Passing lane collision avoidance

• US 9,836,976 B2
• Filed: 03/23/2016
• Issued: 12/05/2017
• Est. Priority Date: 03/23/2016
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan North America Incorporated (Nissan Motor Co., Ltd.)
• Inventors: Probert, Neal, Goudy, Roy, Chambers, Jeremy, Christensen, Andrew
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US15/078,842
• Publication Number:
  US 20170278401A1
• Time in Patent Office: 622 Days
• 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: H04L 67/00 Network arrangements or protocols for supporting network services or applications user-to-user messaging H04L51/00; network arrangements, protocols or services for supporting real-time applications in data packet communications networks H04L65/00
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04W 84/005 Moving wireless networks
• CPC Class Codes: H04W 84/18 Self-organising networks, e.g. ad-hoc networks or sensor networks

Abstract

A method and apparatus for use in traversing a vehicle transportation network may include a host vehicle receiving a remote vehicle message including remote vehicle information, identifying host vehicle information, determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected passing lane collision condition based on the relative position code, the remote vehicle dynamic state code, the host vehicle dynamic state code, and a current acceleration rate for the host vehicle, in response to identifying the expected passing lane collision condition, identifying a vehicle control action, and traversing a portion of the vehicle transportation network in accordance with the vehicle control action.

Claims

1. A method 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,

identifying host vehicle information for the host vehicle,

determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based on the host vehicle information, the remote vehicle information, and a reference direction,

determining a remote vehicle dynamic state code based on the remote vehicle information,

determining a host vehicle dynamic state code based on the host vehicle information,

identifying an expected passing lane collision condition based on the relative position code, the remote vehicle dynamic state code, the host vehicle dynamic state code, and a current acceleration rate for the host vehicle, and

in response to identifying the expected passing lane collision condition, identifying a vehicle control action based on the host vehicle dynamic state code; and

traversing a portion of the vehicle transportation network in accordance with the vehicle control action.

2. The method of claim 1, wherein the remote vehicle information includes:

remote vehicle geospatial state information for the remote vehicle, the remote vehicle geospatial state information including geospatial coordinates for the remote vehicle;

remote vehicle kinematic state information for the remote vehicle, 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; and

remote vehicle operational state information for the remote vehicle, the remote vehicle operational state information including one or more of lateral control state information for the remote vehicle, transmission state information for the remote vehicle, or exterior signal state information for the remote vehicle.

3. The method of claim 1, wherein the host vehicle information includes:

host vehicle geospatial state information for the host vehicle, the host vehicle geospatial state information including geospatial coordinates for the host vehicle;

host vehicle kinematic state information for the host vehicle, the host vehicle kinematic state information including one or more of a host vehicle velocity for the host vehicle, a host vehicle heading for the host vehicle, the current acceleration rate for the host vehicle, or a host vehicle yaw rate for the host vehicle; and

host vehicle operational state information for the host vehicle, the host vehicle operational state information including one or more of lateral control state information for the host vehicle, transmission state information for the host vehicle, or exterior signal state information for the host vehicle.

4. The method of claim 1, wherein determining the relative position code includes identifying a first eight-bit byte wherein a first bit of the first eight-bit byte and a second bit of the first eight-bit byte indicate a longitudinal position of the remote vehicle relative to the host vehicle, a third bit of the first eight-bit byte and a fourth bit of the first eight-bit byte indicate a lateral position of the remote vehicle relative to the host vehicle, a fifth bit of the first eight-bit byte and a sixth bit of the first eight-bit byte indicate an elevation of the remote vehicle relative to the host vehicle, and a seventh bit of the first eight-bit byte and an eighth bit of the first eight-bit byte indicate a heading of the remote vehicle relative to the host vehicle;

and

traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes, in response to a determination that the relative position code indicates a fault state, indicating the fault state to a driver of the host vehicle.

5. The method of claim 1, wherein determining the remote vehicle dynamic state code includes identifying a second eight-bit byte wherein a first bit of the second eight-bit byte and a second bit of the second eight-bit byte indicate a kinematic state of the remote vehicle, a third bit of the second eight-bit byte and a fourth bit of the second eight-bit byte indicate a lateral control state of the remote vehicle, a fifth bit of the second eight-bit byte and a sixth bit of the second eight-bit byte indicate a transmission state of the remote vehicle, and a seventh bit of the second eight-bit byte and an eighth bit of the second eight-bit byte indicate an external signal state of the remote vehicle;

and

traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes, in response to a determination that the remote vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.

6. The method of claim 1, wherein determining the host vehicle dynamic state code includes identifying a third eight-bit byte wherein a first bit of the third eight-bit byte and a second bit of the third eight-bit byte indicate a kinematic state of the host vehicle, a third bit of the third eight-bit byte and a fourth bit of the third eight-bit byte indicate a lateral control state of the host vehicle, a fifth bit of the third eight-bit byte and a sixth bit of the third eight-bit byte indicate a transmission state of the host vehicle, and a seventh bit of the third eight-bit byte and an eighth bit of the third eight-bit byte indicate an external signal state of the host vehicle;

and

traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes, in response to a determination that the host vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.

