Vehicle positioning for v2v optimization

Abstract

The techniques and systems herein enable vehicle positioning for V2V optimization. Specifically, in response 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 is determined and whether the following position is within a predicted null position of the V2V connection and closer to the target than a selected position. 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, a more reliable V2V connection can be maintained, enabling improved performance of downstream operations.

Description

Background Technology

[0001] Vehicle-to-vehicle communication (e.g., V2V, V2X, C-V2V, C-V2X) is crucial for many vehicle operations (e.g., adaptive cruise control, blind spot monitoring, cross-traffic alert, oncoming traffic warning, semi-autonomous driving technology, autonomous driving technology). As these technologies advance, maintaining reliable V2V connections becomes increasingly important. One reason for poor V2V connections is ground reflection. At certain distances, the receiving vehicle can simultaneously receive both direct path transmissions (e.g., direct transmissions from the transmitting vehicle's antenna) and road surface reflections (e.g., echoes from direct path transmissions). Receiving both types of transmissions can degrade the reliability of the V2V connection. Summary of the Invention

[0002] This document relates to systems, components, techniques, and methods for implementing vehicle positioning for V2V optimization. Systems and components may include means (e.g., processing systems) for performing the techniques and methods described herein. Some aspects described below include a system comprising at least one processor capable of determining whether the quality of a V2V connection between a primary vehicle and a target satisfies a threshold corresponding to a reliable connection between the primary vehicle and the target. In response to determining that the quality of the V2V connection satisfies the threshold, a following position of the primary vehicle relative to the target can be maintained. Alternatively, in response to determining that the quality of the V2V connection does not satisfy the threshold, the processor can determine whether the following position is within a predicted null position of the V2V connection. The predicted null position corresponds to one or more following positions where the quality of the V2V connection does not satisfy the threshold. In response to determining that the following position is within the predicted null position, the processor can cause a vehicle component of the primary vehicle to move the primary vehicle forward or backward away from the predicted null position. Alternatively, in response to determining that the following position is not within the predicted null position, the processor can cause the vehicle component to move forward or backward by an increment.

[0003] The techniques and methods can be implemented by the aforementioned system, another system or component, or a combination thereof. Some aspects described below include a method that includes determining whether the quality of a V2V connection between a primary vehicle and a target meets a threshold corresponding to a reliable connection between the primary vehicle and the target. The method further includes, in response to determining that the quality of the V2V connection does not meet the threshold, determining a following position of the primary vehicle relative to the target, and determining whether the following position is within a predicted zero position of the V2V connection. The predicted zero position corresponds to one or more following positions where the quality of the V2V connection does not meet the threshold. The method further includes determining whether the following position is closer to the target than a selected position corresponding to a vehicle component that controls the following position. The following position is controlled based on whether the following position is within the predicted zero position and whether the following position is closer to the target than the selected position.

[0004] Components may include a computer-readable storage medium comprising instructions that, when executed by the aforementioned system, another system or component, or a combination thereof, implement the aforementioned methods and other methods. Some aspects described below include a computer-readable storage medium comprising instructions that, when executed by a processor, cause the processor to: determine whether the quality of the V2V connection between a primary vehicle and a target satisfies a threshold corresponding to a reliable connection between the primary vehicle and the target; and, in response to determining that the quality of the V2V connection satisfies the threshold, maintain a following position of the primary vehicle relative to the target. Alternatively, in response to determining that the quality of the V2V connection does not satisfy the threshold, the instructions further cause the processor to determine whether the following position is within a predicted zero position of the V2V connection. The predicted zero position corresponds to one or more following positions where the quality of the V2V connection does not satisfy the threshold. In response to determining that the following position is within the predicted zero position, the instructions further cause the processor to cause a vehicle component of the primary vehicle to move the primary vehicle forward or backward away from the predicted zero position. In response to determining that the following position is not within the predicted zero position, the instructions further cause the processor to move the vehicle component forward or backward by an increment.

[0005] This invention provides a simplified concept for implementing vehicle positioning for V2V optimization, which is further described in the detailed description and accompanying drawings. This invention is not intended to identify essential features of the claimed subject matter, nor is it intended to define the scope of the claimed subject matter. Attached Figure Description

[0006] The following figures illustrate a system and technology for achieving vehicle positioning for V2V optimization. Some of the figures are referred to by the same reference numerals throughout the text to cite examples of similar objects or features and components.

[0007] Figure 1An example environment in which vehicle positioning for V2V optimization can be used according to the technology of this disclosure is shown;

[0008] Figure 2 An example system of a primary vehicle configured to implement vehicle positioning for V2V optimization is shown, according to the technology of this disclosure;

[0009] Figure 3 An example data stream for vehicle positioning for V2V optimization according to the techniques of this disclosure is shown;

[0010] Figure 4 The present disclosure illustrates a technique for generating... Figure 3 Example process flow of follow command;

[0011] Figure 5 The present disclosure illustrates the technique for determining Figure 4 Example process flow for predicting the zero position;

[0012] Figure 6 Another example data stream for vehicle positioning for V2V optimization according to the techniques of this disclosure is shown;

[0013] Figure 7 The present disclosure illustrates a technique for generating... Figure 6 Example process flow of follow-up commands; and

[0014] Figure 8 An example method for vehicle positioning for V2V optimization according to the technology of this disclosure is shown. Detailed Implementation

