In one embodiment, a vehicle merge control system generates sensor data that indicates a detected vehicle in an environment of the ego vehicle, identifies a conflict based at least in part on the sensor data indicating that the detected vehicle and the ego vehicle are traveling: 1) in adjacent lanes that will merge into a single lane, and 2) at respective speeds that will result in the detected vehicle entering within a threshold range of the ego vehicle, determines, upon identification of the conflict, merge position assignments for the ego vehicle and the detected vehicle based at least in part on a game theory cost function applied to game theory actions that result in the merge position assignments exclusively being either a lead vehicle or follower vehicle, and outputs an acceleration rate to achieve the merge position assignment for the ego vehicle.
SYSTEM AND METHOD FOR CONNECTED VEHICLE LANE MERGE
2022-03-24
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |