System and method for providing vehicle collision avoidance at an intersection

• US 10,220,845 B2
• Filed: 02/10/2017
• Issued: 03/05/2019
• Est. Priority Date: 06/16/2015
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Al-Stouhi, Samir K.
• Primary Examiner(s): Beaulieu, Yonel
• Assistant Examiner(s): Weeks, Martin A
• Application Number:
  US15/430,081
• Publication Number:
  US 20170151944A1
• Time in Patent Office: 753 Days
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/55 using telemetry
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60Y 2300/0954 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60Y 2300/18158 Approaching intersection
• CPC Class Codes: G08G 1/162 : event-triggered
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A system and method for providing vehicle collision avoidance at an intersection include determining environmental parameters associated with a vicinity of the intersection. The system and method also include estimating a path of travel of a reference vehicle and a target vehicle, wherein the path of travel of the reference vehicle and the target vehicle are based on the environmental parameters and parameters pertaining to the reference vehicle and the target vehicle. Additionally, the system the method include estimating a probability of collision between the reference vehicle and the target vehicle at the intersection based on the path of travel of the reference vehicle and the target vehicle and providing a collision avoidance response, wherein a type of the collision avoidance response is based on the probability of collision between the reference vehicle and the target vehicle at the intersection.

Claims

1. A computer-implemented method for providing vehicle collision avoidance at an intersection, comprising:

determining environmental parameters associated with a vicinity of the intersection,

estimating a path of travel of a reference vehicle and a target vehicle, wherein the path of travel of the reference vehicle and the target vehicle are based on the environmental parameters and parameters pertaining to a positional location, a directional location, and vehicle dynamics of the reference vehicle and the target vehicle;

estimating a probability of collision between the reference vehicle and the target vehicle at the intersection based on the path of travel of the reference vehicle and the target vehicle, wherein the probability of collision includes at least one value that is indicative of an intensity of collision and a propensity of collision between the reference vehicle and the target vehicle; and

providing a collision avoidance response, wherein the collision avoidance response is based on the probability of collision between the reference vehicle and the target vehicle at the intersection.

2. The computer-implemented method of claim 1, wherein determining the environmental parameters includes receiving data collected from roadside equipment located within the vicinity of the intersection and evaluating intersection metrics processed from the data to determine that a requisite amount of the data is collected from the roadside equipment to determine the environmental parameters, wherein the intersection metrics include at least one of:

a traffic density within the vicinity of the intersection, weather conditions within the vicinity of the intersection, and a number of roadways that intersect at the intersection.

3. The computer-implemented method of claim 1, wherein determining the environmental parameters includes ceasing the determination of environmental parameters associated with the vicinity of the intersection for a period of time to account for an abnormal route activity that occurs within the vicinity of the intersection, wherein the abnormal route activity includes at least one of:

a traffic accident that occurs within the vicinity of the intersection, road construction that occurs within the vicinity of the intersection, and a power outage that occurs within the vicinity of the intersection.

4. The computer-implemented method of claim 3, wherein determining the environmental parameters includes restarting the determination of environmental parameters associated with the vicinity of the intersection upon completion of the abnormal route activity that occurred within the vicinity of the intersection.

5. The computer-implemented method of claim 1, wherein estimating the path of travel of the reference vehicle and the target vehicle includes evaluating positional parameters pertaining to the positional location of the reference vehicle and the target vehicle, directional parameters pertaining to the directional location of the reference vehicle and the target vehicle, and dynamic parameters pertaining to the vehicle dynamics of the reference vehicle and the target vehicle.

6. The computer-implemented method of claim 5, wherein estimating the path of travel of the reference vehicle and the target vehicle includes aggregating the environmental parameters associated with the vicinity of the intersection with the positional parameters, the directional parameters, and the dynamic parameters of the reference vehicle and of the target vehicle.

7. The computer-implemented method of claim 1, wherein estimating the probability of collision between the reference vehicle and the target vehicle at the intersection includes determining if the path of travel of the reference vehicle overlaps with the path of travel of the target vehicle.

8. The computer-implemented method of claim 1, wherein estimating the probability of collision between the reference vehicle and the target vehicle at the intersection includes adjusting the at least one value that is indicative of the intensity of the collision and the propensity of the collision between the reference vehicle and the target vehicle based on a potential collision warning provided within at least one of:

the reference vehicle and the target vehicle.

9. The computer-implemented method of claim 1, wherein estimating the probability of collision between the reference vehicle and the target vehicle at the intersection includes adjusting the at least one value that is indicative of the intensity of the collision and the propensity of the collision between the reference vehicle and the target vehicle based on an intended destination of the target vehicle, wherein the intended destination includes a destination received by a navigation system of the target vehicle.

