vehicle braking-distance figures (for example, main car data 2502) captured via Vehicle Sensor System 2422, come true It is fixed whether to carry out panic brake operating.In one embodiment, processor 2404 can be based on the vehicle control of main vehicle 2306 Variation of the brake pressure of system 2400 processed relative to the time, to detect panic brake operating.Processor 2404 can calculate brokenly The variation of bad pressure, and the variation of brake pressure is compared with panic brake pressure threshold.In another embodiment, locate Reason device 2404 can monitor variation of the brake pressure relative to the time of braking system.

In box 2604, method 2600 includes the following steps：Using one or more vehicle sensors, to detect and master Vehicle in track but main vehicle rear (for example, generally longitudinally alignment or identical travel direction alignment) rear car.For example, place Reason device 2404 can based on the long-range car data 2506 sensed come detect 2306 rear of main vehicle and with 2306 same track of main vehicle The rear car 2308d of middle traveling.In one embodiment, processor 2404 can via multiple middle-range sensor devices receive with one or 2308 related position data of multiple long-range vehicles (for example, from radar system 414, the long-range car data 2506 that senses). For the illustrated examples in Figure 23 B, can detect rear car 2308d be used as 2306 rear of main vehicle and with 2306 same track of main vehicle The second vehicle (for example, rear car) travelled in (that is, 2304b).In one embodiment, this will be discussed in detail with reference to figure 27, Box 2604 can also include determining whether rear car 2308d is to follow vehicle closely.

In box 2606, method 2600 include using one or more vehicle sensors, come determine main vehicle and rear car it Between collision time (time-to-collision) value.Collision time value represents will occur between main vehicle 2306 and rear car 2308d Time quantum before collision.In one embodiment, collision time value, which is based only upon, is provided by the operation of brake pedal 2434 Operator brake pressure (for example, the identified rate of deceleration in box 2608).Therefore, it is based on only by driver via brake pedal The amount of deceleration that 2434 input is provided, collision time threshold value can will be collided between main vehicle 2306 and rear car 2308d Time quantum before.In some embodiments, processor 2404 can be based on main vehicle 2306 speed, the speed of rear car 2308d Degree and/or the distance between main vehicle 2306 and rear car 2308d advance the time, to calculate between main vehicle 2306 and rear car 2308d Collision time value.

In box 2608, method 2600 includes：Using one or more vehicle sensors, to determine the deceleration of main vehicle Rate.The operator brake pressure that the rate of deceleration can be provided based on the operation of the brake pedal 2434 by braking system.Therefore, subtract Rate is the amount of deceleration only provided via the input of brake pedal 2434 by driver.For example, processor 2404 can be with base In the main vehicle braking-distance figures received from brake-pedal-travel sensor and/or brake pedal force sensor, to calculate main vehicle 2306 rate of deceleration.

In turn, in box 2610, method 2600 includes：Braking system is controlled based on collision time value and the rate of deceleration. In one embodiment, control braking system includes：Based on collision time value and the rate of deceleration, by the system of vehicle control system 2400 Dynamic pressure increases to the amount more than operator brake pressure.Therefore, processor 2404 can be by generating the system of braking system Dynamic pressure increases to the brake signal of the amount more than the brake pressure only provided by driver, to control vehicle control system 2400 (for example, braking systems).The operation can be referred to as braking and promote operation, by using such as engine vacuum and pressure Power, to increase the power that brake pedal 2434 is applied on master cylinder.

In another embodiment, braking, which promotes operation, may not be suitable for box 2610 (for example, braking is inhibited to promote behaviour Make).On the contrary, only executing the braking provided according to operator brake pressure.According to the embodiment, when collision time value is less than When collision time threshold value or the rate of deceleration are more than rate of deceleration threshold value, in box 2610, vehicle control system 2400 is controlled, including only Main vehicle 2306 is braked according to operator brake pressure.In another embodiment, it will be described in detail with reference to figure 27, and work as collision When time value is less than collision time threshold value or the rate of deceleration more than rate of deceleration threshold value, in box 2610, control braking system includes It does not execute braking and promotes operation (for example, braking is inhibited to promote operation).

In one embodiment, in box 2610, control vehicle control system 2400 further includes via vehicle communication net Network 200 is communicated using V2V.For example, if promoting operation by increasing brake pressure to execute braking, main vehicle 2306 can make With vehicle-carrying communication network 200 (for example, via DSRC message), operation will be promoted with braking (for example, the rate of deceleration, warning, police Show) related information is communicated to rear car 2308d.In other embodiments, vehicle control system 2400 can control one or One or more notice is supplied to and follows vehicle closely by multiple Vehicular systems, for example, can be considered can to follow vehicle driver warning closely It is indicated depending on indicator or Brake lamp.

The method 2700 of Figure 27 is now used the method 2600 of Figure 26 is more fully described.It is similar in box 2702 In the box 2602 of method 2600, method 2700 includes using one or more vehicle sensors, to detect panic brake operating. As the illustrated examples with reference to Figure 28, the displays of Figure 28 00 force dynamic pressure 2802, weak brake pressure 2804 and promote braking The exemplary brake pressure of pressure 2806 over time.At 2808 points, panic brake operating, which is detected, shows braking pressure Power surges in a short time.Therefore, in this embodiment, processor 2404 can calculate the variation of breakdown pressure, and will system The variation of dynamic pressure is compared with panic brake pressure threshold.Alternatively, processor 2404 can monitor the system of braking system Variation of the dynamic pressure relative to the time.

If being determined as "Yes" in box 2702, method 2700 continues to box 2704, otherwise, method 2700 terminate.In box 2704, method 2700 includes：It determines whether there is and follows vehicle closely relative to main vehicle.Specifically, it is determined that Whether rear car 2308d is to follow vehicle closely.The determination step can factor based on one or more, for example, main vehicle 2306 and rear car The distance between 2308d and/or threshold speed.As used herein, forward travel distance can be defined as the first vehicle and in the first Chinese herbaceous peony The distance between second vehicle in face.In some embodiments, forward travel distance may include the time component as the time of advancing (being defined as measuring by the time of the set point between the first vehicle and the second vehicle).Forward travel distance and time of advancing calculate can be with Including factor based on one or more, for example, the predetermined time of road conditions, speed, weather condition etc. and/or distance.

Therefore, in one embodiment, based on by the distance between main vehicle 2306 and rear car 2308d with follow distance threshold closely The comparison of (for example, 100 meters) determines whether rear car 2308d is to follow vehicle closely.In another embodiment, by main vehicle 2306 with after Rear forward travel distance (rear headway distance) between vehicle 2308d and follow forward travel distance threshold value (tailgating closely Headway distance threshold) (for example, 0.5-2 seconds) be compared.In some embodiments, box 2702 can To include：Determine rear forward travel distance whether in the preset range (for example, tolerance) for following forward travel distance threshold value closely.For example, Whether rear forward travel distance is between following 1 second of forward travel distance threshold value closely (between +/- 1).

The above method (box 2604 in Figure 26) for detecting rear car can be also used for determining whether rear car follows closely Vehicle.For example, processor 2404 can receive position data related with the second vehicle (for example, coming from via multiple middle-range sensor devices Radar system 414, the long-range car data 2506 that senses).By the position data, processor 2404 can be by main vehicle The distance between 2306 and rear car 2308d are compared with forward travel distance threshold value is followed closely.In other embodiments, pass through the position Set data, processor 2404 can determine rear forward travel distances of the rear car 2308d relative to main vehicle 2306, and by rear advance away from From with follow forward travel distance threshold value closely and be compared.With reference to the illustrated examples of figure 23B, based on being before rear car 2308d and main vehicle The distance D of the distance between 2306 tail ends_R, to determine whether rear car 2308d is to follow vehicle closely.

If being determined as "Yes" in box 2704, method 2700 is continued to box 2706, otherwise, method 2700 continue to box 2710.In box 2706, it is similar to the box 2606 of method 2600, method 2700 includes making With one or more vehicle sensors, to determine the collision time value between main vehicle and the second vehicle.In box 2708, it will collide Time value is compared with collision time threshold value.More specifically, determining whether collision time value is less than collision time threshold value.Collision Time threshold can trigger collision warning or startup to the control of one or more Vehicular systems with the time quantum of reducing collisions. In one embodiment, collision time threshold value is about 1-2 seconds.If being determined as "Yes", 2700 knot of method in box 2708 Beam.Therefore, in one embodiment, when collision time value is less than collision time threshold value (for example, 1-2 seconds), vehicle control is controlled System 2400 processed promotes operation (for example, braking is inhibited to promote operation) not execute braking.Because collision time value is simultaneously not up to Critical threshold (for example, collision time threshold value) so auxiliary braking does not control vehicle control system 2400, and only provides warp Braking inputted by 2434 driver of brake pedal, from driver.

If being determined as "No" in box 2708, method 2700 continues to box 2710.Therefore, in the implementation In mode, if not following vehicle or collision time value in box 2704 closely is more than collision time threshold value, method 2700 continue into Row arrives box 2710.In box 2710, method 2700 includes determining the rate of deceleration, is similar to the box 2608 of method 2600.More Specifically, the rate of deceleration can be based on the operator brake pressure that the operation by brake pedal 2434 is provided.In addition, in box In 2712, method 2700 includes being compared the rate of deceleration with rate of deceleration threshold value.Slow down specifically, it is determined that whether the rate of deceleration is less than Rate threshold value.In some embodiments, rate of deceleration threshold value is about 0.1g-0.8g.For example, in some embodiments, the rate of deceleration Threshold value is 0.5g.In other embodiments, in box 2712, it may be determined that whether the rate of deceleration is in the predetermined of rate of deceleration threshold value In range (for example, feasible value).For example, whether the rate of deceleration is in the 0.2g (+/- 0.2g) of rate of deceleration threshold value.In certain embodiment party In formula, rate of deceleration threshold value is referred to as maximum deceleration rate.

If being determined as "No" in box 2712, method 2700 terminates.Therefore, in one embodiment, if subtracted Rate is more than rate of deceleration threshold value (for example, 0.5g), then controls vehicle control system 2400, and operation (example is promoted not execute braking Such as, braking is inhibited to promote operation).Therefore, auxiliary braking is not controlled and is based at brake pedal 2434 vehicle control system 2400 Driver input, braking is only provided.This may be due to the fact that：Only driver's input can provide enough braking pressures Power.For example, with reference to figure 28, at 2810 points, the brake pressure of dynamic pressure 2802 is forced to be more than 0.5g, and weak brake pressure 2804 brake pressure is less than 0.5g.

