US 11,891,063 B2
Safe following distance estimation system and estimation method thereof
Chen-Hui Hu, Taichung (TW); Hsiu-Wei Hsu, Taipei (TW); Kun-Lung Ku, Changhua County (TW); and Chiao-Tung Chan, New Taipei (TW)
Assigned to Industrial Technology Research Institute, Hsinchu (TW)
Filed by Industrial Technology Research Institute, Hsinchu (TW)
Filed on Dec. 28, 2021, as Appl. No. 17/563,085.
Claims priority of application No. 110143172 (TW), filed on Nov. 19, 2021.
Prior Publication US 2023/0159031 A1, May 25, 2023
Int. Cl. B60W 30/16 (2020.01); B60W 40/04 (2006.01); B60W 40/068 (2012.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); B60W 30/14 (2006.01)
CPC B60W 30/16 (2013.01) [B60W 30/143 (2013.01); B60W 40/04 (2013.01); B60W 40/068 (2013.01); B60W 50/14 (2013.01); B60W 60/0015 (2020.02); B60W 2050/146 (2013.01); B60W 2520/14 (2013.01); B60W 2520/28 (2013.01); B60W 2552/40 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2556/40 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A safe following distance estimation system, adapted for an autonomous vehicle, comprising:
a sensor, sensing at least one of a first longitudinal velocity, a first lateral velocity, image data, and LiDAR data of an adjacent vehicle to generate first sensing data, sensing at least one of a second longitudinal velocity, a second lateral velocity, a wheel velocity, a wheel deflection angle, a yaw rate, and an inclination angle of the autonomous vehicle to generate second sensing data, wherein the adjacent vehicle is adjacent to the autonomous vehicle;
a processor, coupled to the sensor, receiving the first sensing and the second sensing data from the sensor, calculating a first friction parameter between wheels of the adjacent vehicle and a pavement according to pavement material data, calculating a second friction parameter between wheels of the autonomous vehicle and the pavement according to the second sensing data, calculating a safe following distance between the autonomous vehicle and the adjacent vehicle according to the first sensing data from the sensor, the second sensing data from the sensor, the first friction parameter, and the second friction parameter; and
a communication system, coupled to the processor, where the processor receives a high-precision map through the communication system, wherein the processor generates the pavement material data according to the high-precision map,
wherein calculating the safe following distance between the autonomous vehicle and the adjacent vehicle by the processor comprises:
identifying a dynamic specification of the adjacent vehicle according to the first sensing data, wherein the dynamic specification comprises a maximum deceleration of the adjacent vehicle;
calculating a first maximum deceleration of the adjacent vehicle according to the dynamic specification and the first friction parameter of the adjacent vehicle,
calculating a second minimum deceleration of the autonomous vehicle according to the second friction parameter of the autonomous vehicle,
calculating a third maximum acceleration of the autonomous vehicle according to a rolling friction parameter of the autonomous vehicle; and
calculating the safe following distance according to the first maximum deceleration, the second minimum deceleration, and the third maximum acceleration.