US 12,325,420 B2
Maintaining a range of a gap between an ego vehicle and a preceding vehicle
Yashar Zeiynali Farid, Berkeley, CA (US); and Kentaro Oguchi, Mountain View, CA (US)
Assigned to Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US); and Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
Filed by Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US)
Filed on Dec. 9, 2022, as Appl. No. 18/078,499.
Prior Publication US 2024/0190434 A1, Jun. 13, 2024
Int. Cl. B60W 30/17 (2020.01); B60W 40/10 (2012.01)
CPC B60W 30/17 (2013.01) [B60W 40/10 (2013.01); B60W 2554/80 (2020.02); B60W 2556/45 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a processor; and
a memory storing:
a calculations module including instructions that, when executed by the processor, cause the processor to:
determine a time, during a deceleration phase or an acceleration phase of a stop-and-go cycle of a preceding vehicle, when a preceding vehicle speed will equal a desired speed of an ego vehicle; and
determine, in response to the time being during:
the deceleration phase, that a gap, between the preceding vehicle and the ego vehicle, will be smaller than a desired maximum gap, or
the acceleration phase, that the gap will be larger than a desired minimum gap; and
an actuation module including instructions that, when executed by the processor, cause the processor to change an ego vehicle speed to optimize a model of a cruise control system to correct the gap by:
adding a product of a gain multiplied by a difference to the model as a gap maintaining term,
adding, in response to a condition in which an absolute value of a difference of the desired speed subtracted from the preceding vehicle speed being less than a threshold, at least one term to the model, or
changing, in the model, a product of a gain multiplied by a first difference to account for a period of the stop-and-go cycle.