[0015] Overview

[0016] Maintaining reliable V2V connections between vehicles is crucial for many vehicle operations. Reflections or echoes of transmitted signals can degrade these connections. For example, there is often a range of distances between a target and a following vehicle where ground reflections cause V2V connection degradation (e.g., zero position). Zero positions occur because at these distances, vehicles receive both ground reflections and direct path transmissions. Conventional positioning techniques typically cannot account for zero positions, let alone adapt vehicle positioning to avoid them. In other words, traditional vehicle positioning functions (e.g., the position a primary vehicle should be relative to another vehicle) often fail to account for V2V connection quality, let alone ground reflections. Therefore, suboptimal vehicle positioning can occur from a V2V perspective, leading to a decline in the functionality of downstream vehicle operations that rely on V2V connections.

[0017] The techniques and systems presented in this paper implement vehicle localization for V2V optimization. Specifically, in response to the determination that the quality of the V2V connection between the primary vehicle and the target does not meet a threshold, the following position of the primary vehicle relative to the target is determined, along with whether the following position is within the predicted zero position of the V2V connection and closer to the target than a selected position. The following position is then controlled based on whether the following position is within the predicted zero position and whether it is closer to the target than a selected position. By controlling the following position based on the quality and zero position of the V2V connection, a more reliable V2V connection can be maintained, thereby improving the performance of downstream operations.

[0018] Example Environment

[0019] Figure 1 An example environment 100 is shown in which vehicle positioning for V2V optimization can be used. Example environment 100 includes a primary vehicle 102 and a target 104. The primary vehicle 102 is following the target 104, for example, in a cruise control scenario. The primary vehicle 102 is following the target 104 at a following position 106 (e.g., a distance behind the target 104).

[0020] The primary means of transportation 102 can be any type of system (e.g., car, sedan, truck, motorcycle, electric bicycle, boat, air vehicle, etc.). The target 104 can be any type of moving or stationary object with communication capabilities (e.g., car, sedan, truck, motorcycle, electric bicycle, boat, cyclist, etc.).

[0021] The primary vehicle 102 has a primary antenna 108 for a V2V connection between the primary vehicle 102 and the target 104, and the target 104 has a target antenna 110 for the V2V connection. As discussed above, transmission between antennas is affected by reflections or echoes. For example, in example environment 100, transmission between the primary vehicle 102 and the target 104 may have a direct path 112 and a ground reflection path 114. When the primary vehicle 102 receives both the direct path 112 and the ground reflection path 114 simultaneously, a degradation in the V2V connection quality may occur.

[0022] To illustrate the decline in connection quality (e.g., reliability), an example diagram of connection quality 116 relative to follow position 106 is shown at 118. As shown, connection quality 116 declines by 120. The follow position corresponding to decline 120 (e.g., decline 120 corresponds to a follow position with more than a certain threshold amount) is the zero position 122 of the V2V connection.

[0023] Connection quality 116 can correspond to any number of metrics. For example, connection quality 116 can be based on signal strength (e.g., Received Signal Strength Indicator (RSSI), packet power, or packet error rate). Connection quality 116 can be measured and determined using any known technique.

[0024] A communication module 124, at least partially implemented in hardware, of the main vehicle 102 determines the connection quality 116 and generates a follow command 126. The follow command may include a command to maintain the follow position, an incremental forward command, an incremental backward command, a position forward command, or a position backward command. The communication module 124 outputs the follow command 126 for reception by the vehicle component 128. The vehicle component 128 may be any downstream operation, component, or system capable of controlling the follow position 106 using the follow command 126. In some implementations, the communication module 124 may not send any follow command 126 (e.g., in response to determining that the connection quality is qualified (ok)). In this way, the follow command 126 may only be generated when a change is required.

[0025] By generating a follow command 126 to cause the main vehicle 102 to avoid or move out of zero position 122, the techniques described herein enable the communication module 124 to optimize the positioning of the main vehicle 102 to ensure reliable V2V connectivity. In doing so, downstream operations can be made more efficient by ensuring better communication over V2V connectivity than conventional techniques.

[0026] Example System

[0027] Figure 2 An example system 200 is illustrated, configured to be located within a main vehicle 102 and configured to implement vehicle positioning for V2V optimization. Components of the example system 200 can be arranged anywhere within or on the main vehicle 102. The example system 200 may include at least one processor 202, a computer-readable storage medium 204 (e.g., a medium, a set of media, or multiple media), and a vehicle component 128. These components are operatively and / or communicatively coupled via a link 206.

[0028] Processor 202 (e.g., application processor, microprocessor, digital signal processor (DSP), controller) is coupled to computer-readable storage medium 204 via link 206 and executes instructions (e.g., code) stored in computer-readable storage medium 204 (e.g., non-transient storage device such as hard disk drive, SSD, flash memory, read-only memory (ROM)) to implement or otherwise cause communication module 124 (or a portion thereof) to perform the techniques described herein. Although shown within computer-readable storage medium 204, communication module 124 may be a separate component (e.g., a dedicated computer-readable storage medium having instructions and / or executing on dedicated hardware such as a dedicated processor, pre-programmed field-programmable gate array (FPGA), system-on-a-chip (SOC), etc.). Processor 202 and computer-readable storage medium 204 may be any number of components, including multiple components distributed throughout the main vehicle 102, located remotely from the main vehicle 102, dedicated or shared with other components, modules, or systems of the main vehicle 102, and / or configured in a manner different from that illustrated without departing from the scope of this disclosure.