However, if being determined as "Yes" in box 2712, method 2700 continues to box 2714, wherein control Vehicle control system 2400 (for example, braking system) processed includes executing braking to promote operation.For example, in box 2708, touch It hits time value and is more than collision time threshold value (no), and in box 2712, when the rate of deceleration is less than rate of deceleration threshold value (YES), in box In 2714, control vehicle control system 2400 includes：By increasing to the brake pressure of braking system more than operator brake The amount of pressure (that is, more than by only inputting provided braking in the driver of brake pedal 2434), is promoted to execute braking Operation.As shown in figure 28, weak brake pressure 2804 can be promoted according to brake pressure 2806 is promoted, to increase brake pressure It is added to similar to the amount for forcing dynamic pressure 2802.Therefore, it is detecting panic brake operating and is executing braking promotion operation Afterwards, it is exemplary brake pressure to promote brake pressure 2806.

In another embodiment, in box 2708, collision time value is more than collision time threshold value (no), and in side In frame 2712, when the rate of deceleration is less than rate of deceleration threshold value (YES), in box 2714, control braking system includes by by braking system The brake pressure of system increases to the amount more than operator brake pressure, to which the rate of deceleration is increased to maximum deceleration rate, to execute Braking promotes operation.In some embodiments, maximum deceleration rate is about 0.1g-0.8g.For example, in one embodiment, most Big retarding rate is 0.5g.Therefore, it is possible to use the braking after panic brake operating assists and in view of front truck and/or follows vehicle closely, come Reduce potential rear-end impact.

Additionally, as described in reference diagram 26 above, in some embodiments, in box 2714, braking system is controlled Further include being communicated using V2V via vehicle communication network 200.For example, if by increasing brake pressure, promoted to execute braking Operation, then main vehicle 2306 can be using vehicle-carrying communication network 200 (for example, via DSRC message), will be with braking promotion operation (for example, the rate of deceleration, warning, warning) related information is communicated to rear car 2308d.In other embodiments, can provide can Depending on notice, for example, can be considered the visual indicators to following vehicle driver warning closely or Brake lamp instruction.Therefore, braking assist and The communication that braking is assisted can be applied to main vehicle 2306, be knocked into the back the probability of main vehicle 2306 with reducing rear car 2308d.

The method that B.C-ACC follows control closely

It other than braking promotes operation or replaces, System and method for as described herein can provide and follow scene closely C-ACC is controlled.It, can be for example by C-ACC control systems 2400, to control the fortune of main vehicle 2306 if part i above is described in detail It is dynamic.Specifically, C-ACC control systems 2400 can control the longitudinal movement of main vehicle 2306.For example, C-ACC control systems 2400 C-ACC Controlling models equation (1)-(5) can be used, control rate are accelerated by generation, to control the master relative to front truck 2308b The acceleration and/or deceleration of vehicle 2306.However, in some embodiments, controlling the movement of main vehicle 2306 it can be considered that may be Follow the rear car 2308d of vehicle closely.Therefore, C-ACC control systems 2400 can dynamically change the deceleration of main vehicle 2306, to reduce Follow the risk of related accidents closely.

It is such as described in detail above in association with equation (1) and (2), the control algolithm of C-ACC controls may include：Based on main vehicle 2306 Relative distance and front between front truck 2308b refer to the distance controlling component of forward travel distance.Control algolithm can also include Rate control component shown in equation (3) based on the relative velocity between main vehicle 2306 and front truck 2308b.Therefore, control is calculated The distance component and velocity component of method keep the predetermined front between main vehicle 2306 and front truck 2308b to refer to forward travel distance.If There is no front truck, then the distance component of control algolithm and velocity component may be set to predetermined value (for example, being inputted by driver Desired value).

In embodiment as described herein, if there is may be the rear car 2308d for following vehicle closely, then it can be based on rear car 2308d determines and/or changes the acceleration control rate based on front truck 2308b.More specifically, before the reference of predetermined rear can be based on It determines and/or changes into distance and accelerate control rate.Therefore, in one embodiment, it is based on accelerating control reference, and/or can To accelerate control reference according to rear forward travel distance component to change, can be expressed as with mathematical way：

Wherein, x_i+1It is the distance from the rear end of rear car 2308d to the front end of main vehicle 2306, x_iIt is the length of main vehicle 2306,It is that predetermined rear refers to forward travel distance and L_RVIt is the length of rear car 2308d.This is schematically shown in Figure 23 B A little variables.It should be understood that information (for example, distance, rate) related with rear car 2308d is the long-range car data 2506 sensed (for example, the radar data detected using radar sensor), however, it is understood that in other embodiments, with rear car 2308d Related information can use DSRC via vehicle communication network 200, the long-range car datas of V2V received by main vehicle 2306 2504.In addition, in other embodiments, information related with rear car 2308d can be by main vehicle 2306 from roadside device (RSE) the long-range car datas of 116 V2V that receive 2504.Therefore, in some embodiments, the distance of equation (3) can be based on Rear car component shown in component and rate control component and equation (18) is controlled, accelerates control rate to determine and/or change, It can be expressed as with mathematical way：

Wherein, x_i-1It is the distance from the rear end of main vehicle 2306 to the front end of front truck 2308b, x_iIt is the length of main vehicle 2306,Be it is scheduled refer to forward travel distance and L_PVIt is the length of front truck 2308b, wherein v_i-1It is the speed of front truck 2308b, v_i It is the speed of main vehicle 2306.It therefore, can be based between main vehicle 2306 and front truck 2308b, relative to reference forward travel distance Opposite forward travel distance, the relative velocity and main vehicle 2306 between the speed and the speed of front truck 2308b of main vehicle 2306 and rear car Opposite rear forward travel distance between 2308d, that forward travel distance is referred to relative to rear, is produced by C-ACC computer systems 302 Raw and/or modification accelerates control rate.It should be understood that in some embodiments, related with front truck 2308b information (for example, away from From, rate) it is the long-range car data 2506 (for example, the radar data detected using radar sensor) sensed, but answer Understand, in other embodiments, information related with front truck 2308b can be using DSRC via vehicle communication network The long-range car data of 200, the V2V that is received by main vehicle 2,306 2504.In addition, in other embodiments, having with front truck 2308b The information of pass can be the long-range car data of the V2V that is received from roadside device (RSE) 116 by main vehicle 2,306 2504.

