IP Library › Granted Patent US 12,325,420
Granted Patent B2
US 12,325,420 · App. 18/078,499 · Granted Jun 10, 2025

Maintaining a range of a gap between an ego vehicle and a preceding vehicle

Inventors: Yashar Zeiynali Farid (Berkeley, CA); Kentaro Oguchi (Mountain View, CA)
Assignees: Toyota Motor Engineering & Manufacturing North America, Inc.; Toyota Jidosha Kabushiki Kaisha
B60W30/17B60W40/10B60W2554/80B60W2556/45
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Quick Facts
Patent No.
US 12,325,420
App. No.
18/078,499
Granted
Jun 10, 2025
Kind
B2
Abstract

A system for maintaining a range of a gap between an ego vehicle and a preceding vehicle can include a processor and a memory. The memory can store a calculations module and an actuation module. The calculations module can cause the processor to determine a time, during a deceleration phase or an acceleration phase of a stop-and-go cycle of the preceding vehicle, when a preceding vehicle speed will equal a desired speed of the ego vehicle. The calculations module can cause the processor to determine: (1) in response to the time being during the deceleration phase, that the gap will be smaller than a desired maximum gap or (2) in response to the time being during the acceleration phase, that the gap will be larger than a desired minimum gap. The actuation module can cause the processor to change an ego vehicle speed to correct the gap.

Claims (85)

1. A system, comprising:

a processor; and

a memory storing:

a calculations module including instructions that, when executed by the processor, cause the processor to:

determine a time, during a deceleration phase or an acceleration phase of a stop-and-go cycle of a preceding vehicle, when a preceding vehicle speed will equal a desired speed of an ego vehicle; and

determine, in response to the time being during:

the deceleration phase, that a gap, between the preceding vehicle and the ego vehicle, will be smaller than a desired maximum gap, or

the acceleration phase, that the gap will be larger than a desired minimum gap; and

an actuation module including instructions that, when executed by the processor, cause the processor to change an ego vehicle speed to optimize a model of a cruise control system to correct the gap by:

adding a product of a gain multiplied by a difference to the model as a gap maintaining term,

adding, in response to a condition in which an absolute value of a difference of the desired speed subtracted from the preceding vehicle speed being less than a threshold, at least one term to the model, or

changing, in the model, a product of a gain multiplied by a first difference to account for a period of the stop-and-go cycle.

2. The system of claim 1 , wherein:

the instructions to change the ego vehicle speed include instructions to cause the cruise control system, of the ego vehicle, to operate to change the ego vehicle speed,

the cruise control system is configured to optimize the model to maintain a range of the gap, and

the instructions to change the ego vehicle speed include at least one of instructions to change the at least one term in the model, instructions to add the at least one term to the model, or instructions to remove the at least one term from the model.

3. The system of claim 2 , wherein the model includes an expression for an ego vehicle acceleration.

4. The system of claim 3 , wherein the instructions to change the ego vehicle speed include instructions to add the at least one term to the expression for the ego vehicle acceleration.

5. The system of claim 4 , wherein:

the at least one term, added to the expression for the ego vehicle acceleration, includes the product of the gain multiplied by the difference, and

in response to the time, when the preceding vehicle speed will equal the desired speed, being during:

the deceleration phase:

the gain is a first gain, and

the difference is the desired maximum gap subtracted from a current gap between the ego vehicle and the preceding vehicle, or

the acceleration phase:

the gain is a second gain, and

the difference is the desired minimum gap subtracted from the current gap.

6. The system of claim 4 , wherein the instructions to add the at least one term to the expression for the ego vehicle acceleration include instructions to add, in response to an existence of the condition, the at least one term to the expression for the ego vehicle acceleration.

7. The system of claim 6 , wherein the condition comprises:

in response to the time, when the preceding vehicle speed will equal the desired speed, being during:

the deceleration phase, a preceding vehicle acceleration being negative, or

the acceleration phase, the preceding vehicle acceleration being positive.

8. The system of claim 3 , wherein the instructions to change the ego vehicle speed include instructions to change the at least one term of the expression for the ego vehicle acceleration.

9. The system of claim 8 , wherein the at least one term of the expression for the ego vehicle acceleration includes the product of the gain multiplied by the first difference, the first difference being the ego vehicle speed subtracted from the desired speed.

10. The system of claim 9 , wherein the instructions to change the at least one term of the expression for the ego vehicle acceleration include instructions to change, in response to an existence of a different condition, the desired speed to a modified desired speed.

