System and method for providing vehicle collision avoidance at an intersection

• US 9,604,641 B2
• Filed: 06/16/2015
• Issued: 03/28/2017
• Est. Priority Date: 06/16/2015
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Al-Stouhi, Samir K.
• Primary Examiner(s): Beaulieu, Yonel
• Assistant Examiner(s): WEEKS, MARTIN A
• Application Number:
  US14/740,420
• Publication Number:
  US 20160368492A1
• Time in Patent Office: 651 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/04 including control of propulsion units
• 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 2050/143 Alarm means
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/55 using telemetry
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60Y 2300/0954 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60Y 2300/18158 Approaching intersection
• CPC Class Codes: G08G 1/162 : event-triggered
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A system and method for providing vehicle collision avoidance at an intersection include receiving vehicle parameters from a reference vehicle and environmental parameters from roadside equipment. The system and method also include processing a vehicle behavioral map based on the vehicle parameters and the environmental parameters and transmitting the vehicle behavioral map to a target vehicle. The system and method additionally include processing a confidence table based on the vehicle behavioral map and vehicle parameters provided by the target vehicle. The system and method further include providing a collision avoidance response based on the confidence table, wherein the collision avoidance response is provided to the target vehicle to avoid a possible collision with the reference vehicle at the intersection.

Claims

1. A computer-implemented method for providing vehicle collision avoidance at an intersection, comprising:

receiving vehicle parameters from a reference vehicle and environmental parameters from roadside equipment (RSE), wherein the environmental parameters are indicative of infrastructure data, traffic data, and weather data associated with the vicinity of the intersection;

processing a vehicle behavioral map, wherein processing the vehicle behavioral map includes evaluating the vehicle parameters and the environmental parameters and augmenting a geographical map with a location of the reference vehicle and data that is indicative of expected vehicle maneuvers based on the vehicle parameters and the environmental parameters;

transmitting the vehicle behavioral map to a target vehicle;

processing a confidence table based on the vehicle behavioral map and the vehicle parameters provided by the target vehicle, wherein the confidence table is populated with data extracted from the vehicle behavioral map and the vehicle parameters provided by the target vehicle; and

providing a collision avoidance response based on the confidence table, wherein the collision avoidance response is provided to the target vehicle to avoid a possible collision with the reference vehicle at the intersection.

2. The computer-implemented method of claim 1, wherein receiving vehicle parameters from the reference vehicle includes receiving a data signal that is transmitted by on-board equipment (OBE) of the reference vehicle, wherein the vehicle parameters are indicative of at least one of:

positional parameters, directional parameters, and dynamic parameters associated with the reference vehicle.

3. The computer-implemented method of claim 2, wherein receiving environmental parameters from roadside equipment includes receiving a data signal from environmental sensors of the RSE to the OBE of the reference vehicle.

4. The computer-implemented method of claim 3, wherein processing the vehicle behavioral map includes evaluating the vehicle parameters and the environmental parameters and augmenting the geographical map of the intersection with a positional location of the reference vehicle based on the positional parameters, a directional orientation of the reference vehicle based on the directional parameters, data that reflects the dynamic parameters of the reference vehicle, the environmental parameters associated with the vicinity of the intersection, and expected vehicle maneuvers of the reference vehicle.

5. The computer-implemented method of claim 1, further including stopping the processing of the vehicle behavioral map when abnormal intersection activity is determined based on the environmental parameters, wherein abnormal intersection activity is based on an abnormal flow of traffic through the intersection.

6. The computer-implemented method of claim 1, wherein transmitting the vehicle behavioral map to the target vehicle includes determining the existence of the target vehicle that is approaching or traveling through the intersection, establishing computer communication with OBE of the target vehicle, and transmitting a data signal to the OBE of the target vehicle.

7. The computer-implemented method of claim 1, wherein providing the collision avoidance response based on the confidence table includes evaluating the confidence table to estimate a path of travel of the reference vehicle approaching the intersection, wherein the estimated path of travel of the reference vehicle is based on the evaluation of environmental parameters associated with the vicinity of the intersection, a positional location of the reference vehicle, a directional location of the reference vehicle, and vehicle dynamics of the reference vehicle.

8. The computer-implemented method of claim 7, wherein providing the collision avoidance response based on the confidence table includes evaluating the confidence table to estimate a path of travel of the target vehicle approaching or traveling through the intersection, wherein the estimated path of travel of the target vehicle is based on the evaluation of environmental parameters associated with the vicinity of the intersection, a positional location of the target vehicle, a directional location of the target vehicle, and the vehicle dynamics of the target vehicle.

9. The computer-implemented method of claim 8, wherein providing the collision avoidance response based on the confidence table includes determining that the estimated path of travel of the reference vehicle overlaps with the estimated path of travel of the target vehicle and estimating a probability of collision between the reference vehicle and the target vehicle, wherein the collision avoidance response can be based on the probability of collision between the reference vehicle and the target vehicle.

