DE-112024002544-T5 - WIND AND TRANSMISSION DELAY MANAGEMENT FOR CONNECTED VEHICLES

DE112024002544T5DE 112024002544 T5DE112024002544 T5DE 112024002544T5DE-112024002544-T5

Abstract

In some examples, a service computer receives a communication from a vehicle computer on board a vehicle. This communication includes sensor data obtained from at least one sensor on board the vehicle. Based on this communication, the service computer determines a transmission delay, which is the difference between the time the vehicle sent the communication and the time it was received. Based on this communication, the service computer determines a trajectory of the vehicle along a travel route. Based on the sensor data, the transmission delay, wind direction and magnitude, surrounding objects, and the trajectory, the service computer determines vehicle control information for the vehicle. Based on at least this vehicle control information, the service computer sends at least one instruction to the vehicle, causing it to perform at least one control operation to traverse one or more locations associated with the vehicle's trajectory.

Inventors

ZHU XIAOLIANG
KUNDU SUBRATA KUMAR
LIU PAUL

Assignees

ASTEMO LTD

Dates

Publication Date: 20260507
Application Date: 20240731
Priority Date: 20240731

Claims (20)

System comprising: one or more service computing devices configured by executable instructions to perform operations comprising: receiving, from a vehicle computing device on board a vehicle, a communication comprising sensor data received from at least one sensor on board the vehicle; determining, based on at least the communication, a transmission delay equal to the difference between the time the vehicle sent the communication and the time the communication was received by the one or more service computing devices; determining, based on at least the communication, a trajectory of the vehicle along a travel route; determining, based on at least the sensor data, wind information for one or more locations associated with the vehicle's trajectory; determining vehicle control information for the vehicle based on at least the wind information, the trajectory, and the transmission delay; and send to the vehicle, based on at least the vehicle control information, at least one instruction that causes the vehicle to perform at least one control operation to cross the one or more locations.
System according to Claim 1 , wherein the at least one instruction causes the vehicle computing device to perform the at least one control operation to control at least one vehicle system at least partially based on a predicted effect of wind on the vehicle at one or more locations.
System according Claim 1 , wherein determining, based on at least the sensor data, wind information for one or more locations associated with the vehicle's trajectory further comprises: determining, from the received sensor information, a roll, pitch and yaw of the vehicle; and determining, based on at least the roll, pitch and yaw of the vehicle, at least one of a wind direction or wind speed at a location associated with the vehicle.
System according to Claim 1 , wherein the operations further comprise: Determining, based on at least the sensor data, a location of at least one object relative to the vehicle, wherein at least one instruction sent to the vehicle is further based on the location of the at least one object relative to the vehicle.
System according Claim 1 , wherein the operations further include: storing the transmission delay in a transmission delay data structure in association with at least one vehicle location and vehicle information, which includes at least one vehicle identifier, one vehicle speed, one communication protocol used by the vehicle, one vehicle-specific identifier The communication provider or size of the sensor data includes the process of determining the vehicle control information based on the transmission delay, further based on information in the transmission delay data structure.
System according to Claim 1 , wherein the operations further comprise: generating, based on at least the communication received by the vehicle, a local map comprising a plurality of waypoints for an upcoming period, wherein the plurality of waypoints corresponds to the one or more locations associated with the vehicle's trajectory; and determining a plurality of wind data points for the plurality of waypoints, wherein the plurality of wind data points each indicate a predicted wind direction and wind speed at a respective location of the wind data point, wherein the at least one instruction is determined based on the predicted wind direction and wind speed at the respective locations of the wind data points.
System according Claim 1 , wherein the operations further comprise: determining a location associated with wind information determined on the basis of at least the sensor data; searching a wind information database to determine whether an entry already exists in the database corresponding to the location; based on locating an existing entry in the wind information database corresponding to the location, determining whether the difference between the wind information determined on the basis of the sensor data and the wind information for the existing entry is less than a wind threshold; and based on the difference being less than the wind threshold, updating the wind information database with an entry based on both the wind information determined on the basis of the sensor data and the wind information for the existing entry.