11. The system of claim 10 , wherein the different condition comprises a current time being between the time when the preceding vehicle speed will equal the desired speed and a desired time.

12. The system of claim 10 , wherein:

the modified desired speed is a sum of the desired speed added to a ratio,

the ratio is a quotient of a second difference divided by a duration of time,

the duration of time is between the time when the preceding vehicle speed will equal the desired speed and a desired time, and

the second difference is, in response to the time when the preceding vehicle speed will equal the desired speed being during:

the deceleration phase, the desired maximum gap subtracted from a current gap between the ego vehicle and the preceding vehicle, or

the acceleration phase, the desired minimum gap subtracted from the current gap.

13. The system of claim 12 , wherein the duration of time equals the period of the stop-and-go cycle.

14. A method, comprising:

determining, by a processor, a time, during a deceleration phase or an acceleration phase of a stop-and-go cycle of a preceding vehicle, when a preceding vehicle speed will equal a desired speed of an ego vehicle;

determining, by the processor, in response to the time being during:

the deceleration phase, that a gap, between the preceding vehicle and the ego vehicle, will be smaller than a desired maximum gap, or

the acceleration phase, that the gap will be larger than a desired minimum gap; and

changing, by the processor, an ego vehicle speed to optimize a model of a cruise control system to correct the gap by:

adding a product of a gain multiplied by a difference to the, model as a gap maintaining term,

adding, in response to a condition in which an absolute value of a difference of the desired speed subtracted from the preceding vehicle speed being less than a threshold, at least one term to the model, or

changing, in the model, a product of a gain multiplied by a first difference to account for a period of the stop-and-go cycle.

15. The method of claim 14 , further comprising determining, by the processor, the desired maximum gap.

16. The method of claim 15 , wherein the determining the desired maximum gap comprises adding the desired minimum gap to a second difference.

17. The method of claim 16 , wherein:

the time, when the preceding vehicle speed will equal the desired speed, comprises a first time and a second time,

the first time is during the deceleration phase,

the second time is during the acceleration phase,

a first position is a position of the preceding vehicle at the first time,

a second position is a position of the preceding vehicle at the second time,

a third position is a position of the ego vehicle at the first time,

a fourth position is a position of the ego vehicle at the second time,

the first difference is a second difference subtracted from a third distance,

the second difference is the third position subtracted from the fourth position, and

the third difference is the first position subtracted from the second position.

18. The method of claim 17 , wherein:

the second difference is a first term subtracted from a second term,

the first term is the desired speed multiplied by a duration of time, the duration of time being between the first time and the second time, and

a maximum value of the second term is a distance traversed by the preceding vehicle during a single iteration of the stop-and-go cycle.

19. The method of claim 16 , wherein:

the minimum desired gap is a sum of a constant added to a product,

the product is the desired speed multiplied by a duration of time,

the duration of time is between a first time and a second time,

the first time is a time at which the preceding vehicle passes a point, and

the second time is a time at which the ego vehicle, moving at the desired speed, passes the point.

20. A non-transitory computer-readable medium for maintaining a range of a gap between an ego vehicle and a preceding vehicle, the non-transitory computer-readable medium including instructions that, when executed by one or more processors, cause the one or more processors to:

determine a time, during a deceleration phase or an acceleration phase of a stop-and-go cycle of a preceding vehicle, when a preceding vehicle speed will equal a desired speed of an ego vehicle;

determine, in response to the time being during:

the deceleration phase, that a gap, between the preceding vehicle and the ego vehicle, will be smaller than a desired maximum gap, or

the acceleration phase, that the gap will be larger than a desired minimum gap; and

change an ego vehicle speed to optimize a model of a cruise control system to correct the gap by:

adding a product of a gain multiplied by a difference to the, model as a gap maintaining term,

adding, in response to a condition in which an absolute value of a difference of the desired speed subtracted from the preceding vehicle speed being less than a threshold, at least one term to the model, or

changing, in the model, a product of a gain multiplied by a first difference to account for a period of the stop-and-go cycle.

Assignments (2)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Jul 11, 2025
From: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.
To: TOYOTA JIDOSHA KABUSHIKI KAISHA
Reel/Frame 071670/0085 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Mar 17, 2023
From: FARID, YASHAR ZEIYNALI; OGUCHI, KENTARO
To: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.; TOYOTA JIDOSHA KABUSHIKI KAISHA
Reel/Frame 063021/0120 →
Continuity (1)
Related Publication 20240190434A1 · Jun 13, 2024
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