Gap measurement for vehicle convoying
A variety of methods, controllers and algorithms are described for identifying the back of a particular vehicle (e.g., a platoon partner) in a set of distance measurement scenes and/or for tracking the back of such a vehicle. The described techniques can be used in conjunction with a variety of different distance measuring technologies including radar, LIDAR, camera based distance measuring units and others. The described approaches are well suited for use in vehicle platooning and/or vehicle convoying systems including tractor-trailer truck platooning applications. In another aspect, technique are described for fusing sensor data obtained from different vehicles for use in the at least partial automatic control of a particular vehicle. The described techniques are well suited for use in conjunction with a variety of different vehicle control applications including platooning, convoying and other connected driving applications including tractor-trailer truck platooning applications.
1. A method comprising:
at a first vehicle, sensing a distance from the first vehicle to a second vehicle using a first sensor;
receiving at the first vehicle from the second vehicle, information about the second vehicle via a communication link, wherein the information about the second vehicle includes information received from a trailer;
comparing the sensed distance to the second vehicle, with a distance to the second vehicle derived from the information about the second vehicle, as part of a determination of whether the sensed distance to the second vehicle is a valid measurement of an actual distance to the second vehicle; and
providing instructions to control the first vehicle based at least in part on the validated measurement.
2. The method of claim 1 , wherein the sensing the distance from the first vehicle to the second vehicle using a first sensor occurs while the first vehicle and the second vehicle are in motion.
3. The method of claim 1 , further comprising:
utilizing the received second vehicle information in a determination of the distance to the second vehicle.
4. The method of claim 2 , further comprising:
determining the distance to the second vehicle based at least in part on the received second vehicle information.
5. The method of claim 4 , wherein the information about the second vehicle includes a speed of the second vehicle.
6. The method of claim 4 , wherein the information about the second vehicle includes information received from a GPS receiver.
7. The method of claim 4 , wherein the information about the second vehicle is received from a LIDAR.
8. The method of claim 4 , wherein the instructions include an amount of torque to command.
9. The method of claim 4 , wherein the information about the second vehicle includes information received from a network operations center.
10. The method of claim 4 , wherein the information about the second vehicle includes information received a radar and a LIDAR.
11. The method of claim 4 , wherein the first vehicle and the second vehicle are not platooning with each other.
12. A method comprising:
at a first vehicle, determining a distance from the first vehicle to a second vehicle using a at least two sensors;
receiving at the first vehicle from the second vehicle, information about the second vehicle via a communication link, wherein the information about the second vehicle includes information received from a trailer;
comparing the distance to a distance to the second vehicle derived from the information about the second vehicle and verifying that the distance is correct based on the comparison; and
providing instructions to control the first vehicle based at least in part on the distance.
13. The method of claim 12 , wherein the information about the second vehicle includes a speed of the second vehicle.
14. The method of claim 12 , wherein the information about the second vehicle includes a location of the second vehicle.
15. A system for platooning vehicles, comprising:
a processor; a memory; and a platooning engine that causes instructions to be executed on the processor, wherein the instructions cause the processor to:
determine a distance from a first vehicle to a second vehicle using a at least two sensors;
receive information about the second vehicle via a communication link, wherein the information about the second vehicle includes information received from a trailer;
compare the distance to a distance to the second vehicle derived from the information about the second vehicle and verify that the distance is correct based on the comparison; and
provide commands to control the first vehicle based at least in part on the distance.
16. The system of claim 15 , wherein the information about the second vehicle includes a speed of the second vehicle.
17. The system of claim 15 , wherein the information about the second vehicle includes a location of the second vehicle.