Determining driver intention at traffic intersections for automotive crash avoidance

• US 10,479,373 B2
• Filed: 01/06/2016
• Issued: 11/19/2019
• Est. Priority Date: 01/06/2016
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Mudalige, Upali P., Elvitigala, Thanura Ranmal
• Primary Examiner(s): Nolan, Peter D
• Application Number:
  US14/989,502
• Publication Number:
  US 20170193384A1
• Time in Patent Office: 1,413 Days
• CPC Class Codes: B60W 2050/0001 Details of the control system
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/162 event-triggered
• 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 system and method for determining whether a driver of a host vehicle intends to make a left or right turn with a certain level of confidence. The method obtains a plurality of turning cues that identify external parameters around the host vehicle and/or define operating conditions of the host vehicle, and determines a confidence level that the host vehicle will make a left or right turn based on the turning cues, where determining the confidence level includes weighting each of the cues based on current vehicle operating conditions.

Claims

1. A method for determining whether a driver of a host vehicle intends to make a turn, said method comprising:

obtaining, by a processor, a plurality of turning cues that identify external parameters around the host vehicle and/or define operating conditions of the host vehicle, wherein obtaining turning cues includes determining that a distance to a remote vehicle ahead of the host vehicle is increasing;

determining, by the processor, a confidence level that the host vehicle intends to make a left or right turn based on the turning cues where determining the confidence level includes weighting each of the cues based on current driving operating conditions and determining the confidence level that the host vehicle intends to make a turn includes increasing the confidence level of a left or right turn if the distance is increasing;

comparing, by the processor, the confidence level to a threshold; and

providing a warning, via a warning device, to a vehicle and/or performing a vehicle control action, via a controller, on the vehicle in response to the confidence level exceeding the threshold.

2. The method according to claim 1 wherein obtaining a plurality of turning cues includes determining whether the host vehicle is in a left or right turn only lane or a no left or right turn lane, and wherein determining a confidence level that the host vehicle intends to make a turn includes increasing the confidence level that the host vehicle intends to make a turn if the vehicle is in a left or right turn only lane and decreasing the confidence level if the host vehicle is in a no left or right turn lane.

3. The method according to claim 1 wherein obtaining a plurality of turning cues includes determining whether the host vehicle moved to a different lane, and wherein determining a confidence level that the host vehicle intends to make a turn includes increasing the confidence level that the vehicle intends to make a left turn if the host vehicle moved to a left lane and increasing the confidence level that the vehicle is making a right turn if the host vehicle moved to a right lane.

4. The method according to claim 3 wherein obtaining turning cues includes determining whether the host vehicle moved into a high volume lane, and wherein determining a confidence level that the host vehicle intends to make a turn includes increasing the confidence level that the vehicle intends to make a left turn if the vehicle moves into a left lane having high traffic volume and increasing the confidence level that the vehicle intends to make a right turn if the host vehicle moved into a high traffic volume right lane.

5. The method according to claim 1 wherein obtaining turning cues includes determining whether the host vehicle has made previous left or right turns at a particular location, and wherein determining a confidence level that the host vehicle intends to make a turn includes increasing the confidence level that the host vehicle intends to make a left or right turn if the vehicle has made previous left or right turns at that location.

6. The method according to claim 1 wherein obtaining turning cues includes determining whether the driver has turned on a left or right turn signal, and wherein determining the confidence level that the host vehicle intends to make a turn includes increasing the confidence level of a left turn if the left turn signal is on and increasing the confidence level of a right turn if the right turn signal is on.

7. The method according to claim 1 wherein obtaining turning cues includes determining that a programmed route in a navigation system indicates a turn, and wherein determining the confidence level that the host vehicle intends to make a turn includes increasing the confidence level if a programmed turn is in the navigation system.

8. The method according to claim 1 wherein obtaining turning cues includes determining that the driver of the host vehicles attention is turned to the left or right, and wherein determining the confidence level that the host vehicle intends to make a turn includes increasing the confidence level if the vehicle driver attention is to the left or right.

