US 12,110,024 B2
Consideration of acceleration lag in lead vehicle to enhance host vehicle operation
Vivek Vijaya Kumar, Shelby Township, MI (US); Kausalya Singuru, Troy, MI (US); Kevin A. O'Dea, Ann Arbor, MI (US); and Carl P. Darukhanavala, Royal Oak, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Dec. 29, 2020, as Appl. No. 17/136,580.
Prior Publication US 2022/0203984 A1, Jun. 30, 2022
Int. Cl. B60W 30/16 (2020.01); B60W 60/00 (2020.01)
CPC B60W 30/162 (2013.01) [B60W 60/001 (2020.02); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/404 (2020.02); B60W 2554/802 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for operating a host vehicle, comprising:
obtaining, by processing circuitry of the host vehicle, a velocity of a lead vehicle and a gap g between the host vehicle and the lead vehicle, wherein the lead vehicle is traveling ahead of the host vehicle;
computing a perceived acceleration of the lead vehicle based on a change in the velocity of the lead vehicle, wherein the perceived acceleration of the lead vehicle differs from an intended acceleration of the lead vehicle commanded by a driver or controller of the lead vehicle by a lag between the intended acceleration and a response of the lead vehicle to the intended acceleration;
computing, using the processing circuitry, a corresponding desired acceleration for the host vehicle using the perceived acceleration of the lead vehicle to maintain the gap g within a specified range of gap values;
computing, using the processing circuitry, a modified desired acceleration for the host vehicle using the desired acceleration for the host vehicle and the lag for the lead vehicle;
controlling the host vehicle by implementing the modified desired acceleration at the host vehicle to maintain the gap g; and
updating the lag for the lead vehicle based on a comparison of the actual gap resulting from implementing the modified desired acceleration and the gap g.