LANE MAPPING IN A VEHICLE-TO-VEHICLE COMMUNICATION SYSTEM

• US 20130278443A1
• Filed: 07/26/2012
• Published: 10/24/2013
• Est. Priority Date: 04/24/2012
• Status: Active Grant

• Current Assignee: Zetta Research and Development LLC - FORC Series, Zetta Research and Development LLC (Zetta Research, LLC)
• Original Assignee: Zetta Research and Development LLC - FORC Series
• Inventors: Rubin, Kim T, Betts-Lacroix, Jonathan N.
• Granted Patent: US 8,884,782 B2
• Time in Patent Office: Days
• US Class Current: 340/905
• CPC Class Codes: B60R 2325/205 Mobile phones
• CPC Class Codes: B60R 25/33 of global position, e.g. by providing GPS coordinates
• CPC Class Codes: B60W 10/06 including control of combustion engines
• 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 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/3658 Lane guidance
• CPC Class Codes: G01C 21/3822 Road feature data, e.g. slope data
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile
• CPC Class Codes: G08G 1/09 Arrangements for giving variable traffic instructions railroad crossing signals B61L; reflectors E01F, G08B; indicating arrangements for variable information by selection or combination of individual elements G09F9/00
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/0969 having a display in the form of a map
• CPC Class Codes: G08G 1/142 external to the vehicles
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• 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 1/166 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: G08G 1/20 : Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: G08G 9/02 : Anti-collision systems
• CPC Class Codes: H04J 3/1694 : Allocation of channels in TDM/TDMA networks, e.g. distributed multiplexers Passive Optical Networks H04Q11/0062
• CPC Class Codes: H04L 5/0091 : Signaling for the administration of the divided path
• CPC Class Codes: H04W 4/027 : using movement velocity, acceleration information
• CPC Class Codes: H04W 4/06 : Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
• CPC Class Codes: H04W 4/46 : for vehicle-to-vehicle communication [V2V]
• CPC Class Codes: H04W 4/48 : for in-vehicle communication
• CPC Class Codes: H04W 56/0035 : detecting errors in frequency or phase
• CPC Class Codes: H04W 64/006 : with additional information processing, e.g. for direction or speed determination
• CPC Class Codes: H04W 72/0446 : Resources in time domain, e.g. slots or frames
• CPC Class Codes: H04W 72/30 : Resource management for broadcast services
• CPC Class Codes: H04W 74/0816 : with collision avoidance
• CPC Class Codes: H04W 76/14 : Direct-mode setup
• CPC Class Codes: H04W 76/40 : for selective distribution or broadcast

Abstract

Device, system and method, in a vehicle communication system, of generating lane maps. Embodiments use a plurality of location points to build up a lane, then record that lane in memory. Location points may be locations over which a first vehicle generating the lane map passes, or may be location points broadcast by a second vehicle to the first vehicle. Methods are described to wirelessly share lane information and lane maps between vehicles. Embodiments use a “confidence value” describing the confidence that the lane parameters are valid. Algorithms are described for creating and updating the confidence values. Methods of compressing and storing lane information and lane maps are described. Embodiments include geographic height in lane information.

Claims

1. The vehicle-to-vehicle (V2V) communication system comprising:

a V2V transceiver configured to transmit and receive V2V messages;

a lane map data store comprising lane map data stored in non-transitory memory;

wherein the lane map data store further comprises;

(i) a location point store comprising one or more location points, and (ii) a lane records store;

wherein the location point store comprises a plurality of locations previously contained in V2V messages received or transmitted by the V2V transceiver;

wherein the lane records store comprises one or more lane records and where each lane record comprises;

(i) a lane type, and (ii) one or more locations.

2. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

the lane records store comprises one or more lane records computed from one or more location in the location point store.

3. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

the V2V transceiver is further configured to broadcast at least a portion of the lane records store.

4. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

the V2V transceiver is further configured to receive lane records and to place the lane records into the lane records store.

5. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

each lane record further comprises a lane confidence value.

6. The vehicle-to-vehicle (V2V) communication system of claim 5 wherein:

the lane confidence value of each lane record is computed using at least in part the number of applicable location points in the location point store wherein the applicable location points comprise location points substantially in the same location as at least one location in the lane record.

7. The vehicle-to-vehicle (V2V) communication system of claim 5 wherein:

the V2V transceiver is further configured to receive lane records; and

wherein the lane confidence value of an existing lane record in the lane records store is updated at least in part by adding the lane confidence value of the received lane record to the existing lane confidence value in the existing lane record when at least one location in the received lane record and at least one location in the existing lane record substantially match.

8. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

wherein at least one lane record further comprise two end-point locations of the lane.

9. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

wherein at least one lane record further comprise two horizontal axes scalar values and one elevation scalar value.

10. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

wherein at least one lane record further comprises at least one point on a Bé

zier curve wherein the Bé

zier curve is an approximation of at least a portion of the lane.

11. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

wherein at least one lane record further comprises a lane crossing field wherein the value in the lane crossing field indicates at least whether or not the lane crosses another lane wherein, if the lane does cross another lane, at the location where the two lanes cross each lane is at a different elevation.

12. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

wherein the lane type comprises a lane type value wherein the lane type value is one value from a predetermined table of lane types.

13. The vehicle-to-vehicle (V2V) communication system of claim 1 further comprising:

a self-vehicle in which the V2V transceiver is located;

a location point receive record received by the V2V transceiver, wherein the location point receive record comprises one or more location points and a receive count field;

wherein the location point store further comprises (i) a first group of related location points, (ii) an original count field and (iii) a non-original count field;

wherein the original count field increments when the self-vehicle passes over at least one location point in the first group of related locations;

wherein the non-original count field increases responsive to the value of the receive count field when at least one of the location points in the location point receive record is in the first group of related location points.

14. The vehicle-to-vehicle (V2V) communication system of claim 13 further comprising:

a location point transmit record comprising the original count field.

15. The vehicle-to-vehicle (V2V) communication system of claim 13 wherein:

the non-original count field is updated responsive to the location point receive record such that if a value in the receive count field is larger than a value in the non-original count field the new value in the non-original count field becomes the value in the receive count field;

otherwise the value in the non-original count field remains unchanged.

16. A vehicle-to-vehicle (V2V) transceiver comprising:

a transmit module;

a receive module;

a lane map data store comprising lane map data stored in non-transitory memory;

wherein the lane map data store further comprises;

(i) a location point store comprising one or more location points, and (ii) a lane records store;

wherein the location point store comprises a plurality of locations previously contained in V2V messages received or transmitted by the V2V transceiver;

wherein the lane records store comprises one or more lane records and where each lane record comprises;

(i) a lane type, and (ii) one or more locations.

17. A method of generating lane maps comprising:

generating local location points;

storing the local location points in a location point store;

counting the number of times a similar location point is generated, the “

local location count;

”

storing the local location count;

transmitting at least one of the local location points and the local location count;

receiving a receive record comprising at least one candidate location point and a receive count;

storing the at least one candidate location point and the receive count;

comparing the at least one candidate location point to a prior stored location point;

comparing the receive count to a prior stored location count when the at least one candidate location reasonably matches the prior stored location point;

updating the prior stored location count if the receive count is greater than the prior stored location count to now equal the receive count.