Method and system for using intersecting electronic horizons

• US 8,717,192 B2
• Filed: 10/08/2010
• Issued: 05/06/2014
• Est. Priority Date: 10/08/2010
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: Navteq B.V.
• Inventors: Durekovic, Sinisa, Smith, Nicholas E.
• Primary Examiner(s): MULLEN, THOMAS J
• Application Number:
  US12/900,780
• Publication Number:
  US 20120086582A1
• Time in Patent Office: 1,306 Days
• Field of Search: 340901-905, 340/435, 340/933, 340/988, 701/300, 701/301, 701/96
• US Class Current: 340/903
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/095 Traffic lights
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A method and system for using data associated with a first vehicle and a given road segment defined for a road network and using data associated with a second vehicle and the given road segment to determine a multi-vehicle probability value that indicates a probability that the first vehicle and the second vehicle will arrive at a common position of the given road segment simultaneously. The multi-vehicle probability value can be compared to a threshold probability value to determine whether the first vehicle and/or the second vehicle should take a responsive measure to avoid those vehicles arriving at the common position of the given road segment simultaneously. The data associated the first vehicle and the data associated with the second vehicle can each include a respective electronic horizon for that vehicle, and time parameters and probability values associated with those vehicles being on the given road segment.

Claims

1. A method comprising:

receiving a first set of vehicle data, wherein the first set of vehicle data includes data that is associated with a first vehicle and a given road segment defined for a road network on which the first vehicle can travel;

receiving a second set of vehicle data, wherein the second set of vehicle data includes data that is associated with a second vehicle and the given road segment defined for the road network, wherein the second vehicle can travel on the road network;

using at least a portion of the first set of vehicle data and at least a portion of the second set of vehicle data to determine a first multi-vehicle probability value that indicates a probability that the first vehicle and the second vehicle will arrive at a common position of the given road segment simultaneously; and

taking a responsive measure in order for the second vehicle to join a group of vehicles including the first vehicle in response to the first multi-vehicle probability value exceeding a threshold probability value,

wherein using the at least a portion of the first set of vehicle data and the at least a portion of the second set of vehicle data to determine the first multi-vehicle probability value includes determining a first arrival probability that the first vehicle will arrive at the common position of the given road segment at a given time and determining a second arrival probability that the second vehicle will arrive at the common position of the given road segment at the given time, and multiplying the first arrival probability by the second arrival probability.

2. The method of claim 1,

wherein the first set of vehicle data comprises a first speed candidate for the first vehicle, a first vehicle speed probability corresponding to the first speed candidate, and a first time parameter indicating when the first vehicle is expected to arrive at the common position of the road segment, and

wherein the second set of vehicle data comprises a second speed candidate for the second vehicle, a second vehicle speed probability corresponding to the second speed candidate, and a second time parameter indicating when the second vehicle is expected to arrive at the common position of the road segment.

3. The method of claim 1,

wherein the first set of vehicle data comprises a first plurality of segment identifiers, a plurality of speed candidates for the first vehicle, a first plurality of vehicle speed probabilities, and a first plurality of time parameters,

wherein each segment identifier of the first plurality of segment identifiers identifies a road segment of the road network and is associated with one or more of the speed candidates for the first vehicle,

wherein each speed candidate for the first vehicle is associated with a respective vehicle speed probability of the first plurality of vehicle speed probabilities and is associated with a respective time parameter of the first plurality of time parameters,

wherein each time parameter of the first plurality of time parameters indicates a time when the first vehicle is expected to arrive at a position of the road network,

wherein the second set of vehicle data comprises a second plurality of segment identifiers, a plurality of speed candidates for the second vehicle, a second plurality of vehicle speed probabilities, and a second plurality of time parameters, wherein each segment identifier of the second plurality of segment identifiers identifies a road segment of the road network and is associated with one or more of the speed candidates for the second vehicle,

wherein each speed candidate for the second vehicle is associated with a respective vehicle speed probability of the second plurality of vehicle speed probabilities and is associated with a respective time parameter of the second plurality of time parameters, and

wherein each time parameter of the second plurality of time parameters indicates a time when the second vehicle is expected to arrive at a position of the road network.

4. The method of claim 1, wherein taking the responsive measure is selected from group consisting of (i) transmitting an alert from the first vehicle to the second vehicle, (ii) changing a speed of the first vehicle, (iii) changing a direction of the first vehicle, (iv) presenting an alert via a user interface of the first vehicle, (v) transmitting an alert to a road network device of the road network, (vi) transmitting an alert from a road network device of the road network to the first vehicle, and (vii) transmitting an alert from a road network device of the road network to the second vehicle.

5. The method of claim 1, wherein the common position of the given road segment comprises a start point of the given road segment or an end point of the given road segment.

6. The method of claim 1, wherein the common position of the given road segment comprises a location between a start point of the given road segment and an end point of the given road segment.

7. The method of claim 1,

wherein receiving the first set of vehicle data comprises a road network device of the road network wirelessly receiving the first set of vehicle data from the first vehicle, and

wherein receiving the second set of vehicle data comprises the road network device of the road network wirelessly receiving the second set of vehicle data from the second vehicle.

8. The method of claim 1, wherein using at least a portion of the first set of vehicle data and a least a portion of the second set of vehicle data to determine the first multi-vehicle probability value comprises a road network device of the road network executing computer-readable program instructions to determine the first multi-vehicle probability value.