7. The method of claim 1, wherein identifying the expected passing lane collision condition includes determining that the remote vehicle is ahead of the host vehicle the host vehicle, the remote vehicle is in a lane to the left of the host vehicle, the remote vehicle is level with the host vehicle, the remote vehicle heading is convergent with the host vehicle heading, the remote vehicle heading is opposite with the host vehicle heading, the remote vehicle is in motion, the remote vehicle is in a drive transmission state, the host vehicle is in motion, the host vehicle has an active left turn signal, the host vehicle is in a drive transmission state or a neutral transmission state, and the host vehicle is accelerating.

8. The method of claim 7, wherein identifying the expected passing lane collision condition includes:

identifying a current geospatial distance between the host vehicle and the remote vehicle;

identifying an expected time to contact based on the current geospatial distance, a current speed of the host vehicle, and a current speed of the remote vehicle;

determining whether a time to contact threshold exceeds the expected time to contact; and

determining whether a current acceleration rate for the host vehicle exceeds a passing maneuver acceleration rate threshold.

9. A method 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,

determining a relative position code indicating geospatial location of the remote vehicle relative to the host vehicle based on the host vehicle information, the remote vehicle information, and a reference direction,

determining a remote vehicle dynamic state code based on the remote vehicle information,

determining a host vehicle dynamic state code based on the host vehicle information, and

traversing a portion of the vehicle transportation network, wherein traversing the portion of the vehicle transportation network includes performing passing lane collision avoidance based on the relative position code, the host vehicle dynamic state code, and a current acceleration rate for the host vehicle.

10. The method of claim 9, wherein determining the relative position code includes:

identifying a first eight-bit byte wherein a first bit of the first eight-bit byte and a second bit of the first eight-bit byte indicate a longitudinal position of the remote vehicle relative to the host vehicle, a third bit of the first eight-bit byte and a fourth bit of the first eight-bit byte indicate a lateral position of the remote vehicle relative to the host vehicle, a fifth bit of the first eight-bit byte and a sixth bit of the first eight-bit byte indicate an elevation of the remote vehicle relative to the host vehicle, and a seventh bit of the first eight-bit byte and an eighth bit of the first eight-bit byte indicate a heading of the remote vehicle relative to the host vehicle; and

performing passing lane collision avoidance includes, in response to a determination that the relative position code indicates a fault state, indicating the fault state to a driver of the host vehicle.

11. The method of claim 9, wherein:

the remote vehicle information includes;

remote vehicle geospatial state information for the remote vehicle, the remote vehicle geospatial state information including geospatial coordinates for the remote vehicle,

remote vehicle kinematic state information for the remote vehicle, 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, and

remote vehicle operational state information for the remote vehicle, the remote vehicle operational state information including one or more of lateral control state information, transmission state information, or exterior signal state information;

determining the remote vehicle dynamic state code includes identifying a second eight-bit byte wherein a first bit of the second eight-bit byte and a second bit of the second eight-bit byte indicate a kinematic state of the remote vehicle, a third bit of the second eight-bit byte and a fourth bit of the second eight-bit byte indicate a lateral control state of the remote vehicle, a fifth bit of the second eight-bit byte and a sixth bit of the second eight-bit byte indicate a transmission state of the remote vehicle, and a seventh bit of the second eight-bit byte and an eighth bit of the second eight-bit byte indicate an external signal state of the remote vehicle; and

performing passing lane collision avoidance includes, in response to a determination that the remote vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.

12. The method of claim 9, wherein:

the host vehicle information includes;

host vehicle geospatial state information for the host vehicle, the host vehicle geospatial state information including geospatial coordinates for the host vehicle,

host vehicle kinematic state information for the host vehicle, the host vehicle kinematic state information including one or more of a host vehicle velocity for the host vehicle, a host vehicle heading for the host vehicle, a host vehicle acceleration for the host vehicle, or a host vehicle yaw rate for the host vehicle, and

host vehicle operational state information for the host vehicle, the host vehicle operational state information including one or more of lateral control state information for the host vehicle, transmission state information for the host vehicle, or exterior signal state information for the host vehicle;

determining the host vehicle dynamic state code includes identifying a third eight-bit byte wherein a first bit of the third eight-bit byte and a second bit of the third eight-bit byte indicate a kinematic state of the host vehicle, a third bit of the third eight-bit byte and a fourth bit of the third eight-bit byte indicate a lateral control state of the host vehicle, a fifth bit of the third eight-bit byte and a sixth bit of the third eight-bit byte indicate a transmission state of the host vehicle, and a seventh bit of the third eight-bit byte and an eighth bit of the third eight-bit byte indicate an external signal state of the host vehicle; and

performing passing lane collision avoidance includes, in response to a determination that the host vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.

13. The method of claim 9, wherein performing passing lane collision avoidance includes:

identifying an expected passing lane collision condition based on the relative position code, the host vehicle dynamic state code, and the current acceleration rate for the host vehicle;

identifying a vehicle control action in response to identifying the expected passing lane collision condition; and

operating the host vehicle in accordance with the vehicle control action.