10. A system for providing vehicle collision avoidance at an intersection, comprising:

a memory storing instructions that when executed by a processor cause the processor to;

determine environmental parameters associated with a vicinity of the intersection;

estimate a path of travel of a reference vehicle and a target vehicle, wherein the path of travel of the reference vehicle and the target vehicle are based on the environmental parameters and parameters pertaining to a positional location, a directional location, and vehicle dynamics of the reference vehicle and the target vehicle;

estimate a probability of collision between the reference vehicle and the target vehicle at the intersection based on the path of travel of the reference vehicle and the target vehicle, wherein the probability of collision includes at least one value that is indicative of an intensity of collision and a propensity of collision between the reference vehicle and the target vehicle; and

provide a collision avoidance response, wherein a type of the collision avoidance response is based on the probability of collision between the reference vehicle and the target vehicle at the intersection.

11. The system of claim 10, wherein determining the environmental parameters includes receiving data collected from roadside equipment located within the vicinity of the intersection and evaluating intersection metrics processed from the data to determine that a requisite amount of the data is collected from the roadside equipment to determine the environmental parameters, wherein the intersection metrics include at least one of:

a traffic density within the vicinity of the intersection, weather conditions within the vicinity of the intersection, and a number of roadways that intersect at the intersection.

12. The system of claim 10, wherein determining environmental parameters includes ceasing the determination of environmental parameters associated with the vicinity of the intersection for a period of time to account for an abnormal route activity that occurs within the vicinity of the intersection, wherein the abnormal route activity includes at least one of:

a traffic accident that occurs within the vicinity of the intersection, road construction that occurs within the vicinity of the intersection, and a power outage that occurs within the vicinity of the intersection.

13. The system of claim 12, wherein determining the environmental parameters includes restarting the determination of environmental parameters associated with the vicinity of the intersection upon completion of the abnormal route activity that occurred within the vicinity of the intersection.

14. The system of claim 10, wherein estimating the path of travel of the reference vehicle and the target vehicle includes evaluating positional parameters pertaining to the positional location of the reference vehicle and the target vehicle, directional parameters pertaining to the directional location of the reference vehicle and the target vehicle, and dynamic parameters pertaining to the vehicle dynamics of the reference vehicle and the target vehicle.

15. The system of claim 14, wherein estimating the path of travel of the reference vehicle and the target vehicle includes aggregating the environmental parameters associated with the vicinity of the intersection with the positional parameters, the directional parameters, and the dynamic parameters of the reference vehicle and of the target vehicle.

16. The system of claim 10, wherein estimating the probability of collision between the reference vehicle and the target vehicle at the intersection includes determining if the path of travel of the reference vehicle overlaps with the path of travel of the target vehicle.

17. The system of claim 10, wherein estimating the probability of collision between the reference vehicle and the target vehicle at the intersection includes adjusting the at least one value that is indicative of the intensity of the collision and the propensity of the collision between the reference vehicle and the target vehicle based on a potential collision warning provided within at least one of:

the reference vehicle and the target vehicle.

18. The system of claim 10, wherein estimating the probability of collision between the reference vehicle and the target vehicle at the intersection includes adjusting the at least one value that is indicative of the intensity of the collision and the propensity of the collision between the reference vehicle and the target vehicle based on an intended destination of the target vehicle, wherein the intended destination includes a destination received by a navigation system of the target vehicle.

19. A non-transitory computer-readable storage medium storing instructions that when executed by a processor perform actions, comprising:

determining environmental parameters associated with a vicinity of an intersection;

estimating a path of travel of a reference vehicle and a target vehicle, wherein the path of travel of the reference vehicle and the target vehicle are based on the environmental parameters and parameters pertaining to a positional location, a directional location, and vehicle dynamics of the reference vehicle and the target vehicle;

estimating a probability of collision between the reference vehicle and the target vehicle at the intersection based on the path of travel of the reference vehicle and the target vehicle, wherein the probability of collision includes at least one value that is indicative of an intensity of collision and a propensity of collision between the reference vehicle and the target vehicle; and

providing a collision avoidance response, wherein a type of the collision avoidance response is based on the probability of collision between the reference vehicle and the target vehicle at the intersection.

20. The computer readable storage medium of claim 19, wherein providing the collision avoidance response includes controlling at least one vehicle function of at least one of:

the reference vehicle, and the target vehicle to provide one or more types of automatic vehicle collision controls that are provided at one or more levels that correspond to the probability of collision between the reference vehicle and the target vehicle.