9. The method of claim 1, wherein actions of the group of vehicles are coordinated by wireless communications to the first vehicle and the second vehicle.

10. A non-transitory computer-readable data storage device comprising:

a first set of vehicle data, wherein the first set of vehicle data includes data that is associated with a first vehicle and a given road segment defined for a road network on which the first vehicle can travel;

a second set of vehicle data, wherein the second set of vehicle data includes data that is associated with a second vehicle and the given road segment defined for the road network, wherein the second vehicle can travel on the road network;

computer-readable program instructions executable by a processor to use at least a portion of the first set of vehicle data and at least a portion of the second set of vehicle data to determine one or more multi-vehicle probabilities, wherein each multi-vehicle probability value indicates a probability that the first vehicle and the second vehicle will arrive at a common location on the given road segment at the same time; and

computer-readable program instructions executable by the processor to determine whether any of the multi-vehicle probabilities exceeds a threshold probability and to trigger a responsive measure in order for the second vehicle to join a group of vehicles including the first vehicle and traveling in a same direction as the first vehicle in response to any of the multi-vehicle probabilities exceeding the threshold probability,

wherein the first set of vehicle data includes multiple respective sets of vehicle data, wherein each respective set of vehicle data of the first set of vehicle data is generated by and is associated with a respective vehicle traveling in the group of vehicles, and

wherein receiving the first set of vehicle data comprises the second vehicle receiving the first set of vehicle data via radio frequency communications sent from each vehicle of the platoon of vehicles.

11. The computer-readable data storage device of claim 10, wherein the computer-readable data storage device is located within a road network device.

12. A non-transitory computer-readable data storage device comprising:

a first set of vehicle data, wherein the first set of vehicle data includes data that is associated with a first vehicle and a given road segment defined for a road network on which the first vehicle can travel;

a second set of vehicle data, wherein the second set of vehicle data includes data that is associated with a second vehicle and the given road segment defined for the road network, wherein the second vehicle can travel on the road network;

computer-readable program instructions executable by a processor to use at least a portion of the first set of vehicle data and at least a portion of the second set of vehicle data to determine one or more multi-vehicle probabilities, wherein each multi-vehicle probability value indicates a probability that the first vehicle and the second vehicle will arrive at a common location on the given road segment at the same time;

computer-readable program instructions executable by the processor to determine whether any of the multi-vehicle probabilities exceeds a threshold probability and to trigger a responsive measure to be carried out if any of the multi-vehicle probabilities exceeds the threshold probability, and

wherein the computer-readable data storage device is located within the first vehicle or the second vehicle.

13. A method comprising:

receiving a first set of vehicle data, wherein the first set of vehicle data includes data that is associated with at least a first vehicle traveling in a platoon of vehicles on a road network;

receiving a second set of vehicle data, wherein the second set of vehicle data includes data that is associated with a second vehicle; and

using at least a portion of the first set of vehicle data and at least a portion of the second set of vehicle data to determine an adjustment for the first vehicle to make or the second vehicle to make in order for the second vehicle to enter the platoon of vehicles,

wherein the first set of vehicle data includes multiple respective sets of vehicle data, wherein each respective set of vehicle data of the first set of vehicle data is generated by and is associated with a respective vehicle traveling in the platoon of vehicles, and

wherein receiving the first set of vehicle data comprises the second vehicle receiving the first set of vehicle data via radio frequency communications sent from each vehicle of the platoon of vehicles.

14. The method of claim 13, wherein using the at least a portion of the first set of vehicle data and the at least a portion of the second set of vehicle data to determine an adjustment includes determining a range of speeds for the second vehicle to travel within until entering the platoon of vehicles.

15. The method of claim 14, further comprising:

transmitting RF communications from the first vehicle to the second vehicle so as to notify the second vehicle of the range of speeds for the second vehicle; and

presenting, via a user interface of the second vehicle, an alert to notify a driver of the second vehicle to adjust a speed of the second vehicle to be within the range of speeds for the second vehicle.

16. The method of claim 15, wherein using the at least a portion of the first set of vehicle data and the at least a portion of the second set of vehicle data to determine an adjustment includes determining, for each vehicle in the platoon of vehicles, a gap in front of and a gap behind that vehicle, and selecting one of those gaps as an entry point for the second vehicle to enter the platoon of vehicles.

17. The method of claim 13,

wherein the data that is associated with at least the first vehicle traveling in the platoon of vehicles comprises an electronic horizon for the first vehicle including data that defines a first plurality of road segments of the road network, a respective probability value that the first vehicle will be on each road segment of the first plurality of road segments at a given time, and at least one vehicle speed candidate and a respective vehicle speed probability for each road segment of the first plurality of road segments, and

wherein the data that is associated with the second vehicle comprises an electronic horizon for the second vehicle including data that defines a second plurality of road segments of the road network, a respective probability value that the second vehicle will be on each road segment of the second plurality of road segments at the given time, and at least one vehicle speed candidate and a respective vehicle speed probability for each road segment of the second plurality of road segments.

18. The method of claim 13, wherein receiving the first set of data comprises receiving the first set of data at a road network device, and wherein receiving the second set of data comprises receiving the second set of data at the road network device.