It should be understood that in some embodiments, the acceleration control of equation (7) with head vehicle 2308a with reference to it can also considered that have The information of pass.For example, rate of acceleration and/or head vehicle that can be based on head vehicle 2308a accelerate dynamic gain coefficient, changing and/or It generates and accelerates control rate.Therefore, it is possible to use the rear car component and head vehicle of distance component, velocity component, rear car 2308d The acceleration component of 2308a generates by C-ACC computer systems 302 and/or changes acceleration control rate.This can use mathematics side Formula is expressed as：

Wherein, a_LIt is the rate of acceleration and K of a vehicle 2308a_aIt is that a vehicle accelerates dynamic gain coefficient.In certain embodiments In, it is similar to described in I above (C) and the parts II, the rate of acceleration of head vehicle 2308a uses DSRC via vehicle by main vehicle 2306 From the beginning vehicle 2308a is received communication network 200.However, it should be understood that in other embodiments, the rate of acceleration of head vehicle 2308a can be with It is received from RSE116 and/or other long-range vehicles by main vehicle 2306.

Referring now to Figure 29, now retouched according to illustrative embodiments and with reference to the control algolithm of equation (18)-(20) It states for based on front truck and following the illustrative methods 2900 that vehicle controls main vehicle closely.It reference will also be made to Figure 23 A, Figure 23 B, Figure 24 and Figure 25 To describe Figure 29.In the embodiment shown in Figure 29, vehicle control system will be referred to as C- ACC control systems 2400.This Outside, it should be appreciated that one or more components that Fig. 8-Figure 10 being described in detail in part ii above can be used, to implement the one of Figure 29 A or multiple components.Additionally, one or more components of Figure 29 can be combined with other component, omit or with other component group It is woven in together, or is organized into different frameworks.

Referring now to method 2900, in box 2902, method 2900 includes using one or more vehicle sensors, to examine Survey main vehicle rear and with main vehicle with track in the rear car that travels.For example, vehicle computer system 2402 can be based on sensing Long-range car data 2506 detect whether rear car is to travel at 2306 rear of main vehicle and in main vehicle 2306 is with track.Relative to figure Illustrated examples shown in 23A and Figure 23 B, rear car 2308d can be detected as at 2306 rear of main vehicle and in 2306 same vehicle of main vehicle Traveling in road (that is, second lane 2304b).Following article will be described in detail, and rear car 2308d may be to follow vehicle closely, and can be based on Front truck 2308b and/or rear car 2308d dynamically changes the longitudinal movement of main vehicle 2306.

In some embodiments, the determination in box 2902 can be based partially on the long-range car datas of V2V 2504.It is real one It applies in mode, processor 2404 can receive related with one or more long-range vehicles 2308 via multiple middle-range sensor devices Position data (for example, from radar system 414, the long-range car data 2506 that senses).In one embodiment, this will ginseng It examines Figure 30 to be discussed in detail, box 2904 can also include determining whether rear car 2308d is to follow vehicle closely.

In box 2904, method 2900 includes using one or more vehicle sensors, to detect brake operating.More Body, brake operating is initiated by the Vehicular system of main vehicle.Processor 2404 can come from Vehicle Sensor System by monitoring 2422 main unit vehicle braking-distance figures (for example, main car data 2502), to detect brake operating.Based on braking-distance figures, processor 2404 may determine whether to be started and carried out brake operating for example, by C-ACC control systems 2400.The brake operating with for example It is inputted via driver at brake pedal 2434, the brake operating started by driver is opposite.

More specifically, in this embodiment, the brake operating detected in box 2902 is based on by C-ACC control systems The 2400 acceleration control rates generated make winner's vehicle 2306 slow down (speed slows down), to keep referring to the front of front truck 2308b Forward travel distance.Accordingly, in response to front truck 2308b, main vehicle 2306 starts the brake operating detected in box 2902, to increase Front forward travel distance between main vehicle 2306 and front truck 2308b.Therefore, it calculates and accelerates control rate, to realize and/or keep main vehicle Front forward travel distance between 2306 and front truck 2308b.Therefore, it in the case where not considering rear car 2308d, calculates and starts box Accelerate control rate caused by the C-ACC control systems 2400 of the brake operating detected in 2902.For example, if front truck 2308b slows down (for example, the relative distance between main vehicle 2306 and front truck 2308b subtracts relative to predetermined front with reference to forward travel distance It is few), then C-ACC control systems 2400, which generate, accelerates control rate (for example, based on control algolithm shown in equation (5)), the acceleration Control rate makes the speed-raising of main vehicle 2306 close to the speed of front truck 2308b.Therefore, accelerate control rate that can be based on using front truck The acceleration component of 2308b, the front truck 2308b of velocity component and distance component.In some embodiments, accelerate control rate It is also based on acceleration component of the I (C) partly with the head vehicle 2308a discussed in equation (1)-(5).

