PROJECTING VEHICLE TRANSPORTATION NETWORK INFORMATION

• US 20170039846A1
• Filed: 08/03/2015
• Published: 02/09/2017
• Est. Priority Date: 08/03/2015
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan North America Incorporated (Nissan Motor Co., Ltd.)
• Inventors: Chambers, Jeremy, Goudy, Roy, Probert, Neal, Christensen, Andrew
• Granted Patent: US 9,633,559 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0125 Traffic data processing
• CPC Class Codes: G08G 1/0141 for traffic information dissemination
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/052 with provision for determining speed or overspeed speed measuring in general G01P
• CPC Class Codes: G08G 1/056 with provision for distinguishing direction of travel
• CPC Class Codes: G08G 1/091 Traffic information broadcasting broadcasting communication H04H
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: H04B 1/3827 Portable transceivers
• CPC Class Codes: H04M 1/725 Cordless telephones user interfaces specially adapted therefor H04M1/724
• CPC Class Codes: H04W 4/00 Services specially adapted for wireless communication networks; Facilities therefor

Abstract

A method and apparatus for generating projected vehicle transportation network information for use in traversing a vehicle transportation network may include receiving a remote vehicle message including remote vehicle information indicating remote vehicle geospatial state information and remote vehicle kinematic state information, identifying host vehicle information including host vehicle geospatial state information and host vehicle kinematic state information, generating projected vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle information and the host vehicle information, and traversing a part of the portion of the vehicle transportation network represented by the projected vehicle transportation network information using the projected vehicle transportation network information.

Claims

1. A method of generating projected vehicle transportation network information 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, the remote vehicle information indicating remote vehicle geospatial state information for the remote vehicle and remote vehicle kinematic state information for the remote vehicle,

identifying host vehicle information for the host vehicle, the host vehicle information including one or more of host vehicle geospatial state information for the host vehicle, or host vehicle kinematic state information for the host vehicle,

generating, by a processor in response to instructions stored on a non-transitory computer readable medium, projected vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle information and the host vehicle information, and

traversing a part of the portion of the vehicle transportation network represented by the projected vehicle transportation network information using the projected vehicle transportation network information.

2. The method of claim 1, wherein receiving the remote vehicle message includes receiving a plurality of remote vehicle messages from a plurality of remote vehicles.

3. The method of claim 1, wherein the remote vehicle geospatial state information includes geospatial coordinates for the remote vehicle, and the remote vehicle kinematic state information includes 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.

4. The method of claim 1, wherein generating the projected vehicle transportation network information includes:

identifying a remote vehicle expected path for the remote vehicle based on the remote vehicle information;

identifying a host vehicle expected path for the host vehicle based on the host vehicle information; and

determining whether the remote vehicle expected path and the host vehicle expected path are convergent.

5. The method of claim 1, wherein generating the projected vehicle transportation network information includes:

determining a convergence angle for a geodesic between the host vehicle and the remote vehicle.

6. The method of claim 5, wherein the convergence angle indicates an angle between the geodesic and a reference direction relative to the host vehicle in the geospatial domain.

7. The method of claim 5, wherein the host vehicle information indicates a host vehicle heading for the host vehicle, the remote vehicle information indicates a remote vehicle heading for the remote vehicle, and generating the projected vehicle transportation network information includes:

determining an orientation sector from a defined plurality of orientation sectors for the geodesic;

determining a host vehicle region for the host vehicle based on the orientation sector, the convergence angle, and the host vehicle heading; and

determining a remote vehicle region for the remote vehicle based on the orientation sector, the convergence angle, and the remote vehicle heading.

8. The method of claim 7, wherein the orientation sector indicates a quantized location of the remote vehicle relative to a location of the host vehicle in the geospatial domain, the host vehicle region indicates a quantization of the host vehicle heading relative to the host vehicle and the geodesic in the geospatial domain, and the remote vehicle region indicates a quantization of the remote vehicle heading relative to the remote vehicle and the geodesic in the geospatial domain.

9. The method of claim 7, wherein generating the projected vehicle transportation network information includes:

determining a host vehicle approach angle for the host vehicle based on the host vehicle region, the remote vehicle region, the host vehicle heading, and the convergence angle;

determining a remote vehicle approach angle for the remote vehicle based on the host vehicle region, the remote vehicle region, the remote vehicle heading, and the convergence angle; and

determining an intersection angle based on the host vehicle region, the remote vehicle region, the host vehicle heading, and the remote vehicle heading.

10. The method of claim 9, wherein generating the projected vehicle transportation network information includes:

determining an instantaneous distance of the geodesic;

determining a host vehicle intersection distance for the host vehicle based on the instantaneous distance, the remote vehicle approach angle, and the intersection angle; and

determining a remote vehicle intersection distance for the remote vehicle based on the instantaneous distance, the host vehicle approach angle, and the intersection angle.

11. The method of claim 10, wherein the instantaneous distance indicates a distance between a location of the host vehicle and a location of the remote vehicle in the geospatial domain.

12. The method of claim 1, wherein generating the projected vehicle transportation network information includes:

on a condition that defined vehicle transportation network information representing the vehicle transportation network is available, generating the projected vehicle transportation network information based on the defined vehicle transportation network information, the remote vehicle information, and the host vehicle information; and

on a condition that the defined vehicle transportation network information is unavailable, generating the projected vehicle transportation network information based on the remote vehicle information and the host vehicle information.