[0029] The computer-readable storage medium 204 also contains sensor data 208 generated by one or more sensors (not shown), which may be local or remote relative to the example system 200. The sensor data 208 indicates or otherwise makes it possible to determine information that can be used to perform the techniques described herein. For example, a sensor (e.g., a radar sensor, sonar sensor, lidar sensor) may generate sensor data 208 corresponding to the following position 106. The main antenna 108 can also be considered as a sensor capable of generating sensor data 208 corresponding to the connection quality 116. The sensor data 208 can be used to determine other properties, such as information about... Figure 3 The subject of discussion.

[0030] In some implementations, sensor data 208 may originate from a remote source (e.g., via link 206). Example system 200 may include a communication system (not shown) that receives sensor data from target 104 or another remote source. For example, a V2V connection may be used to obtain information that can be used to perform the techniques described herein.

[0031] Vehicle component 128 includes one or more systems or components communicatively coupled to communication module 124 and configured to control follow position 106 using follow command 126. For example, vehicle component 128 may include one or more modules of a cruise control module, a semi-autonomous or autonomous driving module, a parking module, a traffic alert module, or any other module that influences the operation of one or more vehicles. Vehicle component 128 may influence the corresponding dynamics (e.g., speed, acceleration, heading, vehicle configuration, vehicle operation, or function) of the primary vehicle 102. Vehicle component 128 is communicatively coupled to communication module 124 via link 206. Although shown as a separate component, vehicle component 128 may be part of communication module 124, or vice versa.

[0032] The primary vehicle 102 can control the following position 106 using the example system 200 to avoid or move out of the zero position 122. This allows for better functionality of the V2V connection between the primary vehicle 102 and the target 104, thereby improving the functionality of downstream operations that rely on the V2V connection. In doing so, the primary vehicle 102 can provide better safety and / or experience for its occupants, the target 104, and / or other vehicles or pedestrians.

[0033] Example data stream

[0034] Figure 3 This is an example data stream 300 for vehicle positioning in V2V optimization. Example data stream 300 can be implemented in any of the environments previously described and can be implemented by any of the systems or components previously described. For example, example data stream 300 can be implemented in example environment 100 and / or by example system 200. Example data stream 300 can also be implemented in other environments, by other systems or components, and utilizing other data streams or technologies. Example data stream 300 can be implemented by one or more entities (e.g., communication module 124). The order of operations shown and / or described is not intended to be construed as limiting and can be rearranged without departing from the scope of this disclosure. Furthermore, any number of operations can be combined with any other number of operations to implement the example data stream or alternative data streams.

[0035] Example data stream 300 begins with attribute 302 of the environment (e.g., example environment 100) obtained by communication module 124. As shown, attribute 302 includes connection quality 116, following position 106, target attribute 304, and selected position 306. Target attribute 304 can be any information about target 104 that can be used to predict zero position 122, as will be discussed further below. For example, target attribute can be antenna height, vehicle height, vehicle type, or vehicle identification number (VIN). Selected position 306 corresponds to a selected following distance or following time for the primary vehicle 102 following target 104. For example, selected position 306 can be a setpoint of vehicle component 128, such as an adaptive cruise control follow setpoint.

[0036] Attribute 302 can be acquired, received, or determined by communication module 124 in any manner known to those skilled in the art. For example, communication module 124 can determine attribute 302 directly from sensor data 208, from a bus or interface connected to a sensor interfacing with example system 200, or from another module or system of example system 200. Regardless of how or where attribute 302 is collected, received, derived, or calculated, communication module 124 is configured to use attribute 302 to determine follow-up command 126.

[0037] To facilitate example data stream 300, attribute 302 is input to the zero-position module 308 of communication module 124. Zero-position module 308 is configured to generate a predicted zero-position 310 for the V2X connection between the main vehicle 102 and the target 104. The following is about... Figure 5 The generation of the predicted zero position 310 is further discussed.

[0038] The predicted zero position 310, along with attribute 302, is input into the position adjustment module 312. The position adjustment module 312 is configured to generate a follow command 126 based on the predicted zero position 310 and attribute 302. The following section discusses... Figure 4 The generation of follow command 126 is further discussed. Follow command 126 is output for vehicle component 128 to receive, and vehicle component 128 uses follow command 126 to maintain or adjust follow position 106. As mentioned above, follow position 106 can be maintained without follow command 126 (e.g., follow command 126 can be used only when it is desired to change follow position 106).

[0039] Although shown as being located within the communication module 124, the zero-position module 308 and / or the position adjustment module 312 may be separate from the communication module 124. For example, the zero-position module 308 and / or the position adjustment module 312 may be independent components and / or implemented via dedicated hardware.

[0040] By using the aforementioned technique, the vehicle component 128 can be controlled using the follow command 126 to control the follow position 106, thereby avoiding the zero position 122. In this way, the connection quality 116 can be maintained above a threshold level, ensuring a reliable V2V connection between the main vehicle 102 and the target 104. A more reliable V2V connection results in better performance for operations that rely on the V2V connection. This improved performance allows for increased safety for passengers in the main vehicle, the target 104, and / or others near the main vehicle 102.