Therefore, in this embodiment, accelerate control rate that winner's vehicle will be made to slow down with special speed, and by main vehicle 2306 (for example, via C-ACC control systems 2400) initiate this deceleration.In other words, brake operating is based on being controlled by C-ACC System 2400 generate acceleration control rate make main vehicle 2306 slow down, so as to keep with the front of the first vehicle 2308b with reference to advance away from From.As illustrated examples, it can be based on front truck 2308b -0.5m/s as described above to accelerate control rate.Main vehicle 2306 Current rate of acceleration can be 1.5m/s, in this way, main vehicle 2306 execute acceleration control rate will so that when preacceleration control rate drop Low 0.5m/s to 1.0m/s.This negative acceleration works as the reduction of preacceleration control rate by controlling main vehicle 2306 according to acceleration control rate (for example, braking system), such as realized by starting brake operating in main vehicle 2306.

In other embodiments, detect and/or determine that the brake operating in box 2904 includes：From the vehicle system of main vehicle System, which is received, passes through the acceleration control rate of the vehicle system start brake operating of main vehicle when being executed by main vehicle.Therefore, in the reality It applies in mode, processor 2404 can receive the acceleration control rate generated by C-ACC control systems 2400.As set forth above, it is possible to It is generated by C-ACC control systems 2400 and accelerates control rate, to keep referring to forward travel distance with the front of the first vehicle.

In the certain embodiments that will be further detailed herein, the brake operating that detects be violent brake operating (for example, Panic brake operating, emergency brake operations).Therefore, in one embodiment, box 2904 may include：Determine brake operating Whether it is violent brake operating.For example, control rate can will be accelerated to be compared with predetermined braking threshold.As illustrated examples, Meet or can be considered violent brake operating more than the braking of 1m/s.

In box 2906, method 2900 includes：Using one or more vehicle sensors, come determine main vehicle and rear car it Between relative to rear refer to forward travel distance opposite rear forward travel distance.For example, as discussed above in association with equation (18), Processor 2404 can based between main vehicle 206 and rear car 2308d relative distance and rear refer to forward travel distance, come calculate away from From control component.Rear with reference to forward travel distance be between main vehicle 2306 and rear car 2308d desired interval (for example, distance, preceding Into the time).Rear can be scheduled and be stored in such as memory 2406 with reference to forward travel distance.In some embodiments, Rear is set with reference to forward travel distance by driver (for example, being inputted via driver).

In box 2908, method 2900 includes：It is repaiied with reference to forward travel distance based on opposite rear forward travel distance and rear Change acceleration control rate.Therefore, in order to consider rear car 2308d, the acceleration control rate based on front truck 2308b is changed.For example, as above Text combines equation (19) described, and processor 2404 can be determined and/or be modified for as main vehicle 2306, front truck 2308b and rear car The acceleration control rate of the function of the acceleration of 2308d.

In box 2910, method 2900 includes：Main vehicle 2306 is controlled based on modified acceleration control rate.For example, In one embodiment, processor 2404 can according to modified acceleration control rate, to control the brake operating of Vehicular system, So that main vehicle slows down.It, can be according to modified acceleration control rate, by making master as will be more described in detail herein with reference to figure 31 Vehicle 2306 gradually slows down, to control brake operating.By initially applying smaller braking, then gradually applies braking and repaiied with reaching Acceleration control rate after changing gives rear car 2308d more reaction time to change the deceleration of main vehicle 2306.It in other words, can be with Modification accelerates control rate, and then front refers to forward travel distance, so that front is incrementally increased with reference to forward travel distance.

Method 2900 is discussed more fully with reference to the method 3000 of Figure 30.In box 3002, method 3000 includes： It determines whether there is and follows vehicle closely relative to main vehicle.The determination step can factor based on one or more, for example, main vehicle 2306 The distance between rear car 2308d and/or threshold speed.As used herein, forward travel distance can be defined as the first vehicle and first The distance between second vehicle of front of the host.In some embodiments, forward travel distance may include the time as the time of advancing Component (is defined as measuring by the time of the set point between the first vehicle and the second vehicle).Forward travel distance and time of advancing calculate May include factor based on one or more, for example, the predetermined time of road conditions, speed, weather condition etc. and/or distance.

Therefore, in one embodiment, based on by the distance between main vehicle 2306 and rear car 2308d with follow distance threshold closely The comparison of (for example, 100 meters), to determine whether rear car 2308d is to follow vehicle closely.In another embodiment, by 2306 He of main vehicle Rear forward travel distance between rear car 2308d is compared with forward travel distance threshold value (for example, 0.5-2 seconds) is followed closely.In certain realities It applies in mode, whether box 3002 can include determining that rear forward travel distance in the preset range (example for following forward travel distance threshold value closely Such as, tolerance) in.For example, whether rear forward travel distance is following 1 second of forward travel distance threshold value closely (between in +/- 1).Box The above-mentioned method for detecting rear car can be also used for determining whether rear car 2308d is to follow vehicle closely in 2904.

If being determined as "No" in box 3002, method 3000 includes：C-ACC control systems 2400 are according to box Acceleration control rate in 3004, being generated by C-ACC control systems 2400, to control the movement of main vehicle 2306, to keep Forward travel distance is referred to the front of front truck 2308b.Therefore, in the case where not considering rear car 2308d (for example, according to equation (5) Control algolithm), make main vehicle 2306 according to control rate control is accelerated.Therefore, in some embodiments, because with main vehicle 2306 The risk of rear-end impact is higher than the braking of the main vehicle 2306 caused by front truck 2308b, so if rear car 2308d is to follow vehicle closely, It then only executes and main vehicle 2306 is controlled based on rear car 2308d.

