Converging path collision avoidance

• US 10,351,059 B2
• Filed: 10/09/2017
• Issued: 07/16/2019
• Est. Priority Date: 03/23/2016
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan North America Incorporated (Nissan Motor Co., Ltd.)
• Inventors: Goudy, Roy, Probert, Neal, Chambers, Jeremy, Christensen, Andrew, Konet, Heather
• Primary Examiner(s): Alharbi, Adam M
• Application Number:
  US15/728,358
• Publication Number:
  US 20180029533A1
• Time in Patent Office: 645 Days
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A method and apparatus for use in traversing a vehicle transportation network may include receiving, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, determining a relative position code indicating geospatial location of the remote vehicle relative to the host vehicle based the remote vehicle information, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code; identifying a vehicle control action based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, and traversing a portion of the vehicle transportation network in accordance with the vehicle control action, such that traversing the portion of the vehicle transportation network includes performing passing lane collision avoidance.

Claims

1. A vehicle comprising:

a processor configured to execute instructions stored on a non-transitory computer readable medium to;

traverse a vehicle transportation network by;

receiving, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information;

determining a relative position code indicating a geospatial location of the remote vehicle relative to the host vehicle based the remote vehicle information;

determining a remote vehicle dynamic state code based on the remote vehicle information;

determining a host vehicle dynamic state code;

identifying a vehicle control action based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code; and

traversing a portion of the vehicle transportation network in accordance with the vehicle control action, such that traversing the portion of the vehicle transportation network includes performing passing lane collision avoidance.

2. A method for use in traversing a vehicle transportation network, the method comprising:

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

receiving, at a host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information;

identifying host vehicle information for the host vehicle;

determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based on the host vehicle information, the remote vehicle information, and a reference direction;

determining a remote vehicle dynamic state code based on the remote vehicle information;

determining a host vehicle dynamic state code based on the host vehicle information;

identifying an expected collision condition based on one or more of the relative position code, the remote vehicle dynamic state code, the host vehicle dynamic state code, or a current acceleration rate for the host vehicle, wherein the expected collision condition is an expected passing lane collision condition, an expected rear-end collision condition, an expected blind spot collision condition, or an expected forward collision condition; and

in response to identifying the expected collision condition;

identifying a vehicle control action, wherein identifying the vehicle control action includes;

on a condition that the expected collision condition is the expected passing lane collision condition, the expected rear-end collision condition, or the expected blind spot collision condition, identifying the vehicle control action based on the host vehicle dynamic state code;

on a condition that the expected collision condition is the expected forward collision condition;

 

identifying a deceleration rate for safely traversing the vehicle transportation network; and

 

identifying the vehicle control action based on the deceleration rate; and

traversing a portion of the vehicle transportation network in accordance with the vehicle control action.

3. The method of claim 2, wherein the remote vehicle information includes:

remote vehicle geospatial state information for the remote vehicle, the remote vehicle geospatial state information including geospatial coordinates for the remote vehicle;

remote vehicle kinematic state information for the remote vehicle, the remote vehicle kinematic state information including one or more of a remote vehicle velocity for the remote vehicle, a remote vehicle heading for the remote vehicle, a remote vehicle acceleration for the remote vehicle, or a remote vehicle yaw rate for the remote vehicle; and

remote vehicle operational state information for the remote vehicle, the remote vehicle operational state information including one or more of lateral control state information for the remote vehicle, transmission state information for the remote vehicle, or exterior signal state information for the remote vehicle.

4. The method of claim 2, wherein the host vehicle information includes:

host vehicle geospatial state information for the host vehicle, the host vehicle geospatial state information including geospatial coordinates for the host vehicle;

host vehicle kinematic state information for the host vehicle, the host vehicle kinematic state information including one or more of a host vehicle velocity for the host vehicle, a host vehicle heading for the host vehicle, the current acceleration rate for the host vehicle, or a host vehicle yaw rate for the host vehicle; and

host vehicle operational state information for the host vehicle, the host vehicle operational state information including one or more of lateral control state information for the host vehicle, transmission state information for the host vehicle, or exterior signal state information for the host vehicle.

5. The method of claim 2, wherein:

determining the relative position code includes identifying a first eight-bit byte wherein a first bit of the first eight-bit byte and a second bit of the first eight-bit byte indicate a longitudinal position of the remote vehicle relative to the host vehicle, a third bit of the first eight-bit byte and a fourth bit of the first eight-bit byte indicate a lateral position of the remote vehicle relative to the host vehicle, a fifth bit of the first eight-bit byte and a sixth bit of the first eight-bit byte indicate an elevation of the remote vehicle relative to the host vehicle, and a seventh bit of the first eight-bit byte and an eighth bit of the first eight-bit byte indicate a heading of the remote vehicle relative to the host vehicle; and

traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes, in response to a determination that the relative position code indicates a fault state, indicating the fault state to a driver of the host vehicle.

