# US 2017/0287331 A1 · Cooperative Automated Vehicle System

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- Number: US 2017/0287331 A1
- Document ID: US20170287331A1
- Status: Published application
- Kind: A1
- Application number: 15/086,815
- Filed: 2016-03-31
- Published: 2017-10-05
- Earliest claimed: 2016-03-31
- Assignees: Delphi Technologies, Inc.
- Applicants: Delphi Technologies, Inc.
- Inventors: Michael H. Laur; John P. Absmeier; Nandita Mangal; Wu Dun; Divya Argarwal
- Web page: https://patentgrep.com/patent/US20170287331A1

## CPC

- G08G 1/096791: {where the origin of the information is another vehicle}
- B60W 30/00: Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B62D 15/00: Steering not otherwise provided for
- B62D 15/0285: {Parking performed automatically}
- G05D 1/021: {specially adapted to land vehicles}
- G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)}
- G08G 1/0965: responding to signals from another vehicle, e.g. emergency vehicle
- G08G 1/096725: {where the received information generates an automatic action on the vehicle control}
- G08G 1/09675: {where a selection from the received information takes place in the vehicle}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- H04W 84/005: {Moving wireless networks}
- H04W 84/18: Self-organising networks, e.g. ad-hoc networks or sensor networks
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)

## Abstract

A cooperative-vehicle system suitable to operate an automated vehicle in a courteous or cooperative manner includes an object-detector and a controller. The object-detector is used by the host-vehicle to detect an other-vehicle attempting to enter a travel-lane traveled by the host-vehicle. The controller is in communication with the object-detector. The controller is configured to control motion of the host-vehicle. The controller is also configured to adjust a present-vector of the host-vehicle to allow the other-vehicle to enter the travel-lane. The decision to take some action to allow the other vehicle to enter the travel-lane may be further based on secondary considerations such as how long the other-vehicle has waited, a classification of the other-vehicle (e.g. an ambulance), an assessment of how any action by the host-vehicle would affect nearby vehicles, the intent of the other-vehicle, and/or a measure traffic-density proximate to the host-vehicle.

## Claims

### Claim 1

A cooperative-vehicle system suitable to operate an automated vehicle, said system comprising:
an object-detector used by the host-vehicle to detect an other-vehicle attempting to enter a travel-lane traveled by the host-vehicle;
a controller in communication with the object-detector, said controller configured to control motion of the host-vehicle, and configured to adjust a present-vector of the host-vehicle to allow the other-vehicle to enter the travel-lane.

### Claim 2 (depends on 1)

The system in accordance with claim 1, wherein the controller is configured to adjust the present-vector of the host-vehicle by one of a vehicle-stop, a speed-change, a lane-change, and a combination of speed-change and lane-change.

### Claim 3 (depends on 1)

The system in accordance with claim 1, wherein the object-detector is used by the controller to determine a wait-time that the other-vehicle has waited to enter the travel-lane, and the controller is further configured to adjust the present-vector of the host-vehicle to allow the other-vehicle to enter the travel-lane when the wait-time is greater than a time-threshold.

### Claim 4 (depends on 1)

The system in accordance with claim 1, wherein the object-detector is used by the controller to determine a traffic-density of the travel-lane, and the controller is further configured to adjust the present-vector of the host-vehicle to allow the other-vehicle to enter the travel-lane when the traffic-density is greater than a density-threshold.

### Claim 5 (depends on 1)

The system in accordance with claim 1, wherein the object-detector is used by the controller to determine a classification of the other-vehicle, and the controller is further configured to adjust the present-vector to allow the other-vehicle to enter the travel-lane when the classification is one of an emergency-vehicle and a public-transportation-vehicle.

### Claim 6 (depends on 1)

The system in accordance with claim 1, wherein the object-detector is used by the controller to detect an approaching-vehicle approaching the host-vehicle from behind, and the controller is further configured to not stop when the approaching-vehicle would collide with the host-vehicle if the host-vehicle stopped.

### Claim 7 (depends on 1)

The system in accordance with claim 1, wherein the system includes a transceiver used to communicate information about the other-vehicle to the controller.

### Claim 8 (depends on 7)

The system in accordance with claim 7, wherein the information includes a wait-time that the other-vehicle has waited to enter the travel-lane, and the controller is further configured to adjust the present-vector the host-vehicle to allow the other-vehicle to enter the travel-lane when the wait-time is greater than a time-threshold.

### Claim 9 (depends on 7)

The system in accordance with claim 7, wherein the information includes a classification of the other-vehicle, and the controller is further configured to adjust the present-vector to allow the other-vehicle to enter the travel-lane when the classification is one of an emergency-vehicle and a public-transportation-vehicle.

### Claim 10 (depends on 7)

The system in accordance with claim 7, wherein the transceiver is also used to communicate information about an approaching-vehicle approaching the host-vehicle from behind, and the controller is further configured to not stop when the approaching-vehicle would collide with the host-vehicle if the host-vehicle stopped.

### Claim 11 (depends on 7)

The system in accordance with claim 7, wherein the information includes a gear-selection of the other-vehicle, and the controller is further configured to adjust the present-vector of the host-vehicle to allow the other-vehicle to enter the travel-lane when the gear-selection is effective for the other-vehicle to enter the travel-lane.

### Claim 12 (depends on 7)

The system in accordance with claim 7, wherein the transceiver is also used to broadcast that the host-vehicle is searching for a place to park, receive an indication that the other-vehicle is waiting to exit a parking-spot, and the controller is further configured to adjust the present-vector of the host-vehicle to allow the other-vehicle to exit the parking-spot, and enter the parking-spot after the other-vehicle is clear of the parking-spot.