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Converging path detection codeword generation

  • US 10,062,286 B2
  • Filed: 01/29/2016
  • Issued: 08/28/2018
  • Est. Priority Date: 01/29/2016
  • Status: Active Grant
First Claim
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1. A method for use in traversing a vehicle transportation network, the method comprising:

  • traversing, by a host vehicle, the vehicle transportation network, wherein traversing the vehicle transportation network includes;

    receiving, at the host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, the remote vehicle information indicating remote vehicle geospatial state information for the remote vehicle and remote vehicle kinematic state information for the remote vehicle,identifying host vehicle information for the host vehicle, the host vehicle information including one or more of host vehicle geospatial state information for the host vehicle, or host vehicle kinematic state information for the host vehicle,determining a codeword, wherein the codeword is based on the host vehicle information and the remote vehicle information, and wherein the codeword indicates whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent, and wherein determining the codeword includes;

    determining an orientation sector based on a geodesic between the host vehicle and the remote vehicle;

    determining relative position information for the host vehicle and the remote vehicle based on the orientation sector;

    determining relative elevation information for the host vehicle and the remote vehicle based on the remote vehicle information and the host vehicle information; and

    determining relative heading information for the host vehicle and the remote vehicle based on the remote vehicle information and the host vehicle information, andcontrolling the host vehicle to traverse a portion of the vehicle transportation network in response to the codeword, wherein;

    a first portion of the codeword indicates a relative position of the remote vehicle relative to the host vehicle;

    a second portion of the codeword indicates a relative elevation of the remote vehicle relative to the host vehicle; and

    a third portion of the codeword indicates a relative heading of the remote vehicle relative to the host vehicle.

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