[0041] Example process flow

[0042] Figure 4 This is an example process flow 400 for generating follow command 126. Example process flow 400 can be implemented in any of the previously described environments, by any of the previously described systems or components, and utilizing any of the previously described data flows, process flows, or techniques. For example, example process flow 400 can be implemented in example environment 100, by example system 200, and / or by following example data flow 300. Example process flow 400 can also be implemented in other environments, by other systems or components, and utilizing other data flows or techniques. Example process flow 400 can be implemented by one or more entities (e.g., position adjustment module 312). The order of operations shown and / or described is not intended to be construed as limiting and can be rearranged without departing from the scope of this disclosure. Furthermore, any number of operations can be combined with any other number of operations to implement the example process flow or alternative process flows.

[0043] At 402, it is determined whether the connection quality 116 is acceptable (e.g., if it meets a threshold). The connection quality 116 can be acceptable based on any quality metric. For example, it can be determined whether the packet error rate is less than a threshold amount (e.g., 10%). If the connection quality 116 is acceptable (e.g., the output of 402 is "yes"), a maintain follow command 404 can be generated. The maintain follow command 404 is an example of a follow command 126. In some implementations, the output of 402 being "yes" can cause the communication module 124 to not output the follow command 126 at all (e.g., instead of the maintain follow command 404). If the connection quality 116 is unacceptable (e.g., the output of 402 is "no"), it can be assumed that the main vehicle 102 is within position 122, and the example process flow 400 can proceed to 406.

[0044] At position 406, determine whether the following position 106 is within the predicted zero position 310. Regarding... Figure 5The calculation of the prediction zero position 310 is further discussed, and the follow position 106 is one of the attributes 302. If the follow position is within the prediction zero position 310 (e.g., the output of 406 is "yes"), then the example process flow 400 can proceed to 408. If the follow position is within the prediction zero position 310 (e.g., the output of 406 is "no"), then the example process flow 400 can proceed to 410.

[0045] At 408, it is determined whether the following position 106 is closer to the target 104 than the selected position 306. For example, the following position 106 can vary compared to the selected position 306, even if they are related. If the following position 106 is closer than the selected position (e.g., the output of 408 is "yes"), a position back command 412 can be generated. If the following position 106 is not closer than the selected position (e.g., the output of 408 is "no"), a position forward command 414 can be generated. Since the boundary of the predicted zero position 310 is known, the position back command 412 and the position forward command 414 include corresponding setpoints for the following position 106 outside the predicted zero position 310. The position back command 412 and the position forward command 414 are examples of the following command 126. The vehicle component 128 can use the position back command 412 and the position forward command 414 to adjust the following position 106 so that the main vehicle 102 moves out of the zero position 122.

[0046] At 410, it is also determined whether the following position 106 is closer to the target 104 than the selected position 306. If the following position 106 is closer than the selected position (e.g., the output of 410 is "yes"), an incremental back command 416 can be generated. If the following position 106 is closer than the selected position (e.g., the output of 410 is "no"), an incremental forward command 418 can be generated. The incremental back command 416 and the incremental forward command 418 are examples of the following command 126. The vehicle component 128 can use the incremental back command 416 and the incremental forward command 418 to adjust the following position 106 in increments (e.g., 1 meter).

[0047] The connection quality 116 can be monitored after the incremental command to see if the incremental change causes the connection quality 116 to meet a threshold. If not, the corresponding incremental command (e.g., incremental back command 416 or incremental forward command 418) can be repeated until the connection quality 116 meets the threshold. When the connection quality 116 meets the threshold, the far boundary of the predicted zero position 310 (e.g., a position further away from the target 104) can be updated at 420 when the follow command 126 is an incremental back command, and the near boundary of the predicted zero position 310 (e.g., a position closer to the target 104) can be updated at 422 when the follow command 126 is an incremental forward command 418.

[0048] By generating follow command 126 based on example process flow 400, connection quality 116 can be maintained above a threshold while still adhering to the selected location 306. In doing so, the V2V connection between the main vehicle and the target 104 can be more reliable than conventional techniques while still maintaining the general operation of vehicle component 128 (e.g., the selected location 306 may remain unchanged).

[0049] Figure 5 This is an example process flow 500 for generating a predicted zero position 310. Example process flow 500 can be implemented in any of the previously described environments, by any of the previously described systems or components, and utilizing any of the previously described data flows, process flows, or techniques. For example, example process flow 500 can be implemented in example environment 100, by example system 200, and / or by following example data flow 300. Example process flow 500 can also be implemented in other environments, by other systems or components, and utilizing other data flows or techniques. Example process flow 500 can be implemented by one or more entities (e.g., zero position module 308). The order of operations shown and / or described is not intended to be construed as limiting and can be rearranged without departing from the scope of this disclosure. Furthermore, any number of operations can be combined with any other number of operations to implement the example process flow or alternative process flows.

[0050] At 502, it is determined whether the antenna height of target 104 (e.g., the antenna height of target antenna 110) has been received. If the antenna height has been received (e.g., the output of 502 is "yes"), the received antenna height becomes the target antenna height 504. At 506, the target antenna height 504 is used to generate the predicted null position 310. For example, the predicted null position 310 can be based on Equation 1.

