Autonomous in-vehicle virtual traffic light system

• US 10,217,357 B1
• Filed: 11/03/2017
• Issued: 02/26/2019
• Est. Priority Date: 11/03/2017
• Status: Active Grant

• Current Assignee: Mohamed Roshdy Elsheemy
• Original Assignee: Mohamed Roshdy Elsheemy
• Inventors: Elsheemy, Mohamed Roshdy
• Primary Examiner(s): Flores, Leon
• Application Number:
  US15/803,414
• Time in Patent Office: 480 Days
• CPC Class Codes: B60K 2360/166 Navigation
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/22 Display screens
• CPC Class Codes: B60K 35/26 using acoustic output
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60K 35/60 Instruments characterised by their location or relative disposition in or on vehicles arrangements of lighting devices on dashboards B60Q3/10
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0133 for classifying traffic situation
• CPC Class Codes: G08G 1/096 provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence
• CPC Class Codes: G08G 1/0967 Systems involving transmission of highway information, e.g. weather, speed limits transmission of navigation instructions to the vehicle G08G1/0968

Abstract

An autonomous in-vehicle virtual traffic light system that mimics conventional traffic signal systems and neither depends on vehicle to vehicle communication nor vehicle to intersection or road sensors communication nor vehicle to wireless network communication. The system does not depend on external servers nor broadcast stations to forward traffic information to conventional vehicles or driverless vehicles. A virtual traffic controller placed on-board vehicles to provide traffic information including traffic light signals and images of road signs autonomously.

Claims

1. An autonomous in-vehicle virtual traffic light system comprising:

a) an in-vehicle apparatus further comprising;

i) at least one memory comprising computer program code for one or more programs;

ii) a database comprising;

(i) position coordinates of track points along the center line of roads and at center points of intersections for determining geographic sections and leg segments of intersections, wherein the position coordinates of track points are arranged in database tables and one or more table represent one or more geographic section;

(ii) predefined leg segments associated with predefined intersections;

(iii) a plurality of predefined cases and threshold delay times;

(iv) green and turning times associated with the predefined cases;

(v) red and turning times associated with the predefined cases; and

,

(vi) position coordinates of track points along the center line of roads for determining road sign image IDs, and road sign images associated with the road sign image IDs, wherein the position coordinates of the track points are arranged in database tables and one or more table represent one or more geographic section;

iii) at least one GPS receiver module to enable the vehicle to determine its position coordinates, speed, course and date/time at real-time status; and

,

iv) at least one processor being coupled to said database and said memory;

b) a visual display coupled to said in-vehicle apparatus, and able to present visual and audible information, wherein the visual information comprises traffic signal phases and images of road signs, wherein the audible information comprises, indicating traffic signal phases, indicating road sign images, and indicating alerts;

wherein the system mimics conventional traffic signal systems and neither depends on vehicle to vehicle communication nor vehicle to intersection or road sensors communication nor vehicle to wireless network communication.

2. The system of claim 1, wherein the database and the computer program code are configured to, with the at least one processor, cause the in-vehicle apparatus to:

a) determine a geographic section in which the vehicle'"'"'s position coordinates are located;

b) determine a leg segment ID associated with a leg segment on which the vehicle is traveling by applying triangulation for the vehicle'"'"'s position coordinates and the coordinates of two track points the vehicle is traveling between them, wherein a perpendicular distance from the vehicle'"'"'s position to the line between the two track points doesn'"'"'t exceed half of a selected segment'"'"'s width;

c) extract two intersection IDs and an orientation code associated with the leg segment ID;

d) determine a case ID associated with at least one time period for at least one of the two intersection IDs;

threshold delay time associated with the case ID; and

the position coordinates associated with the intersection ID, based on the vehicle'"'"'s heading, wherein the vehicle'"'"'s heading is determined based on the orientation code of the leg segment and the GPS receiver module'"'"'s course;

e) determine green and turning times associated with the case ID; and

,

f) display traffic signal phases based on the green and turning times, and threshold delay time.

3. The system of claim 2, wherein the plurality of predefined cases run on a plurality of predefined case models, wherein a case model comprises:

a) a block of a programming code as a component of the memory'"'"'s computer program code configured to mathematically coordinate all stages of intersection leg segments, wherein a stage is a group of traffic signal phases assigned to a single leg segment, wherein all stages do not conflict with each other when the stages run at the same time;

b) virtually running an entire intersection in all directions with a manner similar to a conventional traffic controller, wherein the case model is configured to represent traffic volume size in each leg segment of an intersection.

4. The system of claim 2, wherein the leg segment is a section of a road between two consecutive intersections;

an intersection leg segment of a selected length, wherein the leg segment orientation is a selected code to define a leg of an intersection as a vertical segment for either northbound or southbound heading of the traveling vehicle or a horizontal segment for either eastbound or westbound heading of the traveling vehicle.

