System and method for adaptive cruise control for defensive driving
A system and method for adaptive cruise control for defensive driving are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle; generating a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle; generating a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle; combining the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; and controlling the autonomous vehicle to conform to the velocity command.
1. A system comprising:
a data processor; and
an adaptive cruise control module, executable by the data processor, being configured to:
receive input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle;
generate a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle, the desired distance and a distance weight coefficient of the weighted distance differential being separately user configurable;
generate a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle, a velocity weight coefficient of the weighted velocity differential being separately user configurable;
combine the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; and
control the autonomous vehicle to conform to the velocity command.
2. The system of claim 1 wherein the input object data includes distance data from one or more light imaging, detection, and ranging (LIDAR) sensors.
3. The system of claim 1 wherein the weighted distance differential is produced by multiplying a distance weight coefficient with the difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle.
4. The system of claim 1 wherein the weighted velocity differential is produced by multiplying a velocity weight coefficient with the difference between the velocity of the autonomous vehicle and a velocity of the lead vehicle.
5. The system of claim 1 further including summing the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle.
6. The system of claim 1 wherein controlling the autonomous vehicle further includes directing a vehicle control subsystem of the autonomous vehicle to cause the autonomous vehicle to achieve a speed corresponding to the velocity command.
7. A method comprising:
receiving input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle;
generating a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle, the desired distance and a distance weight coefficient of the weighted distance differential being separately user configurable;
generating a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle, a velocity weight coefficient of the weighted velocity differential being separately user configurable;
combining the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; and
controlling the autonomous vehicle to conform to the velocity command.
8. The method of claim 7 wherein the input object data includes distance data from one or more light imaging, detection, and ranging (LIDAR) sensors.
9. The method of claim 7 wherein the weighted distance differential is produced by multiplying a distance weight coefficient with the difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle.
10. The method of claim 7 wherein the weighted velocity differential is produced by multiplying a velocity weight coefficient with the difference between the velocity of the autonomous vehicle and a velocity of the lead vehicle.
11. The method of claim 7 further including summing the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle.
12. The method of claim 7 wherein controlling the autonomous vehicle further includes directing a vehicle control subsystem of the autonomous vehicle to cause the autonomous vehicle to achieve a speed corresponding to the velocity command.
13. A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
receive input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle;
generate a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle, the desired distance and a distance weight coefficient of the weighted distance differential being separately user configurable;
generate a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle, a velocity weight coefficient of the weighted velocity differential being separately user configurable;
combine the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; and
control the autonomous vehicle to conform to the velocity command.
14. The non-transitory machine-useable storage medium of claim 13 wherein the input object data includes distance data from one or more light imaging, detection, and ranging (LIDAR) sensors.
15. The non-transitory machine-useable storage medium of claim 13 wherein the weighted distance differential is produced by multiplying a distance weight coefficient with the difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle.
16. The non-transitory machine-useable storage medium of claim 13 wherein the weighted velocity differential is produced by multiplying a velocity weight coefficient with the difference between the velocity of the autonomous vehicle and a velocity of the lead vehicle.