	US 12,451,005 B2
	Systems, methods, and non-transitory computer-readable mediums for estimating a position of a tail of a vehicle queue
Yashar Zeiynali Farid, Mountain View, 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 Mar. 7, 2023, as Appl. No. 18/118,331.
Prior Publication US 2024/0304082 A1, Sep. 12, 2024
Int. Cl. G08G 1/01 (2006.01)

CPC G08G 1/0137 (2013.01) [G08G 1/0112 (2013.01); G08G 1/0125 (2013.01)]

20 Claims

1. A method comprising:

determining an initial estimated position of a tail of a vehicle queue comprising a plurality of vehicles relative to a beginning of a road section using one or more sensors of an ego vehicle;

estimating distance between a preceding vehicle and the tail of the vehicle queue based on driving data of the preceding vehicle;

estimating a position of the tail based on the estimated distance and distance between the beginning of the road section and the preceding vehicle;

estimating a final position of the tail based on the initial estimated position and the estimated position of the tail; and

controlling the ego vehicle to execute a maneuver based at least in part on the estimated final position of the tail.