[0051]

[0052] Where h h The height h is the height of the main antenna, 108. t The target antenna height is 504, λ is the wavelength of the V2V connection, and ±15% represents the range of the predicted null position 310 (Equation 1 calculates the center point of the predicted null position 310).

[0053] As an example, if the wavelength of the signal used for the V2V connection is 0.05 meters, it can be based on 40h. h h t ±15% (in meters, assuming h) h and h tThe predicted null position 310 is calculated (also in meters). In this way, the predicted null position 310 can be calculated for different antenna heights and spectrums used for V2V communication.

[0054] If the antenna height has not yet been received (e.g., the output of 502 is "No"), then at 508, it is determined whether the height of target 104 (e.g., target height) has been received. If the target height has been received (e.g., the output of 508 is "Yes"), the example process flow proceeds to 510.

[0055] At 510, it is determined whether the antenna offset of target 104 (e.g., the position of target antenna 110 relative to the target height) has been received. If the antenna offset has been received (e.g., the output of 510 is "yes"), then at 512, the target antenna height 504 (e.g., target height plus antenna offset) is calculated based on the target height and the antenna offset. If the antenna offset has not been received (e.g., the output of 510 is "no"), then at 514, the target height becomes the target antenna height 504.

[0056] If the target altitude has not yet been received (e.g., the output of 508 is "No"), then at 516, it is determined whether the target type of target 104 has been received (e.g., what type of vehicle target 104 is). If the target type has been received (e.g., the output of 516 is "Yes"), then at 518, the default altitude for the specific target type becomes the target antenna altitude 504.

[0057] If the target type has not yet been received (e.g., the output of 516 is "No"), then at 520, it is determined whether the target VIN of target 104 has been received. If the target VIN has been received (e.g., the output of 520 is "Yes"), then at 522, the height lookup for the specific target VIN becomes the target antenna height 504.

[0058] If the target VIN has not yet been received (e.g., the output of 520 is "No"), then at 524, it is determined whether target sensor data for target 104 has been received. For example, sensor data 208 may indicate information about target 104. If target sensor data has been received (e.g., the output of 524 is "Yes"), then at 526, the target sensor data is used to determine the target antenna height 504 (e.g., the height of target 104 determined from sensor data 208).

[0059] If target sensor data has not yet been received (e.g., the output of 524 is "No"), a default null position 528 can be used. The default null position 528 can be used instead of the predicted null position (e.g., at 506). The default null position 528 can be a constant (e.g., 80 m ± 15%). Therefore, the predicted null position 310 is predicted based on either the target antenna height 504 or the default null position 528 at 506.

[0060] By generating a predicted zero position 310 based on example process flow 500, a more accurate predicted zero position 310 can be established. In doing so, the main vehicle 102 better understands which following positions 106 might be problematic for the V2V connection with the target 104. By avoiding predicted zero positions 310, the main vehicle 102 is able to better maintain the reliability of the V2V connection.

[0061] Example Alternative Data Stream

[0062] Figure 6 This is an example data stream 600 for vehicle positioning in V2V optimization. Example data stream 600 can be implemented in any of the environments previously described and can be implemented by any of the systems or components previously described. For example, example data stream 600 can be implemented in example environment 100 and / or by example system 200. Example data stream 600 can also be implemented in other environments, by other systems or components, and utilizing other data streams or technologies. Example data stream 600 can be implemented by one or more entities (e.g., communication module 124). The order of operations shown and / or described is not intended to be construed as limiting and can be rearranged without departing from the scope of this disclosure. Furthermore, any number of operations can be combined with any other number of operations to implement the example data stream or an alternative data stream. Example data stream 600 is an alternative data stream to example data stream 300.

[0063] Example data stream 600 begins with attribute 302 of the environment (e.g., example environment 100) obtained by communication module 124. As shown, attribute 302 includes connection quality 116, follow position 106, and selected position 306.

[0064] To facilitate example data stream 600, attribute 302 is input to position adjustment module 312. In example data stream 600, position adjustment module 312 is configured to generate follow command 126 based on attribute 302, without predicting zero position 310. The following section discusses... Figure 7 The generation of follow command 126 in example data stream 600 is further discussed. Follow command 126 is output for vehicle component 128 to receive, and vehicle component 128 uses follow command 126 to maintain or adjust follow position 106.

[0065] By using the aforementioned technique, the vehicle component 128 can be controlled using the follow command 126 to control the follow position 106, thereby avoiding the zero position 122 (without estimating where the zero position 122 is (e.g., predicting the zero position 310)). In this way, the connection quality 116 can be maintained above a threshold level, thereby ensuring a reliable V2V connection between the main vehicle 102 and the target 104. A more reliable V2V connection results in better performance for operations that rely on the V2V connection. Better performance allows for increased safety for passengers in the main vehicle, the target 104, and / or others near the main vehicle 102.

[0066] Example of a replacement process flow

[0067] Figure 7 This is an example process flow 700 used to generate example data flow 600 by following command 126. Example process flow 700 can be implemented in any previously described environment, by any previously described system or component, and utilizing any previously described data flow, process flow, or technology. For example, example process flow 700 can be implemented in example environment 100, by example system 200, and / or by following example data flow 600. Example process flow 700 can also be implemented in other environments, by other systems or components, and utilizing other data flows or technologies. Example process flow 700 can be implemented by one or more entities (e.g., position adjustment module 312). The order of operations shown and / or described is not intended to be construed as limiting and can be rearranged without departing from the scope of this disclosure. Furthermore, any number of operations can be combined with any other number of operations to implement the example process flow or an alternative process flow. Example process flow 700 is an alternative data flow to example process flow 400.