In some embodiments, if being determined as "Yes" in box 3002, method 3000 can optionally include： In box 3006, determination is predefined in whether rear car 2308d in the period is to follow main vehicle 2306 closely.It in other words, it is determined rear car Whether 2308d is following closely in distance threshold up to the predetermined time.It is to follow vehicle closely and be considered as always which demonstrate rear car 2308d In distance follow closely, sufficiently small and/or forward travel distance.Accordingly, it is considered to the time component in box 3006, after quantitative Vehicle 2308d keep with main vehicle 2306 be considered as following closely, sufficiently small at a distance from and/or forward travel distance duration.

In other embodiments, box 3006 may include：Determine rear car 2308d within a predetermined period of time and main vehicle The quantity for following example closely of 2306 engagements.For example, if rear car 2308d is at a distance from less than the two seconds forward travel distances of main vehicle 2306 In range, then distance is increased into the forward travel distance with main vehicle 2,306 two seconds or more, be then reduced to distance with main vehicle 2306 not To two seconds distances, rear car 2308d was considered as following vehicle closely in two different time intervals and/or example.If the two are not It is happened in predetermined time amount (for example, two minutes) with example, then rear car 2308d is confirmed to be relative to the tight of main vehicle 2306 With vehicle.

If being determined as "Yes" in box 3006, method 3000 can optionally continue to box 3008, In, modification accelerates the front of control rate to refer to forward travel distance for being calculated by C-ACC control systems 2400, to increase main vehicle Following distance between 2306 and front truck 2308b.Therefore, in one embodiment, in box 3008, increase front reference Forward travel distance.Correspondingly, in box 3010, processor 2404 and/or C-ACC control systems 2400 can change acceleration control Rate, to increase the following distance between main vehicle 2306 and front truck 2308b, in box 3020, C-ACC control systems 2400 can be with Main vehicle 2306 is controlled according to modified acceleration control rate.After detecting and following vehicle closely, tries to be the first and increase main vehicle 2306 and front truck Following distance between 2308b can provide the additional reaction time to vehicle is followed closely.Additionally, if by front truck 2308b and/ Or violent-braking occurs for head vehicle 2308a, then C-ACC control systems 2400 can apply smaller by trying to be the first increase following distance Brake force.

It should be understood that in some embodiments, modification front with reference to forward travel distance and correspondingly control main vehicle 2306 can be with Including：The modification of C-ACC control systems 2400 and/or override (overriding) predetermined C-ACC interval times and/or degree.Cause This, detection using box 3002 and 3006 discussed when following vehicle closely, C-ACC control systems 2400 can change and/or surpass It speeds C-ACC off times, to increase the C- ACC off times between main vehicle 2306 and front truck 2308b.

Back to the method 3000 of Figure 30, in box 3012, it is similar to the box 2902 of method 2900, method 3000 Including：Using one or more vehicle sensors, to detect the brake operating started by main vehicle 2306.In certain embodiments In, the brake operating detected is violent brake operating (for example, panic brake operating, emergency brake operations).Therefore, implement one In mode, box 2904 can include determining that whether brake operating is violent brake operating.For example, can will accelerate control rate with it is pre- Determine braking threshold to be compared.As illustrated examples, meets or can be considered violent brake operating more than the braking of 1m/s.If It is determined as "Yes" in box 3012, then method 3000 continues to box 3014, and otherwise, method continues to box 3004。

In some embodiments, vehicle is followed closely even if detecting, it is also preferred that keeping between main vehicle 2306 and front truck 2308b , safe following distance more than the following distance followed closely between vehicle and main vehicle 2306.For example, if main vehicle 2306 and front truck The distance between 2308b reduces (this leads to the high rate of deceleration of main vehicle 2306) suddenly, then considers to keep main vehicle 2306 and front truck Front forward travel distance between 2308b.Therefore, in box 3014, method 3000 may include：It will accelerate control rate and braking Rate threshold value is compared.Here, determine whether the deceleration of main vehicle 2306 reaches threshold value.In some embodiments, this can be considered Extremely violent brake operating.As illustrated examples, meets or can be considered extremely violent brake operating more than the rate of deceleration of 1.5m/s.At this In the case of kind, because front truck 2308b is endowed priority, it is possible to ignore information related with rear car 2308d.If box It is determined as "Yes" in 3014, then method 3000 continues to box 3004, and otherwise, method continues to box 3016.

Therefore, it is being determined that the brake operating for controlling main vehicle 2306 includes when control rate being accelerated to meet braking ratio threshold value：Root Main vehicle is set to slow down according to control rate and front truck 2308b (for example, according to control algolithm in equation (5)) is accelerated.Otherwise, method 3000 continue to box 3016, to determine rear car component above-mentioned in box 2906.Therefore, in box 3018, method 3000 include：Based on opposite rear forward travel distance and rear acceleration control rate is changed with reference to forward travel distance.Here, to consider Rear car 2308d changes the acceleration control rate based on front truck 2308b.For example, as described in above in association with equation (19), processor 2404 can determine and/or be modified for the acceleration control of the function of the acceleration for main vehicle 2306, front truck 2308b and rear car 2308d Rate processed.