9. The method according to claim 1 wherein determining the confidence level that the host vehicle intends to make a turn includes adapting the determination of the confidence level based on a driver'"'"'s previous behavior.

10. The method according to claim 1 wherein obtaining a plurality of turning cues includes obtaining information and data from one or more of vehicle velocity, vehicle position, a map database, long range sensors on the vehicle, short range sensors on the vehicle, cameras on the vehicle, lidar sensors on the vehicle, V2X communications, host vehicle path history, Internet communications and satellite communications.

11. The method according to claim 1 wherein weighting the cues includes adjusting the weighting by one or more of duration of a traffic signal, driver'"'"'s previous behavior, whether the host vehicle is near the intersection, distance from the intersection and type of intersection.

12. The method according to claim 1 further comprising determining whether the driver of the host vehicle intends to yield to oncoming traffic or cut-across in front of oncoming traffic when making a left turn.

13. The method according to claim 12 wherein determining whether the driver intends to cut-across in front of on-coming traffic includes determining whether the host vehicle intends to cut-across the on-coming from a stationary or creep condition if the host vehicle velocity is less than a first predetermined velocity, a road wheel angle of the host vehicle is greater than a first predetermined road wheel angle, and a vehicle brake pedal is not pressed.

14. The method according to claim 13 wherein determining whether the driver intends to cut-across in front of on-coming traffic includes determining that the host vehicle intends to cut-across in front of the on-coming traffic from a starting small velocity if the host vehicle velocity is less than a second predetermined velocity that is less than the first predetermined velocity, the road wheel angle of the host vehicle is greater than a second predetermined road wheel angle that is less than the first predetermined road wheel angle, and an acceleration of the host vehicle is greater than a predetermined acceleration.

15. The method according to claim 14 wherein determining whether the driver intends to cut-across in front of on-coming traffic includes determining that the driver of the host vehicle intends to cut-across in front of on-coming traffic from a high velocity if the road wheel angle of the host vehicle is greater than a third predetermined road wheel angle that is less than the second predetermined road wheel angle, a projected host vehicle speed is greater than a third predetermined velocity that is greater than the second predetermined velocity and the host vehicle is decelerating less than a predetermined deceleration.

16. A method for determining whether a driver of a host vehicle intends to make a turn, said method comprising:

obtaining a plurality of turning cues that identify external parameters around the host vehicle and/or define operation of the host vehicle; and

determining a confidence level that the host vehicle intends to make a left or right turn based on the turning cues, wherein determining the confidence level includes determining whether the driver of the host vehicle intends to yield to on-coming traffic or cut-across in front of on-coming traffic when making a left turn, wherein determining whether the driver intends to cut-across in front of on-coming traffic includes determining whether the host vehicle intends to cut-across from a stationary or creep condition if the host vehicle velocity is less than a first predetermined velocity, a road wheel angle of the host vehicle is greater than a first predetermined road wheel angle, and a vehicle brake pedal is not pressed;

comparing, by the processor, the confidence level to a threshold; and

providing a warning, via a warning device, to a vehicle and/or performing a vehicle control action, via a controller, on the vehicle in response to the confidence level exceeding the threshold.

17. The method according to claim 16 wherein determining whether the driver intends to cut-across in front of on-coming traffic includes determining that the host vehicle intends to cut-across in front of the oncoming traffic from a starting small velocity if the host vehicle velocity is less than a second predetermined velocity that is less than the first predetermined velocity, the road wheel angle of the host vehicle is greater than a second predetermined road wheel angle that is less than the first predetermined road wheel angle, and an acceleration of the host vehicle is greater than a predetermined acceleration.

18. The method according to claim 17 wherein determining whether the driver intends to cut-across in front of on-coming traffic includes determining that the driver of the host vehicle intends to cut-across in front of oncoming traffic from a high velocity if the road wheel angle of the host vehicle is greater than a third predetermined road wheel angle that is less than the second predetermined road wheel angle, a projected host vehicle speed is greater than a third predetermined velocity that is greater than the second predetermined velocity and the host vehicle is decelerating less than a predetermined deceleration.