Method and vehicle control system for intelligent vehicle control about a roundabout
AssigneeDENSO International America, Inc.
InventorsWei ZHANG, Rajesh MALHAN, Joseph LULL
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Abstract
The present disclosure is directed toward a method that includes defining a roundabout path plan for a subject vehicle based on roundabout characteristics and dynamic characteristics, among other data. The method further determines whether a platoon can be formed with at least one surrounding vehicle based on the roundabout path plan, and calculates an entry parameter for the platoon based on dynamic traffic flow of the roundabout and a predictive control in response to determining that the platoon can be formed. The method collaborates and verifies the entry parameter with the platoon to obtain an agreed entry parameter.
Claims20
A method comprising:
- defining a roundabout path plan for a subject vehicle based on roundabout characteristics, dynamic characteristics, an entry point of the roundabout, an exit point of the roundabout, or a combination thereof;
- determining whether a platoon can be formed with at least one surrounding vehicle based on the roundabout path plan;
- calculating an entry parameter for the platoon in response to determining that the platoon can be formed based on dynamic traffic flow of the roundabout and a predictive control, wherein the entry parameter includes an entry time and an occupancy gap, and the predictive control is configured to predict position and path of the subject vehicle and the at least one surrounding vehicle based on the dynamic characteristics;
- collaborating and verifying the entry parameter with the platoon to obtain an agreed entry parameter;
- and
- controlling the subject vehicle to enter the roundabout based on the agreed entry parameter.
A vehicle control system for a subject vehicle, the vehicle control system comprising:
- a controller configured to:
- define a roundabout path plan for traversing a roundabout based on roundabout characteristics, dynamic characteristics of the subject vehicle, an exit point of the roundabout, or a combination thereof,
- determine whether a platoon can be formed with at least one surrounding vehicle based on the roundabout path plan;
- calculate an entry parameter for the platoon in response to determining that the platoon can be formed based on dynamic traffic flow of the roundabout and a predictive control, wherein the entry parameter includes an entry time and an occupancy gap between members of the platoon, and the predictive control is configured to predict position and path of the subject vehicle and the at least one surrounding vehicle based on dynamic characteristics;
- collaborate and verify the entry parameter with the platoon to obtain an agreed entry parameter;
- and
- control the subject vehicle to enter the roundabout based on the agreed entry parameter.
A method comprising:
- determining dynamic traffic flow of the roundabout based on dynamic characteristics, wherein the dynamic characteristics include information related to one or more vehicles entering a roundabout;
- defining a roundabout path plan for each of the one or more vehicles based on an entry point of the vehicle, an exit point of the vehicle, or a combination thereof;
- calculating an entry parameter for the one or more vehicles based on the traffic flow and a predictive control, wherein the entry parameter includes an entry time and an occupancy gap for having the vehicle enter the roundabout, and the predictive control is configured to predict position and path of each of the vehicles;
- and
- transmitting the entry parameter and the roundabout path plan to respective vehicles.
Dependencies are inferred from the claim text.