[0068] At 702, it is determined whether the connection quality 116 is acceptable (e.g., if it meets a threshold). The connection quality 116 can be acceptable based on any quality metric. For example, it can be determined whether the packet error rate is less than a threshold amount (e.g., 10%). If the connection quality 116 is acceptable (e.g., the output of 702 is "yes"), a maintain follow command 404 can be generated or a position command may not be generated. If the connection quality 116 is unacceptable (e.g., the output of 702 is "no"), it can be assumed that the main vehicle 102 is within zero position 122, and the example process flow 700 can proceed to 704.

[0069] At 704, it is determined whether the following position 106 is closer to the target 104 than the selected position 306. If the following position 106 is closer than the selected position (e.g., the output of 704 is "yes"), an incremental back command 416 can be generated. If the following position 106 is closer than the selected position (e.g., the output of 704 is "no"), an incremental forward command 418 can be generated. The vehicle component 128 can use the incremental back command 416 and the incremental forward command 418 to adjust the following position 106 in increments (e.g., 1 meter).

[0070] Connection quality 116 can be monitored after an incremental command to see if the incremental change causes connection quality 116 to meet the threshold. If not, the corresponding incremental command (e.g., incremental back command 416 or incremental forward command 418) can be repeated until connection quality 116 meets the threshold.

[0071] By generating follow command 126 (e.g., maintain position command 404, incremental back command 416, or incremental forward command 418) based on example process flow 700, or by not generating follow command 126, the connection quality 116 can be maintained above a threshold while still adhering to the selected position 306. Furthermore, example process flow 700 does not use the predicted zero position 310 when generating follow command. Therefore, the position adjustment module 312 can generate follow command 126 more efficiently.

[0072] Example Method

[0073] Figure 8 This is an example method 800 for vehicle positioning for V2V optimization. Example method 800 can be implemented in any of the previously described environments, by any of the previously described systems or components, and utilizing any of the previously described data flows, process flows, or techniques. For example, example method 800 can be implemented in example environment 100 by example system 200 by following example data flows 300 and 600 and / or by following example process flows 400, 500, and 700. Example method 800 can also be implemented in other environments, by other systems or components, and utilizing other data flows, process flows, or techniques. Example method 800 can be implemented by one or more entities (e.g., communication module 124). The order of operations shown and / or described is not intended to be construed as limiting and can be rearranged without departing from the scope of this disclosure. Furthermore, any number of operations can be combined with any other number of operations to implement the example process flow or alternative process flows.

[0074] At point 802, it is determined that the quality of the V2V connection between the primary vehicle and the target does not meet a threshold. For example, communication module 124 may determine that the connection quality 116 of the V2V connection between the primary vehicle 102 and the target 104 does not meet a threshold (e.g., a certain packet error rate, success rate, or signal strength).

[0075] At point 804, the following position of the main vehicle relative to the target is determined. For example, communication module 124 can determine or calculate the following position 106.

[0076] At 806, it is determined whether the following position is within the predicted zero position of the V2V connection. For example, the zero position module 308 can determine the predicted zero position 310, and the position adjustment module 312 can determine whether the following position 106 is within the predicted zero position 310.

[0077] At position 808, it is determined whether the following position is closer to the target than the selected position. For example, the position adjustment module 312 can determine whether the following position 106 is closer to the target 104 than the selected position 306.

[0078] At 810, the following factors are used to control the following position: whether the quality of the V2V connection meets a threshold, whether the following position is within the predicted zero position, and whether the following position is closer to the target than the selected position. For example, the position adjustment module 312 can generate the following command 126 (e.g., maintain following command 404, position back command 412, position forward command 414, incremental back command 416, or incremental forward command 418) based on 402, 406, and 408 / 410.

[0079] By influencing the follow position based on example method 800, the connection quality of the V2V connection can be maintained by effectively avoiding a zero position in the V2V connection. In doing so, the V2V connection can be more reliable than conventional techniques while still maintaining the general operation of the vehicle components controlling the follow position (e.g., the influence does not adversely affect general operation).

[0080] Example

[0081] Example 1: A method performed by a system of a primary vehicle, the method comprising: determining whether the quality of a vehicle-to-vehicle (V2V) connection between the primary vehicle and a target meets a threshold corresponding to a reliable connection between the primary vehicle and the target; and in response to determining that the quality of the V2V connection does not meet the threshold: determining a following position of the primary vehicle relative to the target; determining whether the following position is within a predicted zero position of the V2V connection, the predicted zero position corresponding to one or more following positions where the quality of the V2V connection does not meet the threshold; determining whether the following position is closer to the target than a selected position corresponding to a vehicle component controlling the following position; and controlling the following position based on whether the following position is within a predicted zero position and whether the following position is closer to the target than the selected position.

[0082] Example 2: The method of Example 1, wherein controlling the following position includes adjusting the following position of the vehicle component by moving the main vehicle toward the target or moving the main vehicle away from the target.