10. A system for providing vehicle collision avoidance at an intersection, comprising:

a memory storing instructions that when executed by a processor cause the processor to;

receive vehicle parameters from a reference vehicle and environmental parameters from roadside equipment (RSE), wherein the environmental parameters are indicative of infrastructure data, traffic data, and weather data associated with the vicinity of the intersection;

process a vehicle behavioral map based on the vehicle parameters and the environmental parameters, wherein processing the vehicle behavioral map includes evaluating the vehicle parameters and the environmental parameters and augmenting a geographical map with a location of the reference vehicle and data that is indicative of expected vehicle maneuvers based on the vehicle parameters and the environmental parameters;

transmit the vehicle behavioral map to a target vehicle;

process a confidence table based on the vehicle behavioral map and vehicle parameters provided by the target vehicle, wherein the confidence table is populated with data extracted from the vehicle behavioral map and vehicle parameters provided by the target vehicle; and

provide a collision avoidance response based on the confidence table, wherein the collision avoidance response is provided to the target vehicle to avoid a possible collision with the reference vehicle at the intersection.

11. The system of claim 10, wherein a data signal that is transmitted by on-board equipment (OBE) of the reference vehicle that includes the vehicle parameters of the reference vehicle, wherein the vehicle parameters are indicative of at least one of:

positional parameters, directional parameters, and dynamic parameters associated with the reference vehicle.

12. The system of claim 11, wherein a data signal from environmental sensors of the RSE is transmitted by the RSE to the OBE of the reference vehicle.

13. The system of claim 12, wherein the vehicle parameters and the environmental parameters are evaluated and the processor augments a geographical map of the intersection with a positional location of the reference vehicle based on the positional parameters, a directional orientation of the reference vehicle based on the directional parameters, data that reflects the dynamic parameters of the reference vehicle, the environmental parameters associated with the vicinity of the intersection, and expected vehicle maneuvers of the reference vehicle.

14. The system of claim 10, wherein the processor stops processing of the vehicle behavioral map when abnormal intersection activity is determined based on the environmental parameters, wherein abnormal intersection activity is based on an abnormal flow of traffic through the intersection.

15. The system of claim 10, wherein the processor determines the existence of the target vehicle that is approaching or traveling through the intersection, establishes computer communication with OBE of the target vehicle, and transmits a data signal to the OBE of the target vehicle.

16. The system of claim 10, wherein the confidence table is evaluated to estimate a path of travel of the reference vehicle approaching the intersection, wherein the estimated path of travel of the reference vehicle is based on the evaluation of environmental parameters associated with the vicinity of the intersection, a positional location of the reference vehicle, a directional location of the reference vehicle, and vehicle dynamics of the reference vehicle.

17. The system of claim 16, wherein the confidence table is evaluated to estimate a path of travel of the target vehicle approaching or traveling through the intersection, wherein the estimated path of travel of the target vehicle is based on the evaluation of environmental parameters associated with the vicinity of the intersection, a positional location of the target vehicle, a directional location of the target vehicle, and the vehicle dynamics of the target vehicle.

18. The system of claim 17, wherein the processor determines that the estimated path of travel of the reference vehicle overlaps with the estimated path of travel of the target vehicle and estimates a probability of collision between the reference vehicle and the target vehicle, wherein the collision avoidance response can be based on the probability of collision between the reference vehicle and the target vehicle.

19. A non-transitory computer-readable storage medium storing instructions that when executed by a processor perform actions, comprising:

receiving vehicle parameters from a reference vehicle and environmental parameters from roadside equipment (RSE), wherein the environmental parameters are indicative of infrastructure data, traffic data, and weather data associated with the vicinity of the intersection;

processing a vehicle behavioral map, wherein processing the vehicle behavioral map includes evaluating the vehicle parameters and the environmental parameters and augmenting a geographical map with a location of the reference vehicle and data that is indicative of expected vehicle maneuvers based on the vehicle parameters and the environmental parameters;

transmitting the vehicle behavioral map to a target vehicle;

processing a confidence table based on the vehicle behavioral map and vehicle parameters provided by the target vehicle, wherein the confidence table is populated with data extracted from the vehicle behavioral map and vehicle parameters provided by the target vehicle; and

providing a collision avoidance response based on the confidence table, wherein the collision avoidance response is provided to the target vehicle to avoid a possible collision with the reference vehicle at the intersection.

20. The computer readable storage medium of claim 19, wherein providing the collision avoidance response based on the confidence table includes determining that an estimated path of travel of the reference vehicle overlaps with an estimated path of travel of the target vehicle and estimating a probability of collision between the reference vehicle and the target vehicle, wherein the collision avoidance response can be based on the probability of collision between the reference vehicle and the target vehicle.