Granted Patent B2

US 12,252,151 · App. 17/766,687 · Granted Mar 18, 2025

Inventors: Stefan Bergquist (Gothenburg, SE); Wilhelm Wiberg (Askim, SE); António Amaral Craveiro (Gothenburg, SE)

Assignee: Volvo Truck Corporation

B60W60/001B60W40/105G07C5/008B60W2420/403B60W2420/408

Abstract

Claims (43)

1. A computer implemented method for determining a reliability level of data received by an ego vehicle from a target vehicle being different from the ego vehicle and arranged in a vicinity of the ego vehicle, the ego vehicle comprising a control unit, wherein the method comprises:

receiving, at the control unit and using wireless communication, a first set of operational data relating to the target vehicle,

determining, by the control unit, a second set of operational data relating to the target vehicle using a first sensor comprised with the ego vehicle,

determining, by the control unit, a difference between the first set of operational data and the second set of operational data,

determining, by the control unit, the reliability level based on the determined difference and a predetermined model indicative of an expected behavior of the first and the second set of operational data, and

applying, by the control unit, the determined reliability level as a weight for the first set of operational data when operating the ego vehicle, wherein data having a lower reliability level is given a lower weight compared to data having a higher reliability level.

2. The method of claim 1 , wherein the predetermined model is further dependent on the target vehicle.

3. The method of claim 1 , wherein the predetermined model is further dependent on an expected variation over time of the first set of operational data.

4. The method of claim 1 , wherein the predetermined model is further indicative of an expected behavior of the difference between the first and the second set of operational data.

5. The method of claim 1 , further comprising:

defining operational data from the target vehicle as reliable only if the reliability level is above a first predetermined threshold.

6. The method of claim 1 , further comprising:

defining operational data from the target vehicle as unreliable if the reliability level is below a second predetermined threshold.

7. The method of claim 1 , wherein the first set of operational data relates to at least one of a velocity, an acceleration, and/or a retardation, for the target vehicle.

8. The method of claim 2 , further comprising:

determining an identifier for the target vehicle using a second sensor comprised with the ego vehicle.

9. The method of claim 1 , wherein the predetermined model represents a statistical behavior for the sets of operational data.

10. The method of claim 1 , further comprising:

establishing a network connection with a server arranged offboard the ego vehicle, and

requesting the predetermined model from the remote server.

11. The method of claim 10 , further comprising:

determining, by the control unit, an updated model if the reliability level is above a third predetermined threshold.

12. The method of claim 1 , wherein the first sensor is at least one of a radar, a LiDAR sensor, or a camera.

13. A control system for an ego vehicle, the control system arranged onboard the ego vehicle and adapted for determining a reliability level of data received by the ego vehicle from a target vehicle being different from the ego vehicle and arranged in a vicinity of the ego vehicle, the control system comprising a control unit, wherein the control unit is adapted to:

receive, using wireless communication, a first set of operational data relating to the target vehicle,

determine a second set of operational data relating to the target vehicle using a first sensor comprised with the ego vehicle,

determine a difference between the first set of operational data and the second set of operational data,

determine the reliability level based on the determined difference and a predetermined model indicative of an expected behavior of the first and the second set of operational data, and

apply the determined reliability level as a weight for the first set of operational data when operating the ego vehicle, wherein data having a lower reliability level is given a lower weight compared to data having a higher reliability level.

14. The system of claim 13 , wherein the predetermined model is further dependent on the target vehicle.

15. The system of claim 13 , wherein the predetermined model is further dependent on an expected variation over time of the first set of operational data.

16. The system of claim 13 , wherein the predetermined model is further indicative of an expected behavior of the difference between the first and the second set of operational data.

17. The system of claim 13 , wherein the control unit is further adapted to:

define operational data from the target vehicle as reliable only if the reliability level is above a first predetermined threshold.

18. The system of claim 13 , wherein the control unit is further adapted to:

define operational data from the target vehicle as unreliable if the reliability level is below a second predetermined threshold.

19. A vehicle comprising the control system of claim 13 .

20. A computer program product comprising a non-transitory computer readable medium having stored thereon computer program means for operating a control system comprised with an ego vehicle, the control system adapted for determining a reliability level of data received by the ego vehicle from a target vehicle being different from the ego vehicle and arranged in a vicinity of the ego vehicle, the control system comprising a control unit, wherein the computer program product comprises:

code for receiving, at the control unit and using wireless communication, a first set of operational data relating to the target vehicle,

code for determining, by the control unit, a second set of operational data relating to the target vehicle using a first sensor comprised with the ego vehicle,

code for determining, by the control unit, a difference between the first set of operational data and the second set of operational data,

code for determining, by the control unit, the reliability level based on the determined difference and a predetermined model indicative of an expected behavior of the first and the second set of operational data, and

code for applying, by the control unit, the determined reliability level as a weight for the first set of operational data when operating the ego vehicle, wherein data having a lower reliability level is given a lower weight compared to data having a higher reliability level.

Assignments (2)

Continuity (1)

References Cited (15)