In box 3020, method 3000 includes：Main vehicle is controlled based on modified acceleration control rate.For example, C- ACC control systems 2400 can execute the control to main vehicle 2306 according to modified acceleration control rate.In an embodiment In, box 3020 includes the deceleration for controlling main vehicle 2306.For example, the brake operating for controlling main vehicle 2306 may include：According to adding Fast control rate, front truck 2308b and rear car 2308d come make main vehicle 2306 gradually slow down.Therefore, realize front forward travel distance with after The gradual speed reducing of square forward travel distance, which can be supplied to, follows vehicle more reaction time closely.With reference to Figure 31 method 3100 illustrate with This mode controls brake operating.

In box 3102, method 3100 includes：Based on opposite rear forward travel distance and rear with reference to forward travel distance come really Surely it is less than the modified initial acceleration control rate for accelerating control rate.In this embodiment, control brake operating includes：It is based on Opposite rear forward travel distance and rear refer to forward travel distance, and the deceleration of main vehicle 2306 is progressively increased to from initial acceleration control rate Modified acceleration control rate.By initially applying smaller braking, then gradually applies braking and controlled with reaching modified acceleration Rate processed gives rear car 2308d more reaction time to change the deceleration of main vehicle 2306.In other words, opposite rear is based on to advance Acceleration control rate is changed in distance and rear with reference to forward travel distance, and forward travel distance is referred to change front.Therefore, vehicle is gradually Front, which is gradually increased, into deceleration refers to forward travel distance.

Therefore, in box 3104, C-ACC control systems 2400 can be executed according to initial acceleration control rate to main vehicle 2306 control.In box 3106, method 3100 may include detection and/or monitoring trigger event, to start to gradually increase Towards the modified deceleration for accelerating control rate.For example, in one embodiment, initial acceleration is kept for a period of time until detection To the brake operating of rear car 2308d.In other words, initial front (passes through modified acceleration with reference to forward travel distance that is, being less than The front that control rate is realized refers to forward travel distance) kept for a period of time.

Processor 2404 can receive position data related with rear car 2308d (for example, sense via multiple middle-range sensor devices The long-range car data 2506 measured) or V2V communications (for example, V2V long-range car data 2504) can be used, from rear car 2308d Receive braking and/or location information.Processor 2404 can use the position data, to detect the brake operating of rear car 2308d. Therefore, in box 3108, method 3100 can be based on opposite rear forward travel distance and rear refers to forward travel distance, by main vehicle Slow down from initial acceleration control rate and progressively increases to modified acceleration control rate.According to the embodiment, within a period Apply smaller braking first, until main vehicle 2306 by response apply brake operating, determine rear car 2308d to main vehicle 2306 Until initial deceleration is made a response.In other words, apply braking, to progressively increase to lead to initial front with reference to forward travel distance It crosses the front that modified acceleration control rate is realized and refers to forward travel distance.

It should be understood that by the method described in the parts Section II-IV, can also completely or partially implement relative to following scene closely Section V disclosed embodiment.For example, being directed to hazard detection, follows vehicle closely and can be considered dangerous, may be implemented such as Section III part Vehicle control above-mentioned, using the V2V communications by providing track grade risk prediction in real time.Additionally, Controlling model is followed closely It can be used for merging and assist, specifically, preceding merging scene (Figure 22 d) and mid-scene (Figure 22 E and Figure 22 F), wherein detection To as the long-range vehicle for following vehicle closely.

The implementation discussed herein can also be in the computer readable storage medium of storage computer executable instructions It is described and implements under background.Computer readable storage medium includes computer storage media and communication media.For example, flash memory Driver, digital versatile disc (DVD), CD (CD), floppy disk and cassette.Computer readable storage medium may include with Any method or technique for storing the information in this way such as computer-readable instruction, data structure, module or other data The volatile and non-volatile of implementation, removable and nonremovable medium.Computer readable storage medium, which excludes non-transitory, to be had The data-signal of shape medium and propagation.

It should be understood that the various implementations of disclosed above and other feature and function or its substitute or modification can be by It need to be combined in many other different systems or application.In addition, those skilled in the art can then make it is therein each It is kind unforeseen at present or it is unexpected substitute, modification, variation or improve, and described substitute, modification, variation or improve also purport It should be included herein.

Claims

1. a kind of the method implemented by computer for controlling Vehicular system, the Vehicular system controls main vehicle relative to described The movement of main vehicle the first vehicle immediately front, described the method implemented by computer include the following steps：

Using one or more vehicle sensors, to detect in the main vehicle rear and the row in track identical with the main vehicle The second vehicle sailed；

Using one or more of vehicle sensors, to detect the braking behaviour by the vehicle system start of the main vehicle Make, wherein the brake operating makes the main vehicle slow down based on the acceleration control rate generated by the Vehicular system, to protect It holds and refers to forward travel distance with the front of first vehicle；

Using one or more of vehicle sensors, to determine relative to rear with reference to forward travel distance, described main vehicle and institute State the opposite rear forward travel distance between the second vehicle；

Forward travel distance is referred to based on the opposite rear forward travel distance and the rear, to change the acceleration control rate；And

According to modified acceleration control rate, to control the brake operating of the Vehicular system, so that the main vehicle slows down.

2. the method implemented by computer according to claim 1, described the method implemented by computer includes the following steps：Base In the time forward travel distance between the main vehicle and second vehicle to be compared with forward travel distance threshold value is followed closely, to determine State whether the second vehicle is to follow vehicle closely.

