ADAS horizon and vision supplemental V2X

• US 10,139,244 B2
• Filed: 08/17/2016
• Issued: 11/27/2018
• Est. Priority Date: 08/17/2016
• Status: Active Grant

• Current Assignee: Arriver Software LLC
• Original Assignee: Veoneer US Inc. (SSW Partners LP)
• Inventors: Schilling, Robert, Nist, Scott A.
• Primary Examiner(s): Tran, Khoi H
• Assistant Examiner(s): Nguyen, Robert T
• Application Number:
  US15/238,828
• Publication Number:
  US 20180052005A1
• Time in Patent Office: 832 Days
• CPC Class Codes: G01C 21/3691 Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions arrangements for giving variable traffic instructions G08G1/09
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 19/52 Determining velocity
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G06N 7/01 Probabilistic graphical models, e.g. probabilistic networks
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 4/46 for vehicle-to-vehicle communication [V2V]
• CPC Class Codes: H04W 4/70 Services for machine-to-machine communication [M2M] or machine type communication [MTC]

Abstract

An apparatus comprising an antenna, a processor and a memory. The antenna may be configured to receive signals from GNSS satellites. The processor may be configured to execute instructions. The memory may be configured to store instructions that, when executed, perform the steps of (i) calculating first location and velocity data based on the signals received from the GNSS satellites, (ii) calculating a first most probable path based on map information, (iii) receiving second location and velocity data, (iv) determining a second most probable path, (v) performing a comparison of (a) the first location and velocity data and the first most probable path to (b) the second location and velocity data and the second most probable path and (vi) determining a probability of collision based on the comparison.

Claims

1. An apparatus comprising:

an antenna configured to receive signals from GNSS satellites;

a processor configured to execute instructions; and

a memory configured to store instructions that, when executed by the processor, perform the steps of (i) calculating first location and velocity data based on said signals received from said GNSS satellites, (ii) calculating first path data based on map information, (iii) receiving second location and velocity data, (iv) determining second path data, (v) performing a comparison of (a) said first location and velocity data and said first path data to (b) said second location and velocity data and said second path data and (vi) determining a probability of collision based on said comparison, wherein said first and said second path data is used to augment said first and said second location and velocity data for determining said probability of collision by indicating a probability of collision, based on roadway information in said map information, that is opposite of one indicated by said first and said second location and velocity data.

2. The apparatus according to claim 1, wherein (i) said first and said second location and velocity data comprises a location, a heading and a speed value and (ii) said first and said second path data comprises a most probable path.

3. The apparatus according to claim 1, wherein said map information comprises a feature map comprising data about roadways.

4. The apparatus according to claim 3, wherein (i) said data of said feature map comprises at least one of (a) centerline data about said roadways and (b) high definition maps of said roadways and (ii) said feature map implements an advanced driver assistance systems horizon comprising information about at least one of upcoming roadway curvature, upcoming roadway slope, upcoming roadway lanes, upcoming speed limits, upcoming traffic signals and upcoming signage.

5. The apparatus according to claim 1, wherein said first and said second path data is used to augment said first and said second location and velocity data for determining said probability of collision by indicating a collision is not possible based on an arrangement of roadways when said first and said second location and velocity data indicates a collision is imminent.

6. The apparatus according to claim 1, wherein said first and said second path data is used to augment said first and said second location and velocity data for determining said probability of collision by indicating a collision is likely based on an arrangement of roadways when said first and said second location and velocity data indicates a collision is not possible.

7. The apparatus according to claim 6, wherein said collision is likely because at least one of (i) said roadways intersect each other and (ii) said roadways merge with each other.

8. The apparatus according to claim 1, wherein (a) said probability of collision is transmitted as an output to a vehicle system and (b) said vehicle system generates at least one of (i) a warning to a driver and (ii) a signal to implement an automated collision avoidance in response to said output from said apparatus.

9. The apparatus according to claim 1, wherein said second location and velocity data is communicated by at least one of (a) a component of a vehicle and (b) infrastructure.

10. The apparatus according to claim 1, wherein said first and said second path data further comprises vision data.

11. The apparatus according to claim 10, wherein said vision data is (a) used to determine lane level position and (b) implemented to augment said determination of said probability of collision in lane changing scenarios.

12. The apparatus according to claim 10, wherein said vision data is (a) implemented to determine traffic signals and (b) said traffic signals are used to determine at least one of (i) said first path data and (ii) said second path data.

13. The apparatus according to claim 1, wherein said second path data is calculated by said apparatus based on (i) said second location and velocity data and (ii) said map information.

14. The apparatus according to claim 1, wherein (i) said apparatus is implemented in a first vehicle and (ii) said second path data is received from another vehicle.

15. The apparatus according to claim 1, wherein (i) said map information comprises road attributes and (ii) said road attributes are used to determine said probability of said collision.

16. The apparatus according to claim 1, wherein said apparatus is implemented on a mobile device as a retrofit for a vehicle.

17. The apparatus according to claim 1, wherein said apparatus is implemented on a mobile device configured to determine said probability of said collision with a pedestrian.

18. A method for detecting potential vehicle collisions comprising the steps of:

(A) calculating location and velocity data for a first vehicle based on signals received from GNSS satellites using an antenna on said first vehicle;

(B) calculating path data for said first vehicle based on map information;

(C) receiving location and velocity data about a second vehicle using a wireless communication circuit on said first vehicle;

(D) receiving path data about said second vehicle;

(E) performing a comparison of (i) said location and velocity data and said path data of said first vehicle to (ii) said location and velocity data and said path data of said second vehicle; and

(F) determining a probability of a collision between said first vehicle and said second vehicle based on said comparison, wherein said path data of said first and said second vehicles is used to augment said location and velocity data of said first and said second vehicles for determining said probability of collision by indicating a probability of collision, based on an arrangement of roadways indicated by said map information, that is opposite of one indicated by said location and velocity data of said first and said second vehicles.

19. A non-transitory computer readable medium containing processor executable instructions configured to perform the steps of:

(A) receiving a first input comprising location and velocity data calculated for a first vehicle based on signals received from GNSS satellites using an antenna on said first vehicle;

(B) receiving a second input comprising path data about said first vehicle calculated based on map information;

(C) receiving a third input comprising location and velocity data about an external vehicle using a wireless communication circuit of said first vehicle;

(D) receiving a fourth input comprising second path data about said external vehicle;

(E) performing, with a processor, a comparison of (i) said first input and said second input to (ii) said third input and said fourth input to determine a probability of collision with said vehicle; and

(E) generating, with said processor, an output based on said probability of collision between said first vehicle and said external vehicle, wherein said second input and said fourth input are used by said processor to augment said first and said third inputs for determining said probability of collision by generating said output indicating a probability of collision that is opposite of one indicated by said first and said third inputs based on an arrangement of roadways indicated by said map information.

20. The non-transitory computer readable medium according to claim 19, wherein one or more of said first input, said second input, said third input and said fourth input are received from at least one of:

calculations performed by said processor, a software module, an off-board circuit, an on- board circuit, one or more components of said external vehicle, and infrastructure.