5. The system of claim 2, wherein the database and the computer program code are configured to, with the at least one processor, further cause the in-vehicle apparatus to:

a) activate a section of a case model'"'"'s programming code associated with, a case ID, threshold delay time, and the green and turning times associated with the case ID, based on the leg segment orientation and the vehicle'"'"'s heading; and

,

b) prompt the visual display to display traffic signal phases associated with said section of case model'"'"'s programming code, a remaining time of a current signal phase, a distance between the traveling vehicle and an upcoming intersection, the vehicle'"'"'s course, and the vehicle'"'"'s speed.

6. The system of claim 2, wherein the vehicle'"'"'s heading further comprises:

a) an eastbound including the GPS receiver module'"'"'s course ranging from 1 to 179 degrees;

b) a westbound including the GPS receiver module'"'"'s course ranging from 181 to 359 degrees;

c) a southbound including the GPS receiver module'"'"'s course ranging from 91 to 269 degrees; and

,

d) a northbound including the GPS receiver module'"'"'s course ranging from 0 to 89 degrees and the GPS receiver module'"'"'s course ranging from 271 to 360 degrees.

7. The system of claim 2, wherein the database and the computer program code are configured to, with the at least one processor, further cause the in-vehicle apparatus to calculate the distance between the traveling vehicle and an upcoming intersection for one or more functions comprising a visual and an audible alert during red or yellow signal phase when the vehicle is proximate to the intersection, to enhance the driver'"'"'s awareness.

8. The system of claim 7, wherein the visual alert is distinctively displayed as a red geometric shape, a red traffic signal image icon, a yellow geometric shape or a yellow traffic signal image icon.

9. The system of claim 2, wherein the traffic signal phases are selected from a group consisting of a green, a yellow, a red, a green left arrow, a yellow left arrow, a green right arrow and a yellow right arrow as geometric shapes or image icons displayed differently than the visual alert signal phases.

10. The system of claim 2, wherein the threshold delay times are arranged to create coordinated control to allow progression so that the stage changes occur in some relationship to other nearby intersections.

11. The system of claim 2, wherein at least one case ID is assigned to a single intersection for at least one time period, the time period comprising high, medium, or low traffic volume.

12. The system of claim 2, wherein the database and the computer program code are configured to, with the at least one processor further cause the in-vehicle apparatus to arrange timers, distance counters and deviation angles to verify the leg segment on which the vehicle is traveling to eliminate any chance of segments'"'"' interference, wherein the more time and distance inside a segment and the less is the deviation angle the more likely to override other segments.

13. The system of claim 2, wherein a distinctive road sign mounted at the intersection or distinctive colored marks are painted on the intersection'"'"'s pavement indicating an intersection is assigned at least one predefined case to enhance the driver'"'"'s awareness when approaching the intersection.

14. The system of claim 1, wherein the visual display further comprising a strip of LEDs to indicate the traffic signal phases to the driver.

15. The system of claim 1, for displaying road sign images, wherein the database and the computer program code are configured to, with the at least one processor, further cause the in-vehicle apparatus to:

a) determine a geographic section in which the vehicle'"'"'s position is located;

b) determine road sign image IDs between two track points on a road segment on which the vehicle is traveling by applying triangulation for the vehicle'"'"'s position coordinates and the coordinates of two track points, wherein a perpendicular distance from the vehicle'"'"'s position to the line between the two track points doesn'"'"'t exceed half of a selected segment'"'"'s width;

c) display road sign images based on, the road sign image IDs, a road segment orientation associated with the road segment and the heading of the vehicle, wherein the road segment orientation is a selected code; and

,

d) display a road sign image indicating wrong way heading, in addition to audible alert when a vehicle heading opposite of traffic on one-way road.

16. The system of claim 15, wherein the database and the computer program code are configured to, with the at least one processor further cause the in-vehicle apparatus to arrange timers, distance counters and deviation angles to verify the road segment on which the vehicle is traveling to eliminate any chance of segments'"'"' interference, wherein the more time and distance inside a segment and the less is the deviation angle the more likely to override other segments.

17. The system of claim 15, wherein the road sign images are a collection of the actual road signs images arranged in the database to be displayed in designated headings, designated time, designated days, and designated seasons.

18. A method for building the database for the system of claim 1, the method comprising processing software being coupled to a processing digital map capable of generating latitude and longitude coordinates for marked points on roads of the map, to execute the following steps:

i) converting traffic volume data of roads to size codes and assigning the size codes to relevant roads, wherein a single road has at least one size code depending on the changes of the traffic volume in this road during the day;

ii) calculating green and turning times for a plurality of predefined cases, wherein the green and turning times are saved as preset values in the predefined case;

iii) configuring a plurality of predefined case models associated with said predefined cases to display traffic signal phases, wherein a case model is a computer program code configured based on the size difference in traffic volumes in all leg segments of an intersection;

iv) marking center points of intersections, center-line track points between the intersections and center-line track points of roads, and generating the position coordinates associated with said center points and said track points;

v) assigning one or more predefined case to each intersection based on the size code levels of all leg segments of the intersection;

vi) calculating threshold delay times at intersections based on the predefined cases at said intersections and the distance between them;

vii) identifying each road by a unique code inside a geographic section and coding intersections on the road, wherein a unique code is associated with each road of a single intersection;

viii) assigning an orientation code to each road of the intersection to define the road as vertical or horizontal;

ix) generating a leg segment identification for a segment between two intersections based on the orientation code of the segment and the codes of the two intersections; and

,

x) identifying each road sign image by a unique code and assigning one or more code to each road segment based on the size codes of the road segment and the purpose of the signs for designated headings, designated time, designated days, and designated seasons.

