Projecting vehicle transportation network information representing an intersection
First Claim
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, the portion including a vehicle transportation network intersection, andtraversing the vehicle transportation network intersection using the projected vehicle transportation network information.
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Abstract
A method and apparatus for generating projected vehicle transportation network information representing an intersection 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 including an intersection based on the remote vehicle information and the host vehicle information, and traversing the intersection represented by the projected vehicle transportation network information using the projected vehicle transportation network information.
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Citations
20 Claims
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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, the portion including a vehicle transportation network intersection, and traversing the vehicle transportation network intersection using the projected vehicle transportation network information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. 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, the portion including a vehicle transportation network intersection, and traversing the vehicle transportation network intersection using the projected vehicle transportation network information. - View Dependent Claims (18, 19)
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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, the portion including a vehicle transportation network intersection, wherein generating the projected vehicle transportation network information includes; identifying a plurality of convergent vehicles from the plurality of remote vehicles, wherein for each convergent vehicle from the plurality of convergent vehicles a respective remote vehicle expected path and a host vehicle expected path are convergent, wherein for each convergent vehicle from the plurality of convergent vehicles the respective remote vehicle information indicates that a velocity for the respective remote vehicle is within a stationary threshold; identifying a plurality of left geospatial locations, wherein each left geospatial location from the plurality of left geospatial locations corresponds with a respective convergent vehicle from the plurality of convergent vehicles, and wherein each left geospatial location from the plurality of left geospatial locations is geospatially to the left of the host vehicle expected path; identifying a longitudinally proximal geospatial location from the plurality of left geospatial locations, the longitudinally proximal geospatial location having a minimal longitudinal distance from the geospatial location of the host vehicle among the plurality of left geospatial locations; identifying a laterally proximal left geospatial location from the plurality of left geospatial locations, the laterally proximal left geospatial location having a minimal latitudinal distance from the geospatial location of the host vehicle among the plurality of left geospatial locations; identifying a proximal left geospatial location of the vehicle transportation network intersection, the proximal left geospatial location corresponding laterally with the laterally left proximal geospatial location and corresponding longitudinally with the longitudinally proximal geospatial location; identifying a plurality of right geospatial locations, wherein each right geospatial location from the plurality of right geospatial locations corresponds with a respective convergent vehicle from the plurality of convergent vehicles, and wherein each right geospatial location from the plurality of right geospatial locations is geospatially to the right of the host vehicle expected path; identifying a longitudinally distal geospatial location from the plurality of right geospatial locations, the longitudinally distal geospatial location having a maximal longitudinal distance from the geospatial location of the host vehicle among the plurality of right geospatial locations; identifying a laterally proximal right geospatial location from the plurality of right geospatial locations, the laterally proximal right geospatial location having a minimal latitudinal distance from the geospatial location of the host vehicle among the plurality of right geospatial locations; identifying a distal right geospatial location of the vehicle transportation network intersection, the distal right geospatial location corresponding laterally with the laterally proximal right geospatial location and corresponding longitudinally with the longitudinally distal geospatial location; identifying a geospatial location of the vehicle transportation network intersection based on the proximal left geospatial location and the distal right geospatial location; and identifying a geospatial size of the vehicle transportation network intersection based on the proximal left geospatial location and the distal right geospatial location, and traversing the vehicle transportation network intersection using the projected vehicle transportation network information.
Specification