[0083] Example 3: The method of Example 1 or 2, wherein controlling the vehicle component further includes: in response to determining that the following position is within the predicted zero position, causing the vehicle component to adjust the following position such that the adjusted following position is outside the zero position.

[0084] Example 4: The method of Example 1, 2 or 3, wherein controlling the vehicle component further includes: in response 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 moving the main vehicle away from the target; or in response 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 moving the main vehicle toward the target.

[0085] Example 5: A method of any of the preceding examples, wherein controlling the vehicle component further includes: in response to determining that the following position is not within the predicted zero position and the following position is closer to the target than the selected position, causing the vehicle component to adjust the following position by moving the main vehicle away from the target by an increment; or in response to determining that the following position is not within the predicted zero position and the following position is not closer to the target than the selected position, causing the vehicle component to adjust the following position by moving the main vehicle toward the target by an increment.

[0086] Example 6: The method of any of the foregoing examples further includes: continuing to adjust the follow position until the quality of the V2V connection meets a threshold; and updating the predicted zero position based on the follow position when the quality of the V2V connection meets the threshold.

[0087] Example 7: The method of any of the foregoing examples further includes determining the predicted zero position of the V2V connection.

[0088] Example 8: The method of any of the preceding examples, wherein the predicted null position of the V2V connection is determined based on the height of the antenna of the main vehicle and the height of the antenna of the target.

[0089] Example 9: The method of any of the foregoing examples further includes determining the height of the target's antenna based on information received from the target via a V2V connection.

[0090] Example 10: A method of any of the preceding examples, wherein: the vehicle component includes a cruise control function that controls at least one of the following: acceleration or braking of the main vehicle; and the selected position is a selected following position behind the target.

[0091] Example 11: A system configured to be disposed in a primary vehicle, the system comprising: at least one processor configured to: determine whether the quality of a V2V connection between the primary vehicle and a target satisfies a threshold corresponding to a reliable connection between the primary vehicle and the target; and in response to determining that the quality of the V2V connection satisfies the threshold, maintain a following position of the primary vehicle relative to the target; or in response to determining that the quality of the V2V connection does not satisfy the threshold, determine whether the following position is within a predicted zero position of the V2V connection, the predicted zero position corresponding to one or more following positions where the quality of the V2V connection does not satisfy the threshold; and in response to determining that the following position is within the predicted zero position, cause a vehicle component of the primary vehicle to move the primary vehicle forward or backward away from the predicted zero position; or in response to determining that the following position is not within the predicted zero position, cause the vehicle component to move forward or backward by an increment.

[0092] Example 12: The system of Example 11, wherein the processor is further configured to: in response to determining that the following position is closer to the target than the selected position, move the main vehicle away from the target and reverse; or in response to determining that the following position is not closer to the target than the selected position, move the main vehicle toward the target.

[0093] Example 13: The system of Example 11 or 12, where the selected location is the selected following location of the vehicle component.

[0094] Example 14: The system of Example 11, 12 or 13, wherein the processor is further configured to continue to move the vehicle component forward or backward by the increment until the quality of the V2V connection meets a threshold.

[0095] Example 15: A system of any of Examples 11-14, wherein the processor is further configured to: update the predicted zero position based on the follow position when the quality of the V2V connection meets a threshold in response to moving forward or backward.

[0096] Example 16: A system of any of Examples 11-15, where the predicted zero position is surrounded by the following position of the V2V connection whose quality actually satisfies the threshold.

[0097] Example 17: A system of any of Examples 11-16, wherein the quality of the V2V connection includes at least one of the following: determined signal strength, packet loss percentage, or packet success percentage.

[0098] Example 18: A system of any one of Examples 11-17, wherein: the processor is further configured to determine the predicted null position; and the determination of the predicted null position is based on the height of the antenna of the main vehicle and the height of the antenna of the target.

[0099] Example 19: A system of any of Examples 11-18, wherein the processor is further configured to determine the height of the target’s antenna based on information received from the target via a V2V connection.

[0100] Example 20: A computer-readable storage medium comprising instructions that, when executed by at least one processor, cause the processor to: determine whether the quality of a V2V connection between a primary vehicle and a target satisfies a threshold corresponding to a reliable connection between the primary vehicle and the target; and, in response to determining that the quality of the V2V connection satisfies the threshold, maintain a following position of the primary vehicle relative to the target; or, in response to determining that the quality of the V2V connection does not satisfy the threshold, determine whether the following position is within a predicted zero position of the V2V connection, the predicted zero position corresponding to one or more following positions where the quality of the V2V connection does not satisfy the threshold; and, in response to determining that the following position is within the predicted zero position, cause a vehicle component of the primary vehicle to move the primary vehicle forward or backward away from the predicted zero position; or, in response to determining that the following position is not within the predicted zero position, cause the vehicle component to move forward or backward by an increment.

[0101] Example 21: A system comprising: a processor configured to perform a method of any one of Examples 1-10.

[0102] Example 22: A computer-readable storage medium including instructions that, when executed by at least one processor, cause the processor or an associated system to perform any of the methods in Examples 1-10.

[0103] Example 23: A system comprising means for performing the method of any one of Examples 1-10.

[0104] Example 24: A method executed by a system of any one of Examples 11-19.