19. A method of actuating traffic signals designed to keep heavy traffic traveling with green lights until they detect a vehicle arrives at a cross street of an intersection and change accordingly, comprising the autonomous in-vehicle virtual traffic light system coupled to or integrated with an in-vehicle communication means to wirelessly communicating with vehicles, the method further comprising the steps of:

a) assigning a predefined case to the intersection representing continuous green signal phase in the heavy traffic road;

b) where vehicles on heavy traffic road proximate to the intersection receive traffic data comprising a time stamp at which a vehicle on another road transmitting, a right of way request code, the time stamp, the intersection ID, a segment orientation of the other road and the heading of said vehicle; and

,

wherein said vehicles switch to a temporary traffic light cycle containing few seconds of yellow before a red signal, and periodically transmitting the same received traffic data to other vehicles proximate to the intersection to allow them to calculate the remaining time of the temporary traffic light cycle.

20. The method of claim 19, further comprising the steps of:

a) where vehicles on the heavy traffic road proximate to the intersection receive traffic data comprising a time stamp at which a vehicle on the heavy traffic road transmitting;

a turning request code, the time stamp, the intersection ID, a segment orientation of the heavy traffic road and the heading of said vehicle; and

,

wherein the vehicles on the opposite heading of said vehicle'"'"'s heading switch to a temporary traffic light cycle containing few seconds of yellow before a red signal, and periodically transmitting the same received traffic data to other vehicles proximate to the intersection to allow them to calculate the remaining time of the temporary traffic cycle.

21. The method of claim 19, wherein the in-vehicle communication means comprising a long range transceiver module.

22. A method for determining a right of way order at all-way stop intersection or at a traffic circle, comprising the autonomous in-vehicle virtual traffic light system coupled to or integrated with an in-vehicle communication means to wirelessly communicating with vehicles, the method further comprising the steps of:

a) assigning a predefined case to the intersection representing all-way stop intersection or a traffic circle;

b) where vehicles approaching the intersection or the circle are receiving traffic data comprising a time stamp at which a vehicle reached a threshold distance when approaching the intersection or the circle, wherein said vehicle is periodically transmitting same traffic data comprising, the time stamp, an order of arriving code, the intersection ID, a segment orientation of said vehicle and said vehicle'"'"'s heading;

c) wherein each vehicle is comparing all time stamps to determine a right of way order based on the earliest arriving time to visually and audibly indicating a right of way;

d) wherein when the earliest arriving time is matching more than one vehicle, determining a right of way order is decided based on a preset heading order;

e) wherein vehicles on a same segment in a same heading can be grouped together to obtain a group right of way order based on an earliest arriving time for just one vehicle in the segment if the number of vehicles in the segment exceeded a selected minimum amount or when the vehicle of the earliest arriving time exceeded a selected maximum waiting time, to visually and audibly indicating a right of way;

f) wherein vehicles traveling on a same segment in a same heading can be grouped together to further obtain a group right of way order based on a highest number of vehicles in a segment if the highest number exceeded a selected minimum amount to visually and audibly indicating a right of way; and

,

g) wherein vehicles with a right of way are not required to travel in one way direction to exit the circle since all vehicles in all segments access the traffic circle one segment at a time wherein a right of way order is established at an all way stop intersection or a traffic circle.

23. The method of claim 22, wherein the in-vehicle communication means comprising a long range transceiver module.

24. A method for providing traffic data autonomously to an autonomous vehicle comprising:

a) processing traffic data extracted from the autonomous in-vehicle virtual traffic light system, wherein said traffic data comprising;

position coordinates of track points along the center line of roads and at center points of intersections for determining predefined leg segments associated with predefined intersections;

a plurality of predefined cases associated with predefined intersections for processing the in-vehicle virtual traffic signal phases autonomously, traffic data indicating the status of the in-vehicle virtual traffic signal phases; and

, traffic data associated with road signs;

b) receiving/transmitting traffic data for actuating traffic signals designed to keep heavy traffic traveling with green lights until they detect a vehicle arriving at a cross street of an intersection and change accordingly, wherein, the traffic data comprising;

a time stamp at which the vehicle is transmitting, a right of way request code, the intersection ID, a segment orientation of the road on which the vehicle is traveling, the heading of the vehicle, and traffic data indicating the right of way; and

,

c) receiving/transmitting traffic data when approaching all-way stop intersection or a traffic circle for determining a right of way order, wherein the traffic data comprising, a time stamp at which a vehicle reached a threshold distance when approaching the intersection or the circle, an order of arriving code, the intersection ID, a segment orientation of the road on which the vehicle is traveling, the heading of the vehicle, and traffic data indicating the right of way.