US 12,243,418 B2
Coordinated control for automated driving on connected automated highways
Bin Ran, Fitchburg, WI (US); Hanchu Li, Madison, WI (US); Jin Guo, Madison, WI (US); Yang Cheng, Middleton, WI (US); and Shen Li, Madison, WI (US)
Assigned to CAVH LLC, Fitchburg, WI (US)
Filed by CAVH LLC, Fitchburg, WI (US)
Filed on Oct. 11, 2021, as Appl. No. 17/498,082.
Claims priority of provisional application 63/090,435, filed on Oct. 12, 2020.
Prior Publication US 2022/0114885 A1, Apr. 14, 2022
Int. Cl. G08G 1/01 (2006.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 40/04 (2006.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G08G 1/0967 (2006.01)
CPC G08G 1/0145 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 40/04 (2013.01); B60W 50/14 (2013.01); B60W 60/001 (2020.02); G08G 1/0116 (2013.01); G08G 1/096775 (2013.01); B60W 2556/50 (2020.02)] 20 Claims
OG exemplary drawing
 
1. An automated driving system (ADS) comprising:
a connected automated highway (CAH) subsystem comprising roads and an intelligent road infrastructure system (IRIS) comprising a roadside intelligent unit (RIU), a traffic control center (TCC), and a traffic control unit (TCU); and
a connected automated vehicle (CAV) subsystem comprising a CAV, wherein said CAV comprises a vehicle intelligent unit (VIU);
wherein said ADS provides a coordinated control system comprising a coordinated sensing subsystem, a coordinated prediction and decision-making subsystem, and a coordinated control subsystem;
wherein said TCC performs mesoscopic-level weather prediction;
wherein said RIU collects and fuses traffic state information to provide fused RIU data;
wherein said VIU fuses data from the CAH and vehicle emergency obstacle avoidance information to provide fused VIU data;
wherein the TCC fuses the fused RIU data and the fused VIU data to produce a complete traffic scene;
wherein TCC sensing data and VIU sensing data are fused to provide fused macroscopic data and/or fused microscopic data describing traffic and/or vehicle characteristics;
wherein the TCC integrates sensing information provided by the VIU and sensing information provided by the RIU with other information; and
wherein said ADS is configured to provide coordinated control of automated driving at an intelligence level S=1, 2, 3, 4, or 5 during vehicle operation for the CAV operating at an intelligence level V during vehicle operation on a connected automated highway (CAH) operating at an intelligence level I during vehicle operation, and wherein the intelligence level I is greater than the intelligence level V, and the ADS manages the CAV and the IRIS to facilitate vehicle operations and controls during vehicle operation.