[0105] Conclusion

[0106] While various embodiments of the present disclosure have been described in the foregoing description and illustrated in the accompanying drawings, it should be understood that the present disclosure is not limited thereto, but can be practiced in various ways within the scope of the following claims. It will be apparent from the foregoing description that various modifications can be made without departing from the spirit and scope of the present disclosure as defined by the following claims.

[0107] Unless the context explicitly states otherwise, the use of "or" and grammatically related terms indicates an unrestricted, non-exclusive alternative. As used herein, the phrase referring to "at least one" of a list of items means any combination of those items, including a single member. As an example, "at least one of a, b, or c" is intended to cover: a, b, c, ab, ac, bc, and abc, as well as any combination with multiple identical elements (e.g., aa, aaa, aab, aac, abb, acc, bb, bbb, bbc, cc, and ccc, or any other ordering of a, b, and c).

Claims

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 corresponding to a reliable connection between the host vehicle and the target; and in response 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; determining whether the following position is within a predicted null position of the V2V connection, the predicted null position corresponding to one or more following positions at which the quality of the V2V connection does not satisfy the threshold; determining whether the following position is closer to the target than a selected position corresponding to a vehicle component that controls the following position, the selected position being a selected following position behind the target; and in response 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 backing the host vehicle away from the target by an increment; or in response 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 toward the target by an increment.

2. The method of claim 1, wherein, controlling the vehicle component further comprises, in response 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 the null position.

3. The method of claim 2, wherein, controlling the vehicle component further comprises: in response to determining that the following position is within the predicted null position and is closer to the target than the selected position, causing the vehicle component to adjust the following position by backing the host vehicle away from the target; or in response to determining that the following position is within the predicted null position and 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.

4. The method of claim 1, 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.

5. The method of claim 1, further comprising determining the predicted null position of the V2V connection. determining the predicted null position of the V2V connection is based on a height of an antenna of the host vehicle and a height of an antenna of the target.

6. The method of claim 5, wherein, 7. The method of claim 6, further comprising determining the height of the antenna of the target based on information received from the target over the V2V connection.

8. The method of claim 1, wherein: the vehicle component comprises a cruise control function that controls at least one of: an acceleration or a braking of the host vehicle. ​ 9. 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 corresponding to a reliable connection between the host vehicle and the target; and in response to determining that the quality of the V2V connection does not satisfy the threshold, determine whether a following position is within a predicted null position of the V2V connection, the predicted null position corresponding to one or more following positions for which the quality of the V2V connection does not satisfy the threshold; and in response to determining that the following position is not within the predicted null position and in response to determining that the following position is closer to the target than a selected position, cause the host vehicle to back away from the target by an increment; or in response to determining that the following position is not within the predicted null position and in response to determining that the following position is not closer to the target than the selected position, cause the host vehicle to advance toward the target by an increment; wherein the selected position is a selected following position for a vehicle component of the host vehicle.

10. The system of claim 9, wherein, the processor is further configured to: in response to determining that the following position is within the predicted null position and in response to determining that the following position is closer to the target than the selected position, cause the host vehicle to back away from the target to exit the predicted null position; or in response to determining that the following position is within the predicted null position and in response to determining that the following position is not closer to the target than the selected position, cause the host vehicle to advance toward the target to exit the predicted null position.

11. The system of claim 9, wherein, the processor is further configured to continue causing the vehicle component to advance or back by the increment until the quality of the V2V connection satisfies the threshold.

12. The system of claim 11, wherein, the processor is further configured to update the predicted null position based on a following position when the quality of the V2V connection satisfies the threshold in response to advancing or backing.

13. The system of claim 9, wherein, the predicted null position is encompassed by following positions for which the quality of the V2V connection does satisfy the threshold.

14. The system of claim 9, wherein, the quality of the V2V connection comprises at least one of: a determined signal strength, a packet loss percentage, or a packet success percentage.

15. The system of claim 14, wherein: the processor is further configured to determine the predicted null position; and determining the predicted null position is based on a height of an antenna of the host vehicle and a height of an antenna of the target.

16. The system of claim 15, 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.

17. A computer-readable storage medium comprising instructions that, when executed by at least one processor, cause the processor to: determining whether a quality of a vehicle-to-vehicle, V2V, connection between a host vehicle and a target satisfies a threshold corresponding to a reliable connection between the host vehicle and the target; and in response to determining that the quality of the V2V connection does not satisfy the threshold, determining whether a following location is within a predicted null location of the V2V connection, the predicted null location corresponding to one or more following locations for which the quality of the V2V connection does not satisfy the threshold; and in response to determining that the following location is not within the predicted null location and in response to determining that the following location is closer to the target than a selected location, causing the host vehicle to back away from the target by an increment; or in response to determining that the following location is not within the predicted null location and in response to determining that the following location is not closer to the target than the selected location, causing the host vehicle to advance toward the target by an increment; wherein the selected location is a selected following location for a vehicle component of the host vehicle.

18. The computer-readable storage medium of claim 17, wherein, the instructions further cause the processor to: in response to determining that the following location is within the predicted null location and in response to determining that the following location is closer to the target than the selected location, causing the host vehicle to back away from the target to exit the predicted null location; or in response to determining that the following location is within the predicted null location and in response to determining that the following location is not closer to the target than the selected location, causing the host vehicle to advance toward the target to exit the predicted null location.

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