A method comprising: Receiving, by one or more service computing devices, from a vehicle computing device on board a vehicle, a communication comprising sensor data received from at least one sensor on board the vehicle; Determining, based on at least the communication, a transmission delay corresponding to a difference between a time at which the vehicle sent the communication and a time at which the communication was received by the one or more service computing devices; Determining, based on at least the communication, a trajectory of the vehicle along a travel route; Determining vehicle control information for the vehicle based on at least the sensor data, the trajectory, and the transmission delay; and Sending, to the vehicle, based on at least the vehicle control information, at least one instruction causing the vehicle to perform at least one control operation to traverse one or more locations associated with the vehicle's trajectory.
Procedure according to Claim 8 , further comprising: Determining, based on at least the sensor data, wind information for the one or more locations associated with the vehicle's trajectory, and wherein determining the vehicle control information based on at least the sensor data and the transmission delay further comprises determining the vehicle control information based on the wind information.
Procedure according to Claim 8 , wherein the at least one instruction causes the vehicle computing device to perform the at least one control operation to control at least one vehicle system at least partially based on a predicted effect of wind on the vehicle at one or more locations.
Procedure according to Claim 9 , wherein determining, based on at least the sensor data, wind information for the one or more locations associated with the vehicle's trajectory further comprises: determining, from the received sensor information, a roll, pitch and yaw of the vehicle; and determining, based on at least the roll, pitch and yaw of the vehicle, at least one of a wind direction or wind speed at a location associated with the vehicle.
Procedure according to Claim 8 , furthermore comprising: Determining, based on at least the sensor data, a location of at least one object relative to the vehicle, wherein the at least one instruction sent to the vehicle is further based on the location of the based on at least one object relative to the vehicle.
Procedure according to Claim 8 , further comprising: storing the transmission delay in a transmission delay data structure in association with at least one vehicle location and vehicle information, which includes at least one of a vehicle identifier, a vehicle speed, a communication protocol used by the vehicle, a communication provider used by the vehicle, or a sensor data size, wherein the process of determining the vehicle control information based on the transmission delay is further based on information in the transmission delay data structure.
Procedure according to Claim 8 , further comprising: generating, based on at least the communication received by the vehicle, a local map comprising a plurality of waypoints for an upcoming period, wherein the plurality of waypoints corresponds to the one or more locations associated with the vehicle's trajectory; and determining a plurality of wind data points for the plurality of waypoints, wherein the plurality of wind data points each indicate a predicted wind direction and wind speed at a respective location of the wind data point, wherein the at least one instruction is determined based on the predicted wind direction and wind speed at the respective locations of the wind data points.
A method comprising: Transmitting, by one or more processors on board a vehicle, via a network to a service computer located remote from the vehicle, a communication comprising sensor data received from at least one sensor on board the vehicle, wherein the service computer is configured to determine wind information and a transmission delay associated with a location of the vehicle based on at least the communication comprising the sensor data; Receiving, by the one or more processors on board the vehicle, in response to the communication, at least one instruction based on wind information and transmission delay information determined by the service computer based on the communication comprising the sensor data, wherein the at least one instruction directs at least one control operation to control at least one vehicle system based on at least part of a predicted effect of wind on the vehicle at one or more locations during an upcoming period; and controls, by the vehicle's computer device, based on the at least one instruction of the at least one vehicle system while passing through the one or more locations.
Procedure according to Claim 15 , wherein the sensor data sent to the service computer includes sensor data that enables the service computer to calculate roll, pitch and yaw of the vehicle in order to determine at least part of the wind information at the location of the vehicle.
Procedure according to Claim 16 , wherein the sensor data enabling the service computing device to calculate roll, pitch and yaw of the vehicle includes at least one of chassis system height measurement or inertial measurement unit data and further includes at least one of steering wheel position information, brake information or powertrain acceleration information.
Procedure according to Claim 15 , wherein the sensor data sent to the service computer includes sensor data that enables the service computer to determine, based on at least the sensor data, the location of at least one object relative to the vehicle, and wherein at least one instruction received from the vehicle is further based on the location of the at least one object relative to the vehicle.
Procedure according to Claim 15 , furthermore comprising, prior to sending the sensor data to the service computer, preprocessing at least one of the camera data, lidar data or radar data in order to reduce the size of the sensor data transmitted to the service computer.
Procedure according to Claim 15 , wherein the communication comprising the sensor data includes a timestamp determined on the basis of receiving timing information from a satellite positioning system, the timestamp enabling the service computing device to determine at least partially the transmission delay information.

Description

Technical field Some implementations herein are directed towards techniques and arrangements for wind and transmission delay management for connected vehicles. State of the art Wind can affect a vehicle's operation. For example, a crosswind can have a component perpendicular to the vehicle's direction of travel. Crosswinds can be problematic for vehicles traveling on wet or slippery roads, and even on dry roads in the case of strong crosswinds. Furthermore, crosswinds can disproportionately affect vehicles with large side surfaces, such as vans, trucks, and tractors. Crosswinds can affect a vehicle's aerodynamics and may push it sideways. This can be dangerous for the vehicle and nearby vehicles due to the possibility of lift forces that could cause the vehicle to lose traction, change direction, or otherwise create a hazard. Conventional techniques for vehicles to detect crosswinds and respond appropriately to improve vehicle safety are quite limited and are typically configured to take action only when a predefined wind event is detected by the vehicle's sensors. Furthermore, crosswinds, which can affect vehicle safety, can be highly dynamic events that are essentially influenced by the presence or absence of other nearby vehicles, the size of the other vehicles, the presence of buildings and other fixed structures, and so on. Summary of the invention In some implementations, a service computer receives a communication from a vehicle computer on board a vehicle. This communication includes sensor data obtained from at least one sensor on board the vehicle. Based on this communication, the service computer determines a transmission delay, which is the difference between the time the vehicle sent the communication and the time it was received. Based on this communication, the service computer determines the vehicle's trajectory along a travel route. Based on the sensor data, the transmission delay, and the trajectory, the service computer determines vehicle control information for the vehicle. Based on at least this vehicle control information, the service computer sends at least one instruction to the vehicle, causing it to perform at least one control operation to traverse one or more locations associated with the vehicle's trajectory. Brief description of the drawings The detailed description is presented with reference to the accompanying figures. In the figures, the leftmost digit(s) of a reference symbol identifies the figure in which the reference symbol first appears. The use of the same reference symbols in different figures indicates similar or identical elements or features. 1 illustrates an exemplary system for wind and transmission delay management according to some implementations. 2 illustrates an exemplary hardware and logic configuration of sections of the system for wind and transmission delay management according to some implementations. 3 This is a flowchart illustrating an exemplary process for updating the crosswind database and the transmission delay database according to some implementations. 4 This illustrates an example data structure of information contained in the transmission delay database, according to some implementations. 5 This illustrates an example data structure of information contained in the wind map database, according to some implementations. 6 is a flowchart illustrating an exemplary process for determining crosswind information and vehicle environment information according to some implementations. 7 This is a flowchart illustrating an example process for updating the wind information database according to some implementations. 8 is a flowchart that illustrates an exemplary process for creating vehicles Cost information illustrated according to some implementations. 9 It includes a flowchart illustrating an exemplary process and a corresponding representation of waypoints according to some implementations. 10 This illustrates an example data structure for retaining vehicle trajectory information for waypoints according to some implementations. 11 is a flowchart illustrating an exemplary process for determining vehicle control information according to some implementations. Description of the embodiments Some implementations herein are directed toward techniques and arrangements for crosswind management in vehicles, based in part on the use of connected vehicle technology to determine crosswind information and provide crosswind management information for the respective vehicles. For example, the crosswind information determined by the system herein can be used for precise vehicle control to improve driving safety and comfort in the event that the vehicle encounters crosswinds. Some examples use data from connected vehicles and other sources to detect crosswinds and can implement techniques that improve the accuracy of determining the times and locations of crosswinds. Additionally, some examples herein can account for delays in data transmission, such as by referencin