Blind spot collision avoidance

• US 9,987,984 B2
• Filed: 03/23/2016
• Issued: 06/05/2018
• 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: Goudy, Roy, Probert, Neal, Christensen, Andrew, Chambers, Jeremy
• Primary Examiner(s): King, Curtis
• Application Number:
  US15/078,729
• Publication Number:
  US 20170274821A1
• Time in Patent Office: 804 Days
• Field of Search: None
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G01S 11/026 using moving transmitters
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

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 based, 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 blind spot collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, in response to identifying the expected blind spot 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.

Claims

1. A method for use in traversing a vehicle transportation network, the method comprising:

traversing, by a host vehicle, the vehicle transportation network, wherein traversing the vehicle transportation network includes;

receiving, at the 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 a geospatial location of the remote vehicle relative to the host vehicle based on host vehicle information, the remote vehicle information, and a reference direction;

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

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

traversing a portion of the vehicle transportation network, wherein traversing the portion of the vehicle transportation network includes performing blind spot collision avoidance based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code.

2. 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.

3. 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, and 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;

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; and

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.

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.

5. The method of claim 1, wherein performing the blind spot collision avoidance includes:

identifying an expected blind spot collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code;

identifying a vehicle control action based on the expected blind spot collision condition; and

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

6. The method of claim 5, wherein identifying the expected blind spot collision condition includes:

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

identifying a convergence angle between the host vehicle and the remote vehicle;

identifying a relative convergence angle between the host vehicle and the remote vehicle based on the convergence angle;

identifying a relative longitudinal distance between the host vehicle and the remote vehicle based on the current geospatial distance and the relative convergence angle;

identifying a relative lateral distance between the host vehicle and the remote vehicle based on the current geospatial distance and the relative convergence angle;

determining whether a minimum relative longitudinal distance is within the relative longitudinal distance;

determining whether a maximum relative longitudinal distance exceeds the relative longitudinal distance;

determining whether the relative lateral distance exceeds a minimum relative lateral distance; and

determining whether the relative lateral distance is within a maximum relative lateral distance.

7. The method of claim 5, wherein identifying the vehicle control action includes:

on a condition that the relative position code indicates that the remote vehicle is in a lane to the left of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a left turn signal is inactive for the host vehicle, identifying an advisory vehicle control action as the vehicle control action;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the right of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a right turn signal is inactive for the host vehicle, identifying an advisory vehicle control action as the vehicle control action;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the left of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a left turn signal is active for the host vehicle, identifying a warning vehicle control action as the vehicle control action; and

on a condition that the relative position code indicates that the remote vehicle is in a lane to the right of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a right turn signal is active for the host vehicle, identifying a warning vehicle control action as the vehicle control action.

8. The method of claim 5, wherein operating the host vehicle in accordance with the vehicle control action includes presenting a representation of the vehicle control action to a driver of the vehicle.

9. A method for use in traversing a vehicle transportation network, the method comprising:

traversing, by a host vehicle, the vehicle transportation network, wherein traversing the vehicle transportation network includes;

receiving, at the 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 a geospatial location of the remote vehicle relative to the host vehicle based on host vehicle information, the remote vehicle information, and a reference direction;

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

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

identifying an expected blind spot collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code;

in response to identifying the expected blind spot collision condition, identifying a vehicle control action based on the host vehicle dynamic state code, wherein identifying the vehicle control action includes;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the left of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a left turn signal is inactive for the host vehicle, identifying an advisory vehicle control action as the vehicle control action;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the right of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a right turn signal is inactive for the host vehicle, identifying an advisory vehicle control action as the vehicle control action;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the left of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a left turn signal is active for the host vehicle, identifying a warning vehicle control action as the vehicle control action; and

on a condition that the relative position code indicates that the remote vehicle is in a lane to the right of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a right turn signal is active for the host vehicle, identifying a warning vehicle control action as the vehicle control action; and

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

10. The method of claim 9, wherein identifying the vehicle control action includes:

on a condition that the relative position code indicates that the remote vehicle is in a lane to the left of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a left turn signal is inactive for the host vehicle, identifying an advisory vehicle control action as the vehicle control action;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the right of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a right turn signal is inactive for the host vehicle, identifying an advisory vehicle control action as the vehicle control action;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the left of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a left turn signal is active for the host vehicle, identifying a warning vehicle control action as the vehicle control action; and

on a condition that the relative position code indicates that the remote vehicle is in a lane to the right of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a right turn signal is active for the host vehicle, identifying a warning vehicle control action as the vehicle control action.

11. A method for use in traversing a vehicle transportation network, the method comprising:

traversing, by a host vehicle, the vehicle transportation network, wherein traversing the vehicle transportation network includes;

receiving, at the 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 a 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 blind spot collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code; and

in response to identifying the expected blind spot 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.

12. The method of claim 11, 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.

13. The method of claim 11, 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.

14. The method of claim 11, 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.

15. The method of claim 11, 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.

16. The method of claim 11, 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.

17. The method of claim 11, wherein identifying the expected blind spot collision condition includes determining that the remote vehicle is behind the host vehicle or adjacent to the host vehicle, the remote vehicle is in a lane to the left of the host vehicle or a lane to the right of the host vehicle, the remote vehicle is level with the host vehicle, a remote vehicle heading for the remote vehicle is convergent with a host vehicle heading for the host vehicle, the remote vehicle heading is aligned 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, and the host vehicle is in a drive transmission state or a neutral transmission state.

18. The method of claim 11, wherein identifying the expected blind spot collision condition includes:

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

identifying a convergence angle between the host vehicle and the remote vehicle;

identifying a relative convergence angle between the host vehicle and the remote vehicle based on the convergence angle;

identifying a relative longitudinal distance between the host vehicle and the remote vehicle based on the current geospatial distance and the relative convergence angle;

identifying a relative lateral distance between the host vehicle and the remote vehicle based on the current geospatial distance and the relative convergence angle;

determining whether a minimum relative longitudinal distance is within the relative longitudinal distance;

determining whether a maximum relative longitudinal distance exceeds the relative longitudinal distance;

determining whether the relative lateral distance exceeds a minimum relative lateral distance; and

determining whether the relative lateral distance is within a maximum relative lateral distance.

19. The method of claim 11, wherein identifying the vehicle control action includes:

on a condition that the relative position code indicates that the remote vehicle is in a lane to the left of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a left turn signal is inactive for the host vehicle, identifying an advisory vehicle control action as the vehicle control action;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the right of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a right turn signal is inactive for the host vehicle, identifying an advisory vehicle control action as the vehicle control action;

on a condition that the relative position code indicates that the remote vehicle is in a lane to the left of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a left turn signal is active for the host vehicle, identifying a warning vehicle control action as the vehicle control action; and

on a condition that the relative position code indicates that the remote vehicle is in a lane to the right of the host vehicle, and on a condition that the host vehicle dynamic state code indicates that a right turn signal is active for the host vehicle, identifying a warning vehicle control action as the vehicle control action.

20. The method of claim 11, wherein traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes presenting a representation of the vehicle control action to a driver of the host vehicle.