The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 24, 2024
Filed:
Sep. 17, 2021
Honda Motor Co., Ltd., Tokyo, JP;
Virginia Tech Intellectual Properties, Inc., Blacksburg, VA (US);
Samer Rajab, Novi, MI (US);
Shigenobu Saigusa, West Bloomfield, MI (US);
Paritosh Kelkar, Dearborn, MI (US);
Yasir Khudhair Al-Nadawi, Ann Arbor, MI (US);
Yusen Chen, Ann Arbor, MI (US);
Tyler Naes, Farmington, MI (US);
James Schultz, Danville, VA (US);
Cameron Rainey, Stevensville, MD (US);
Steven Huggins, Danville, VA (US);
Shane Mclaughlin, Blacksburg, VA (US);
Kevin Kefauver, Elon, NC (US);
HONDA MOTOR CO., LTD., Tokyo, JP;
VIRGINIA TECH INTELLECTUAL PROPERTIES, INC., Blacksburg, VA (US);
Abstract
A system and method for controlling a merge vehicle travelling along a highway having a merge lane and a main lane. The method includes receiving merge data about the merge vehicle and a surrounding environment of the merge vehicle. The method includes detecting an intent to perform a merge maneuver by the merge vehicle from the merge lane to the main lane based on the merge data. Further, the method includes generating a graph having a plurality of nodes connected by edges. The plurality of nodes includes a start node set to a current position of the merge vehicle and a goal node located in the main lane after the merge lane has ended. The method includes calculating a three-dimensional (3D) trajectory based on the graph by optimizing edge costs from the start node to the goal node, and controlling the merge vehicle based on the 3D trajectory.