Method for the automatic transverse guidance of a following vehicle in a vehicle platoon
AssigneeMan Truck & Bus AG
InventorsPeter Strauß, Walter Schwertberger, Oliver Gebauer
Life of this patent
Estimating the term…
Abstract
The present disclosure relates to a method for the automatic transverse guidance of a following vehicle in a vehicle platoon. The method comprises determining and receiving a plurality of lane data. A lane course is able to be determined on the basis of the plurality of lane data and the following vehicle is able to be transversely guided on the basis of the determined lane course. The method is able to prevent an increase in swaying movements from the front to the rear in the vehicle platoon. In addition, the vehicles of the vehicle platoon are able to remain in the starting lane, even when a vehicle of the vehicle platform driving in front changes lane.
Claims18
A method for automatic transverse guidance of a following vehicle in a moving vehicle platoon, comprising:
- determining first lane data from map information and position information of the following vehicle;
- determining second lane data from a detection of lane markings by the following vehicle;
- determining third lane data from object tracking detection of one or more vehicles, driving in front of the following vehicle and behind a lead vehicle, of the vehicle platoon by the following vehicle;
- receiving fourth lane data from the lead vehicle by way of vehicle-to-vehicle communication, the fourth lane data including a detection of lane markings by the lead vehicle of the vehicle platoon;
- determining a lane course on the basis of the first lane data, the second lane data, the third lane data and the fourth lane data;
- and
- providing transverse guidance of the following vehicle on the basis of the determined lane course,
- wherein the lane course is determined as a fused lane course from at least two of the first lane data, the second lane data, the third lane data, and the fourth lane data, and
- wherein the first lane data is weighted with a first weight, the second lane data is weighted with a second weight, the third lane data is weighted with a third weight, and the fourth lane data is weighted with a fourth weight in order to determine the lane course.
A motor vehicle comprising:
- a navigation system containing map information;
- a camera-assisted, radar-assisted, lidar-assisted and/or satellite position determination-assisted object tracking detection system for the tracking detection of one or more vehicles, driving in front of the motor vehicle and behind a lead vehicle, of a vehicle platoon;
- a communication interface for vehicle-to-vehicle communication with the lead vehicle to receive fourth lane data from a detection of lane markings by the lead vehicle of the vehicle platoon;
- and
- a controller that is designed to execute instructions, which cause the controller to:
- determine a position of the motor vehicle;
- determine lane markings and/or unmarked road boundaries on a road detected by a lane marking detection system;
- determine first lane data from the map information and the position of the motor vehicle;
- determine second lane data from lane markings detected by the lane marking detection system;
- determine third lane data from the tracking detection of the one or more vehicles of the vehicle platoon;
- determine a lane course on the basis of the first lane data, the second lane data, the third lane data and the fourth lane data;
- and
- provide transverse guidance of the motor vehicle on the basis of the determined lane course,
- wherein the lane course is determined as a fused lane course from at least two of the first lane data, the second lane data, the third lane data, and the fourth lane data, and
- wherein the first lane data is weighted with a first weight, the second lane data is weighted with a second weight, the third lane data is weighted with a third weight and the fourth lane data is weighted with a fourth weight in order to determine the lane course.
Dependencies are inferred from the claim text.