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US 10,520,581 B2Granted
Sensor fusion for autonomous or partially autonomous vehicle control
AssigneePeloton Technology, Inc.
InventorsAustin B. Schuh, Stephen M. Erlien, Joshua P. Switkes
Life of this patent
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Abstract
A variety of methods, controllers and algorithms are described for fusing sensor data obtained from different vehicles for use in the at least partial automatic control of a particular vehicle. The described techniques are well suited for use in conjunction with a variety of different vehicle control applications including platooning, convoying and other connected driving applications including tractor-trailer truck platooning applications.
Claims29
A method for coordinating driving between platooning vehicles, comprising:
- on a following vehicle, sensing information about a lead vehicle using a first sensor while the following and the lead vehicles are driving;
- receiving, at the following vehicle from the lead vehicle, information about the lead vehicle, the information transmitted over a communication link between the following vehicle and the lead vehicle;
- verifying as valid the sensed information about the lead vehicle utilizing the received lead vehicle information by comparing the sensed information with the received information about the lead vehicle to confirm that the sensed information about the lead vehicle is an actual representation of the lead vehicle, whereby the received lead vehicle information is utilized to help determine whether the sensed information about the lead vehicle is valid;
- and
- at least partially automatically controlling the following vehicle based at least in part on an aspect of the sensed information about the lead vehicle when the sensed information is verified as valid,
- wherein at least some of the information transmitted over the communication link is indicative of an action to be taken by the lead vehicle and the at least some information is used by the following vehicle in preparation for the action.
3 more elements
A method comprising:
- on a following vehicle, using a first sensor to sense information about a distance to and a relative speed of a lead vehicle while the following and the lead vehicles are in motion and operating in a platoon;
- receiving at the following vehicle from the lead vehicle information about the lead vehicle via a communication link, wherein at least some of the information transmitted over the communication link is indicative of an action to be taken by the lead vehicle;
- and
- verifying at the following vehicle that the first sensor information about the distance to and relative speed of the lead vehicle is valid at least partially using the received lead vehicle information to confirm that the sensed information about the distance to and the relative speed of the lead vehicle are representative of an actual relative distance to and relative speed of the second vehicle with respect to the following vehicle;
- using the verified first sensor information at the following vehicle to determine a set of actuator commands;
- and
- at least partially automatically controlling actuators in the following vehicle based at least in part on the set of actuator commands determined using the validated first sensor information, the actuator commands implemented by the following vehicle in response to the action to be taken by the lead vehicle.
4 more elements
Dependencies are inferred from the claim text.