Vehicle positioning for V2V optimization
Responsive to determining that a quality of a V2V connection between a host vehicle and a target does not satisfy a threshold, a following position of the host vehicle relative to the target and whether the following position is within a predicted null position of the V2V connection and closer to the target than a selected position are determined. The following position is then controlled based on whether the following position is within the predicted null position and whether the following position is closer to the target than the selected position. By controlling the following position based on the quality of the V2V connection and the null position, more-reliable V2V connections may be maintained, thus enabling better performance of downstream operations.
1. A method performed by a system of a host vehicle, the method comprising:
determining whether a quality of a vehicle-to-vehicle (V2V) connection between the host vehicle and a target satisfies a threshold that corresponds to a reliable connection between the host vehicle and the target; and
responsive to determining that the quality of the V2V connection does not satisfy the threshold:
determining a following position of the host vehicle relative to the target;
predicting a null position of the V2V connection based on determined one or more following positions where ground reflections of communications between the host vehicle and the target may cause the quality of the V2V connection to not satisfy the threshold;
determining whether the following position is within the predicted null position;
determining whether the following position is closer to the target than a selected position corresponding to a vehicle component that controls the following position; and
controlling the following position based on whether the following position is within the predicted null position and whether the following position is closer to the target than the selected position.
2. The method of claim 1 , wherein the controlling the following position comprises causing the vehicle component to adjust the following position by:
advancing the host vehicle toward the target; or retreating the host vehicle away from the target.
3. The method of claim 2 , wherein the controlling the vehicle component further comprises, responsive to determining that the following position is within the predicted null position, causing the vehicle component to adjust the following position such that the adjusted following position is outside of the predicted null position.
4. The method of claim 3 , wherein the controlling the vehicle component further comprises:
responsive to determining that the following position is closer to the target than the selected position, causing the vehicle component to adjust the following position by retreating the host vehicle away from the target; or
responsive to determining that the following position is not closer to the target than the selected position, causing the vehicle component to adjust the following position by advancing the host vehicle toward the target.
5. The method of claim 2 , wherein the controlling the vehicle component further comprises:
responsive to determining that the following position is not within the predicted null position and that the following position is closer to the target than the selected position, causing the vehicle component to adjust the following position by retreating the host vehicle an incremental amount away from the target; or
responsive to determining that the following position is not within the predicted null position and that the following position is not closer to the target than the selected position, causing the vehicle component to adjust the following position by advancing the host vehicle an incremental amount toward the target.
6. The method of claim 5 , further comprising:
continuing to adjust the following position until the quality of the V2V connection satisfies the threshold; and
updating the predicted null position based on a following position when the quality of the V2V connection satisfies the threshold.
7. The method of claim 1 , wherein the predicting the null position of the V2V connection is based further on a height of an antenna of the host vehicle and a height of an antenna of the target.
8. The method of claim 7 , further comprising determining the height of the antenna of the target based on information received from the target over the V2V connection.
9. The method of claim 1 , wherein:
the vehicle component comprises a cruise-control function that controls at least one of: acceleration or braking of the host vehicle; and
the selected position is a selected following position behind the target.
10. A system configured to be disposed in a host vehicle, the system comprising:
at least one processor configured to:
determine whether a quality of a vehicle-to-vehicle (V2V) connection between the host vehicle and a target satisfies a threshold that corresponds to a reliable connection between the host vehicle and the target; and
responsive to a determination that the quality of the V2V connection satisfies the threshold, maintain a following position of the host vehicle relative to the target; or
responsive to a determination that the quality of the V2V connection does not satisfy the threshold;
predict a null position of the V2V connection based on determined one or more following positions where ground reflections of communications between the host vehicle and the target may cause the quality of the V2V connection to not satisfy the threshold;
determine whether the following position is within the predicted null position; and
responsive to a determination that the following position is within the predicted null position, cause a vehicle component of the host vehicle to advance or retreat the host vehicle out of the predicted null position; or
responsive to a determination that the following position is not within the predicted null position, cause the vehicle component to advance or retreat an incremental amount.
11. The system of claim 10 , wherein the processor is further configured to:
retreat the host vehicle away from the target responsive to a determination that the following position is closer to the target than a selected position; or
advance the host vehicle toward the target responsive to a determination that the following position is not closer to the target than the selected position.
12. The system of claim 11 , wherein the selected position is a selected following position of the vehicle component.
13. The system of claim 10 , wherein the processor is further configured to continue causing the vehicle component to advance or retreat the incremental amount until the quality of the V2V connection satisfies the threshold.
14. The system of claim 13 , wherein the processor is further configured to, responsive to the advance or retreat, update the predicted null position based on a following position when the quality of the V2V connection satisfies the threshold.
15. The system of claim 10 , wherein the predicted null position is surrounded by following positions where the quality of the V2V connection does satisfy the threshold.
16. The system of claim 10 , wherein the quality of the V2V connection comprises at least one of: a determined signal strength, packet-loss percentage, or packet-success percentage.
17. The system of claim 10 , wherein
the prediction of the null position is based further on a height of an antenna of the host vehicle and a height of an antenna of the target.
18. The system of claim 17 , wherein the processor is further configured to determine the height of the antenna of the target based on information received from the target over the V2V connection.
19. Non-transitory computer-readable storage media comprising instructions that, when executed by at least one processor, cause the processor to:
determine whether a quality of a vehicle-to-vehicle (V2V) connection between a host vehicle and a target satisfies a threshold that corresponds to a reliable connection between the host vehicle and the target; and
responsive to a determination that the quality of the V2V connection satisfies the threshold, maintain a following position of the host vehicle relative to the target; or
responsive to a determination that the quality of the V2V connection does not satisfy the threshold;
predict a null position of the V2V connection based on determined one or more following positions where ground reflections of communications between the host vehicle and the target may cause the quality of the V2V connection to not satisfy the threshold;
determine whether the following position is within the predicted null position; and
responsive to a determination that the following position is within the predicted null position, cause a vehicle component of the host vehicle to advance or retreat the host vehicle out of the predicted null position; or
responsive to a determination that the following position is not within the predicted null position, cause the vehicle component to advance or retreat an incremental amount.
20. The non-transitory computer-readable storage media of claim 19 , wherein the prediction of the null position is based further on a height of an antenna of the host vehicle and a height of an antenna of the target.