3. the method implemented by computer according to claim 2, described the method implemented by computer includes the following steps：When Determine that second vehicle is described when following vehicle closely up to predetermined amount of time, before increasing described between the main vehicle and first vehicle Side refers to forward travel distance.

4. the method implemented by computer according to claim 2, described the method implemented by computer includes the following steps：When Determine that second vehicle is described when following vehicle closely and when detecting the second vehicle brake operating at second vehicle, is gradually increased The front between the main vehicle and first vehicle refers to forward travel distance.

5. the method implemented by computer according to claim 1, wherein the step of controlling the brake operating include：Base Forward travel distance is referred in the opposite rear forward travel distance and the rear, accelerates the first of control rate less than modified to determine Begin to accelerate control rate.

6. the method implemented by computer according to claim 5, wherein the step of controlling the brake operating include：Base Refer to forward travel distance in the opposite rear forward travel distance and the rear, come gradually increase the main vehicle, from described initial Accelerate control rate to the modified deceleration for accelerating control rate.

7. the method implemented by computer according to claim 1, described the method implemented by computer includes the following steps：It will The acceleration control rate is compared with braking ratio threshold value.

8. the method implemented by computer according to claim 7, wherein when determining that the acceleration control rate meets the system When dynamic rate threshold value, the step of brake operating for controlling the Vehicular system, includes：According to the acceleration control rate and described First vehicle, to make the main vehicle slow down.

9. the method implemented by computer according to claim 7, wherein when determining that it is described that the acceleration control rate is not met When braking ratio threshold value, the step of brake operating for controlling the Vehicular system, includes：According to the acceleration control rate, described First vehicle and second vehicle, to make the main vehicle gradually slow down.

10. a kind of Vehicular system for main vehicle, the Vehicular system controls the main vehicle relative to immediately front in the main vehicle The first vehicle movement, the Vehicular system includes：

Sensing system, the sensing system include one or more vehicle sensors；And

Processor, the processor are operably connected, for carrying out computer communication with the sensing system, wherein institute Processor is stated to proceed as follows：

Using one or more of vehicle sensors, to detect at the main vehicle rear and in track identical with the main vehicle Second vehicle of middle traveling；

It is received from the Vehicular system of the main vehicle and accelerates control rate, when being executed by the main vehicle, the acceleration control rate Start brake operating by the Vehicular system of the main vehicle, with keep with the front of first vehicle with reference to advance away from From；

11. Vehicular system according to claim 10, wherein whether the processor determines second vehicle away from described Following closely for main vehicle reaches predetermined amount of time in forward travel distance threshold value.

12. Vehicular system according to claim 11, wherein when determining that second vehicle follows forward travel distance threshold closely described When in value, the processor changes the acceleration control rate and controls the brake operating, to increase the main vehicle and described The front between first vehicle refers to forward travel distance.

13. Vehicular system according to claim 11, wherein when determining that second vehicle follows forward travel distance threshold closely described When in value, the processor detects the second vehicle brake operating at second vehicle, and the processor gradually increase it is described The front between main vehicle and first vehicle refers to forward travel distance.

14. Vehicular system according to claim 10, wherein the processor be based on the opposite rear forward travel distance and The rear is calculated with reference to forward travel distance less than the modified initial acceleration control rate for accelerating control rate, and wherein, institute It states processor and is based on the opposite rear forward travel distance and the rear with reference to forward travel distance, by gradually increasing the main vehicle , from the initial acceleration control rate to it is modified accelerate control rate deceleration, to control the system of the Vehicular system Dynamic operation.

15. Vehicular system according to claim 10, wherein the processor determines that the acceleration control rate meets braking Rate threshold value, and the processor is according to the acceleration control rate and first vehicle, by making the main vehicle slow down, to control The brake operating of the Vehicular system.

16. Vehicular system according to claim 10, wherein the processor determines that the acceleration control rate does not meet system Dynamic rate threshold value, and the processor is according to the acceleration control rate, first vehicle and second vehicle, it is described by making Main vehicle gradually slows down, to control the brake operating of the Vehicular system.

17. a kind of includes the non-transitory computer-readable storage media of instruction, described instruction causes when executed by the processor The processor proceeds as follows：

It detects in main vehicle rear and the second vehicle for being travelled in track identical with the main vehicle；

It being received from the Vehicular system of the main vehicle and accelerates control rate, wherein the acceleration control rate is generated by the Vehicular system, To keep referring to forward travel distance in the front of the main vehicle the first vehicle immediately front；

Brake operating is determined based on the acceleration control rate；

It calculates relative to rear with reference to the opposite rear forward travel distance between forward travel distance, the main vehicle and second vehicle；

Modified acceleration control rate is sent to the Vehicular system.

18. non-transitory computer-readable storage media according to claim 17, wherein the processor is based on institute It states the time forward travel distance between main vehicle and second vehicle to be compared with forward travel distance threshold value is followed closely, to determine described second Whether vehicle is to follow vehicle closely.

19. non-transitory computer-readable storage media according to claim 17, wherein the processor is based on described Opposite rear forward travel distance and the rear refer to forward travel distance, to calculate initial acceleration control rate.

20. non-transitory computer-readable storage media according to claim 17, wherein the processor is based on described Opposite rear forward travel distance and the rear refer to forward travel distance, generate one or more brake signals, described to gradually increase Main vehicle, from the initial acceleration control rate to the modified deceleration for accelerating control rate, and the processor is by described one A or multiple brake signals are sent to the Vehicular system.