VEHICLE SPACING CONTROL

摘要

A method of determining a safe distance (dsafe) between a first vehicle (1) and a second vehicle (2) moving ahead of the first vehicle, each vehicle having a state which comprises at least one of a position (s1, s2), a speed and an acceleration of the respective vehicle, the method comprising the steps of:—collecting sensor data relating to the state of the vehicles (1, 2),—determining, using the sensor data and a time-dependent description of the state of the second vehicle (2), a state of the second vehicle (2) as a result of a maximum deceleration of said second vehicle,—determining, using a time-dependent model of the behaviour of the first vehicle (1) and said state of the second vehicle (2), a state of the first vehicle (1) as a result of said maximum deceleration of said second vehicle (2), and—determining, using said state of the second vehicle (2) and said state of the first vehicle (1), the safe distance (dsafe). Said state of the second vehicle (2) and said state of the first vehicle (1) involve uncertainties introduced by the sensor data, thus increasing the safety margin of the method.

主权项

1. A method of determining a safe distance (dsafe) between a first vehicle and a second vehicle moving ahead of the first vehicle, each vehicle having a state which comprises a position (S1, s2), a speed (v1, v2) and an acceleration (a1, a2) of the vehicle, the method comprising the steps of:
collecting sensor data relating to the states of the vehicles, determining, using the sensor data and a time-dependent description of the state of the second vehicle, a computed state of the second vehicle which results from using a maximum deceleration value for said second vehicle, determining, using a time-dependent model of the behavior of the first vehicle and said computed state of the second vehicle, a computed state of the first vehicle which results from using said maximum deceleration value for said second vehicle, and determining, using said computed state of the second vehicle and said computed state of the first vehicle, the safe distance (dsafe),wherein said computed state of the second vehicle and said computed state of the first vehicle involve uncertainties introduced by the sensor data.