US 11,654,913 B2
Vehicle control based on infrastructure and other vehicles
Jayant V. Sarlashkar, San Antonio, TX (US); Sankar B. Rengarajan, San Antonio, TX (US); Scott R. Hotz, Pinckney, MI (US); and Stanislav A. Gankov, San Antonio, TX (US)
Assigned to SOUTHWEST RESEARCH INSTITUTE, San Antonio, TX (US)
Filed by Southwest Research Institute, San Antonio, TX (US)
Filed on Mar. 4, 2021, as Appl. No. 17/249,545.
Prior Publication US 2022/0281455 A1, Sep. 8, 2022
Int. Cl. B60W 40/105 (2012.01); B60W 40/107 (2012.01); B60W 40/04 (2006.01); B60W 30/18 (2012.01); B60W 30/095 (2012.01)
CPC B60W 30/18159 (2020.02) [B60W 30/0956 (2013.01); B60W 30/18163 (2013.01); B60W 40/04 (2013.01); B60W 40/105 (2013.01); B60W 40/107 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/802 (2020.02); B60W 2556/65 (2020.02)] 26 Claims
OG exemplary drawing
 
1. Vehicle controller circuitry for a subject vehicle, comprising:
vehicle constraint determination circuitry to determine vehicle constraints including predicted values for vehicle speed of at least one other vehicle and predicted values of for vehicle position of the at least one other vehicle relative to the subject vehicle, wherein the vehicle constraints are determined at predetermined time steps (k) over a time horizon (Th);
traffic signal constraint determination circuitry to determine, within a distance horizon (Dh) from the subject vehicle, traffic signal constraints including a green signal state of at least one traffic signal, a distance to the at least one traffic signal relative to the subject vehicle, and a time remaining in the green signal state of the at least one traffic signal; wherein the traffic signal constraints are determined at the predetermined time steps (k) over the time horizon (Th); and acceleration profile (AP) determination circuitry to determine at least one AP for the subject vehicle based on the vehicle constraints, the traffic signal constraints and a minimum safe distance from the at least one other vehicle; wherein each of the at least one AP comprises k number of acceleration values, which when applied to the subject vehicle at each time step k will cause the subject vehicle to travel at a target velocity that is sufficient to pass through the at least one traffic signal while in the green signal state and while maintaining at least the minimum safe distance to the at least one other vehicle; wherein the vehicle constraints determination circuitry also determines the vehicle constraints for a first lane of traffic and the vehicle constraints for a second lane of traffic; wherein the AP determination circuitry also determines at least one lane change for the subject vehicle, which when applied to the subject vehicle will cause the subject vehicle to travel in one of the first or second lanes of traffic at the target velocity that is sufficient to pass through the at least one traffic signal while in the green signal state and while maintaining at least the minimum safe distance to the at least one other vehicle that is also travelling in the one of the first or second lanes.