System and method for vehicle control using vehicular communication
A computer-implemented method for controlling a host vehicle having a vehicle control system that controls motion of the host vehicle relative to a preceding vehicle that is immediately ahead of the host vehicle. The method includes determining a relative headway distance and a relative velocity between the host vehicle and the preceding vehicle, and an acceleration rate of the preceding vehicle. The method includes receiving message packets transmitted from a leading vehicle and the message packets contain parameters of the leading vehicle including an acceleration rate of the leading vehicle. Further, the method includes calculating an acceleration control rate for the host vehicle to maintain the headway reference distance between the host vehicle and the preceding vehicle, based on the relative headway distance, the relative velocity, the acceleration rate of the preceding vehicle, and the acceleration rate of the leading vehicle. The acceleration rate is output to a vehicle controller to control motion of the host vehicle.
1. A vehicle control system for controlling a host vehicle with respect to a preceding vehicle, wherein the preceding vehicle is positioned immediately ahead of the host vehicle, comprising:
a wireless transceiver to receive message packets transmitted from one or more remote vehicles via one or more communication links using a vehicle communication network, wherein each message packet contains remote vehicle data of the one or more remote vehicles from which the message packet is transmitted; and
a processor operatively connected for computer communication to the wireless transceiver, wherein the processor:
determines a relative headway distance between the host vehicle and the preceding vehicle with respect to a headway reference distance;
selects a leading vehicle from the one or more remote vehicles based on the remote vehicle data, the leading vehicle positioned ahead of the preceding vehicle;
receives message packets transmitted from the leading vehicle via a communication link between the host vehicle and the leading vehicle, wherein the message packets transmitted from the leading vehicle contain parameters of the leading vehicle including an acceleration rate of the leading vehicle;
calculates an acceleration control rate for the host vehicle to maintain the headway reference distance between the host vehicle and the preceding vehicle, based on the relative headway distance, a relative velocity and the acceleration rate of the leading vehicle; and
controls motion of the host vehicle according to the acceleration control rate.
2. The vehicle control system of claim 1 , wherein the processor calculates the acceleration control rate including modifying an acceleration rate of the host vehicle by a variable gain.
3. The vehicle control system of claim 2 , wherein the processor calculates the variable gain based on a distance headway between the host vehicle and the leading vehicle and a time headway between the host vehicle and the leading vehicle.
4. The vehicle control system of claim 1 , wherein the processor selects the leading vehicle by selecting one of the one or more remote vehicles that is within a predetermined headway time threshold from the host vehicle.
5. The vehicle control system of claim 1 , wherein the processor selects the leading vehicle by selecting one of the one or more remote vehicles based on a proximity to the host vehicle and an acceleration rate of the one or more remote vehicles.
6. The vehicle control system of claim 1 , wherein the processor detects a packet loss based on the communication link between the leading vehicle and the host vehicle, and selecting a new leading vehicle from the one or more remote vehicles that is proximity to the leading vehicle.