13. The method of claim 1, wherein receiving the remote vehicle message includes receiving a plurality of remote vehicle messages from a plurality of remote vehicles, and wherein generating the projected vehicle transportation network information includes:

generating the projected vehicle transportation network information based on first remote vehicle information from a first remote vehicle from the plurality of remote vehicles, wherein the first remote vehicle information indicates that a velocity for the first remote vehicle is within a stationary threshold; and

updating the projected vehicle transportation network information based on second remote vehicle information from a second remote vehicle from the plurality of remote vehicles, wherein the second remote vehicle information indicates that a velocity for the second remote vehicle exceeds the stationary threshold, and wherein the second remote vehicle information includes turn signal information.

14. The method of claim 1, wherein generating the projected vehicle transportation network information includes:

generating a portion of the projected vehicle transportation network information representing a first road based on the host vehicle information.

15. The method of claim 14, wherein the host vehicle information includes a host vehicle current geospatial location for the host vehicle, the first road corresponding geospatially with the host vehicle current geospatial location, wherein the remote vehicle information indicates that the remote vehicle is stationary and indicates a remote vehicle current geospatial location for the remote vehicle, the remote vehicle current geospatial location corresponding geospatially with the first road, and wherein generating the projected vehicle transportation network information includes:

identifying a second road intersecting with the first road proximate to the remote vehicle current location, on a condition that a remote vehicle expected path for the remote vehicle indicates a turn corresponding to the second road.

16. The method of claim 14, wherein the host vehicle information includes a host vehicle current geospatial location for the host vehicle, the remote vehicle information includes a remote vehicle current geospatial location for the remote vehicle, and wherein generating the projected vehicle transportation network information includes:

generating a portion of the projected vehicle transportation network information representing a first lane of the first road, the first lane corresponding geospatially with the host vehicle current geospatial location; and

generating a portion of the projected vehicle transportation network information representing a second lane of the first road, the second lane corresponding to the remote vehicle current geospatial location, on a condition that a remote vehicle trajectory for the remote vehicle is substantially similar to a host vehicle trajectory for the host vehicle, wherein the remote vehicle trajectory is substantially similar to the host vehicle trajectory on a condition that the remote vehicle trajectory is substantially parallel to the host vehicle trajectory and a lateral difference between the host vehicle current geospatial location and the remote vehicle current geospatial location exceeds a defined lane size.

17. The method of claim 16, wherein the first lane has a first direction of travel corresponding to a direction of the host vehicle trajectory, and wherein generating the portion of the projected vehicle transportation network information representing the second lane includes:

identifying the second lane as having the first direction of travel on a condition that the a direction of the remote vehicle trajectory is substantially similar to the direction of the host vehicle trajectory; and

identifying the second lane as having the a second direction of travel, opposite the first direction of travel, on a condition that the a direction of the remote vehicle trajectory is substantially opposite the direction of the host vehicle trajectory.

18. The method of claim 17, wherein the remote vehicle information indicates that the remote vehicle is stationary, and wherein generating the projected vehicle transportation network information includes:

identifying a second road intersecting with the first road proximate to the remote vehicle current location, on a condition that a remote vehicle expected path for the remote vehicle indicates a turn corresponding to the second road.

19. A method of generating projected vehicle transportation network information 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, the remote vehicle information indicating remote vehicle geospatial state information for the remote vehicle and remote vehicle kinematic state information for the remote vehicle, the remote vehicle geospatial state information including geospatial coordinates for the remote vehicle, and 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,

identifying host vehicle information for the host vehicle, the host vehicle information including one or more of host vehicle geospatial state information for the host vehicle, or host vehicle kinematic state information for the host vehicle, the host vehicle kinematic state information indicating a host vehicle heading for the host vehicle,

generating, by a processor in response to instructions stored on a non-transitory computer readable medium, projected vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle information and the host vehicle information, and

traversing a part of the portion of the vehicle transportation network represented by the projected vehicle transportation network information using the projected vehicle transportation network information.

20. A method of generating projected vehicle transportation network information 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 plurality of remote vehicles, via one or more wireless electronic communication links, a plurality of remote vehicle messages, each remote vehicle message from the plurality of remote vehicle messages including remote vehicle information for a respective remote vehicle, the remote vehicle information indicating remote vehicle geospatial state information for the respective remote vehicle and remote vehicle kinematic state information for the respective remote vehicle, the remote vehicle geospatial state information including geospatial coordinates for the respective remote vehicle, and the remote vehicle kinematic state information including one or more of a remote vehicle velocity for the respective remote vehicle, a remote vehicle heading for the respective remote vehicle, a remote vehicle acceleration for the respective remote vehicle, or a remote vehicle yaw rate for the respective remote vehicle,

identifying host vehicle information for the host vehicle, the host vehicle information including one or more of host vehicle geospatial state information for the host vehicle, or host vehicle kinematic state information for the host vehicle, the host vehicle kinematic state information indicating a host vehicle heading for the host vehicle,

on a condition that defined vehicle transportation network information is unavailable, generating, by a processor in response to instructions stored on a non-transitory computer readable medium, projected vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle information and the host vehicle information, and

traversing a part of the portion of the vehicle transportation network represented by the projected vehicle transportation network information using the projected vehicle transportation network information.