14. The method of claim 13, wherein identifying the expected passing lane collision condition includes determining that the remote vehicle is ahead of the host vehicle the host vehicle, the remote vehicle is in a lane to the left of the host vehicle, the remote vehicle is level with the host vehicle, the remote vehicle heading is convergent with the host vehicle heading, the remote vehicle heading is opposite with the host vehicle heading, the remote vehicle is in motion, the remote vehicle is in a drive transmission state, the host vehicle is in motion, the host vehicle has an active left turn signal, the host vehicle is in a drive transmission state or a neutral transmission state, and the host vehicle is accelerating.

15. The method of claim 14, wherein identifying the expected passing lane collision condition includes:

identifying a current geospatial distance between the host vehicle and the remote vehicle;

identifying an expected time to contact based on the current geospatial distance, a current speed of the host vehicle, and a current speed of the remote vehicle;

determining whether a time to contact threshold exceeds the expected time to contact; and

determining whether a current acceleration rate for the host vehicle exceeds a passing maneuver acceleration rate threshold.

16. A method 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,

determining a relative position code indicating geospatial location of the remote vehicle relative to the host vehicle based on the host vehicle information, the remote vehicle information, and a reference direction,

determining a remote vehicle dynamic state code based on the remote vehicle information,

determining a host vehicle dynamic state code based on the host vehicle information,

identifying an expected passing lane collision condition based on the relative position code, the remote vehicle dynamic state code, the host vehicle dynamic state code, and a current acceleration rate for the host vehicle, wherein identifying an expected passing lane collision condition includes;

identifying a current geospatial distance between the host vehicle and the remote vehicle,

identifying an expected time to contact based on the current geospatial distance, a current speed of the host vehicle, and a current speed of the remote vehicle;

determining whether a time to contact threshold exceeds the expected time to contact; and

determining whether a current acceleration rate for the host vehicle exceeds a passing maneuver acceleration rate threshold,

identifying a vehicle control action in response to identifying the expected passing lane collision condition, and

traversing a portion of the vehicle transportation network, wherein traversing the portion of the vehicle transportation network includes operating the host vehicle to present a representation of the vehicle control action to a driver of the host vehicle.

17. The method of claim 16, wherein identifying the expected passing lane collision condition includes determining that the remote vehicle is ahead of the host vehicle the host vehicle, the remote vehicle is in a lane to the left of the host vehicle, the remote vehicle is level with the host vehicle, the remote vehicle heading is convergent with the host vehicle heading, the remote vehicle heading is opposite with the host vehicle heading, the remote vehicle is in motion, the remote vehicle is in a drive transmission state, the host vehicle is in motion, the host vehicle has an active left turn signal, the host vehicle is in a drive transmission state or a neutral transmission state, and the host vehicle is accelerating.

18. The method of claim 16, wherein determining the relative position code includes identifying a first eight-bit byte wherein a first bit of the first eight-bit byte and a second bit of the first eight-bit byte indicate a longitudinal position of the remote vehicle relative to the host vehicle, a third bit of the first eight-bit byte and a fourth bit of the first eight-bit byte indicate a lateral position of the remote vehicle relative to the host vehicle, a fifth bit of the first eight-bit byte and a sixth bit of the first eight-bit byte indicate an elevation of the remote vehicle relative to the host vehicle, and a seventh bit of the first eight-bit byte and an eighth bit of the first eight-bit byte indicate a heading of the remote vehicle relative to the host vehicle;

and

identifying the expected passing lane collision condition, in response to a determination that the relative position code indicates a fault state, indicating the fault state to a driver of the host vehicle.

19. The method of claim 16, wherein determining the remote vehicle dynamic state code includes identifying a second eight-bit byte wherein a first bit of the second eight-bit byte and a second bit of the second eight-bit byte indicate a kinematic state of the remote vehicle, a third bit of the second eight-bit byte and a fourth bit of the second eight-bit byte indicate a lateral control state of the remote vehicle, a fifth bit of the second eight-bit byte and a sixth bit of the second eight-bit byte indicate a transmission state of the remote vehicle, and a seventh bit of the second eight-bit byte and an eighth bit of the second eight-bit byte indicate an external signal state of the remote vehicle;

and

identifying the expected passing lane collision condition, in response to a determination that the remote vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.

20. The method of claim 16, wherein determining the host vehicle dynamic state code includes identifying a third eight-bit byte wherein a first bit of the third eight-bit byte and a second bit of the third eight-bit byte indicate a kinematic state of the host vehicle, a third bit of the third eight-bit byte and a fourth bit of the third eight-bit byte indicate a lateral control state of the host vehicle, a fifth bit of the third eight-bit byte and a sixth bit of the third eight-bit byte indicate a transmission state of the host vehicle, and a seventh bit of the third eight-bit byte and an eighth bit of the third eight-bit byte indicate an external signal state of the host vehicle;

and

identifying the expected passing lane collision condition, in response to a determination that the host vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.