6. The method of claim 2, wherein:

determining the remote vehicle dynamic state code includes identifying a second eight-bit byte wherein a first bit of the second eight-bit byte and a second bit of the second eight-bit byte indicate a kinematic state of the remote vehicle, a third bit of the second eight-bit byte and a fourth bit of the second eight-bit byte indicate a lateral control state of the remote vehicle, a fifth bit of the second eight-bit byte and a sixth bit of the second eight-bit byte indicate a transmission state of the remote vehicle, and a seventh bit of the second eight-bit byte and an eighth bit of the second eight-bit byte indicate an external signal state of the remote vehicle; and

traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes, in response to a determination that the remote vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.

7. The method of claim 2, wherein:

determining the host vehicle dynamic state code includes identifying a third eight-bit byte wherein a first bit of the third eight-bit byte and a second bit of the third eight-bit byte indicate a kinematic state of the host vehicle, a third bit of the third eight-bit byte and a fourth bit of the third eight-bit byte indicate a lateral control state of the host vehicle, a fifth bit of the third eight-bit byte and a sixth bit of the third eight-bit byte indicate a transmission state of the host vehicle, and a seventh bit of the third eight-bit byte and an eighth bit of the third eight-bit byte indicate an external signal state of the host vehicle; and

traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes, in response to a determination that the host vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.

8. The method of claim 2, wherein identifying the expected collision condition includes identifying the expected passing lane collision condition, and wherein identifying the expected passing lane collision condition includes determining that the remote vehicle is ahead of the host vehicle the host vehicle, the remote vehicle is in a lane to the left of the host vehicle, the remote vehicle is level with the host vehicle, the remote vehicle heading is convergent with the host vehicle heading, the remote vehicle heading is opposite with the host vehicle heading, the remote vehicle is in motion, the remote vehicle is in a drive transmission state, the host vehicle is in motion, the host vehicle has an active left turn signal, the host vehicle is in a drive transmission state or a neutral transmission state, and the host vehicle is accelerating.

9. The method of claim 8, wherein identifying the expected passing lane collision condition includes:

identifying a current geospatial distance between the host vehicle and the remote vehicle;

identifying an expected time to contact based on the current geospatial distance, a current speed of the host vehicle, and a current speed of the remote vehicle;

determining whether a time to contact threshold exceeds the expected time to contact; and

determining whether a current acceleration rate for the host vehicle exceeds a passing maneuver acceleration rate threshold.

10. The method of claim 2, wherein identifying the expected collision condition includes identifying the expected rear-end collision condition, and wherein identifying the expected rear-end collision condition includes determining that the remote vehicle is behind the host vehicle, the remote vehicle is in-line with the host vehicle, the remote vehicle is level with the host vehicle, the remote vehicle heading is convergent with the host vehicle heading, the remote vehicle heading is aligned with the host vehicle heading, the remote vehicle is in motion, and the remote vehicle is in a drive transmission state or a neutral transmission state.

11. The method of claim 10, wherein identifying the vehicle control action based on the host vehicle dynamic state code includes:

identifying a current geospatial distance between the host vehicle and the remote vehicle;

identifying a deceleration rate based on the current geospatial distance between the host vehicle and the remote vehicle, a current speed of the remote vehicle, and a current speed of the host vehicle, such that on a condition that the remote vehicle traverses the vehicle transportation network by decelerating in accordance with the deceleration rate, a difference between a speed of the host vehicle at a post-deceleration location and an expected speed for the remote vehicle temporally corresponding to the post-deceleration location is within a relative speed threshold for rear-end collision avoidance, and a difference between a geospatial location of the host vehicle corresponding to the post-deceleration location and an expected geospatial location for the remote vehicle corresponding to the post-deceleration location exceeds a minimum distance threshold for rear-end collision avoidance.

12. The method of claim 10, wherein identifying the vehicle control action includes:

on a condition that the deceleration rate is within a rear-end collision advisory deceleration rate threshold, identifying an advisory vehicle control action as the vehicle control action, wherein the advisory vehicle control action includes oscillating break lamps of the host vehicle at an advisory frequency; and

on a condition that the deceleration rate is within a rear-end collision warning deceleration rate threshold, identifying a warning vehicle control action as the vehicle control action, wherein the warning vehicle control action includes oscillating break lamps of the host vehicle at a warning frequency.

13. The method of claim 12, wherein the warning vehicle control action includes:

presenting a representation of the warning vehicle control action to a driver of the host vehicle;

adjusting a safety belt tension of a safety belt of the host vehicle; and

adjusting a head rest position of a head rest of the host vehicle.

14. The method of claim 2, wherein identifying the expected collision condition includes identifying the expected blind spot collision condition, and wherein identifying the expected blind spot collision condition includes determining that the remote vehicle is behind the host vehicle or adjacent to the host vehicle, the remote vehicle is in a lane to the left of the host vehicle or a lane to the right of the host vehicle, the remote vehicle is level with the host vehicle, the remote vehicle heading is convergent with the host vehicle heading, the remote vehicle heading is aligned with the host vehicle heading, the remote vehicle is in motion, the remote vehicle is in a drive transmission state, the host vehicle is in motion, and the host vehicle is in a drive transmission state or a neutral transmission state.

15. The method of claim 14, wherein identifying the expected blind spot collision condition includes:

identifying a current geospatial distance between the host vehicle and the remote vehicle;

identifying a convergence angle between the host vehicle and the remote vehicle;

identifying a relative convergence angle between the host vehicle and the remote vehicle based on the convergence angle;

identifying a relative longitudinal distance between the host vehicle and the remote vehicle based on the current geospatial distance and the relative convergence angle;

identifying a relative lateral distance between the host vehicle and the remote vehicle based on the current geospatial distance and the relative convergence angle;

determining whether a minimum relative longitudinal distance is within the relative longitudinal distance;

determining whether a maximum relative longitudinal distance exceeds the relative longitudinal distance;

determining whether the relative lateral distance exceeds a minimum relative lateral distance; and

determining whether the relative lateral distance is within a maximum relative lateral distance.

16. The method of claim 14, wherein identifying the vehicle control action includes:

on a condition that the relative position code indicates that the remote vehicle is in a lane to the left of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a left turn signal is inactive for the host vehicle, identifying an advisory vehicle control action as the vehicle control action;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the right of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a right turn signal is inactive for the host vehicle, identifying an advisory vehicle control action as the vehicle control action;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the left of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a left turn signal is active for the host vehicle, identifying a warning vehicle control action as the vehicle control action; and

on a condition that the relative position code indicates that the remote vehicle is in a lane to the right of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a right turn signal is active for the host vehicle, identifying a warning vehicle control action as the vehicle control action.

17. The method of claim 14, wherein traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes presenting a representation of the vehicle control action to a driver of the vehicle.

18. The method of claim 2, wherein identifying the expected collision condition includes identifying the expected forward collision condition, and wherein identifying the expected forward collision condition includes determining that the remote vehicle is ahead of the host vehicle, the remote vehicle is in-lane with the host vehicle, the remote vehicle is level with the host vehicle, and the host vehicle is in motion.

19. The method of claim 18, wherein identifying the deceleration rate includes:

identifying a current geospatial distance between the host vehicle and the remote vehicle; and

identifying the deceleration rate based on the current geospatial distance between the host vehicle and the remote vehicle, a current speed of the remote vehicle, and a current speed of the host vehicle, such that traversing the vehicle transportation network by decelerating in accordance with the deceleration rate includes decelerating such that a difference between a speed of the host vehicle at a post-deceleration location and an expected speed for the remote vehicle temporally corresponding to the post-deceleration location is within a relative speed threshold for forward collision avoidance, and a difference between a geospatial location of the host vehicle corresponding to the post-deceleration location and an expected geospatial location for the remote vehicle corresponding to the post-deceleration location exceeds a minimum distance threshold for forward collision avoidance.

20. The method of claim 18, wherein identifying the vehicle control action includes:

on a condition that the deceleration rate is within a forward collision advisory deceleration rate threshold, identifying an advisory vehicle control action corresponding to the deceleration rate as the vehicle control action; and

on a condition that the deceleration rate is within a forward collision warning deceleration rate threshold, identifying a warning vehicle control action corresponding to the deceleration rate as the vehicle control action.

21. The method of claim 20, wherein traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes:

on a condition that the vehicle control action is the advisory vehicle control action, presenting a representation of the advisory vehicle control action to a driver of the host vehicle; and

on a condition that the vehicle control action is the warning vehicle control action, autonomously controlling the host vehicle in accordance with the deceleration rate.

22. A vehicle comprising:

a processor configured to execute instructions stored on a non-transitory computer readable medium to;

traverse a vehicle transportation network by;

receiving, at a host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information;

identifying host vehicle information for the host vehicle;

determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based on the host vehicle information, the remote vehicle information, and a reference direction;

determining a remote vehicle dynamic state code based on the remote vehicle information;

determining a host vehicle dynamic state code based on the host vehicle information;

identifying an expected collision condition based on one or more of the relative position code, the remote vehicle dynamic state code, the host vehicle dynamic state code, or a current acceleration rate for the host vehicle, wherein the expected collision condition is an expected passing lane collision condition, an expected rear-end collision condition, an expected blind spot collision condition, or an expected forward collision condition; and

in response to identifying the expected collision condition;

identifying a vehicle control action, wherein identifying the vehicle control action includes;

on a condition that the expected collision condition is the expected passing lane collision condition, the expected rear-end collision condition, or the expected blind spot collision condition, identifying the vehicle control action based on the host vehicle dynamic state code;

on a condition that the expected collision condition is the expected forward collision condition;

 

identifying a deceleration rate for safely traversing the vehicle transportation network; and

 

identifying the vehicle control action based on the deceleration rate; and

traversing a portion of the vehicle transportation network in accordance with the vehicle control action.