Converging path detection

• US 9,990,852 B2
• Filed: 01/29/2016
• Issued: 06/05/2018
• Est. Priority Date: 01/29/2016
• 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): Olszewski, John
• Assistant Examiner(s): Ziaeianmehdizadeh, Navid
• Application Number:
  US15/010,708
• Publication Number:
  US 20170221360A1
• Time in Patent Office: 858 Days
• Field of Search: None
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication

Abstract

A method and apparatus 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, determining convergence information indicating whether a remote vehicle expected path for the remote vehicle and a host vehicle expected path for the host vehicle are convergent based on the host vehicle information and the remote vehicle information, and traversing a portion of the vehicle transportation network in response to the convergence information. Determining the convergence information may include determining an orientation sector based on a geodesic between the host vehicle and the remote vehicle, and determining relative position information for the host vehicle and the remote vehicle based on the orientation sector.

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, 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,

determining convergence information indicating whether a remote vehicle expected path for the remote vehicle and a host vehicle expected path for the host vehicle are convergent based on the host vehicle information and the remote vehicle information, wherein determining convergence information includes;

determining an orientation sector corresponding to a geodesic between the host vehicle and the remote vehicle; and

determining relative position information for the host vehicle and the remote vehicle based on the orientation sector, and

traversing a portion of the vehicle transportation network in response to the convergence information.

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

storing the remote vehicle information in a memory of the host vehicle.

3. The method of claim 1, wherein the remote vehicle geospatial state information includes geo spatial coordinates for the remote vehicle, and the remote vehicle kinematic state information includes 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.

4. The method of claim 1, wherein determining the orientation sector includes:

determining the orientation sector as a first defined orientation sector having an angle that is less than π

/2, a second defined orientation sector having an angle that at least π

/2 and less than π

, a third defined orientation sector having an angle that at least π and

less than 3π

/2, or a fourth defined orientation sector having an angle that at least 3π

/2 and less than 2π

.

5. The method of claim 1, wherein determining the orientation sector includes:

determining the orientation sector relative to a reference direction.

6. The method of claim 5, wherein the reference direction is north.

7. The method of claim 1, wherein determining relative position information includes:

determining relative position information based on the orientation sector, a host vehicle heading angle for the host vehicle, a remote vehicle heading angle for the remote vehicle, and an angular offset threshold.

8. The method of claim 1, wherein determining relative position information includes:

determining a longitudinal relative position of the remote vehicle with respect to the host vehicle based on the orientation sector; and

determining a lateral relative position of the remote vehicle with respect to the host vehicle based on the orientation sector.

9. The method of claim 8, wherein determining the longitudinal relative position includes:

determining the longitudinal relative position of the remote vehicle as ahead of the host vehicle, adjacent to the host vehicle, or behind the host vehicle.

10. The method of claim 8, wherein determining the longitudinal relative position includes:

on a condition that the orientation sector is a first defined orientation sector having an angle that is less than π

/2;

determining the longitudinal relative position of the remote vehicle as ahead of the host vehicle on a condition that a host vehicle heading angle for the host vehicle is at least zero and is less than a first metric, or on a condition that the host vehicle heading angle is at least a second metric and is less than 2π

,

determining the longitudinal relative position of the remote vehicle as adjacent to the host vehicle on a condition that the host vehicle heading angle is at least the first metric and is less than a third metric, or on a condition that the host vehicle heading angle is at least a fourth metric and is less than the second metric, and

determining the longitudinal relative position of the remote vehicle as behind the host vehicle on a condition that the host vehicle heading angle is at least the third metric and is less than the fourth metric;

on a condition that the orientation sector is a second defined orientation sector having an angle that is at least π

/2 and less than π

;

determining the longitudinal relative position of the remote vehicle as ahead of the host vehicle on a condition that the host vehicle heading angle is at least a fifth metric and is less than the first metric,

determining the longitudinal relative position of the remote vehicle as adjacent to the host vehicle on a condition that the host vehicle heading angle is at least the first metric and is less than the third metric, or on a condition that the host vehicle heading angle is at least a sixth metric and is less than the fifth metric, and

determining the longitudinal relative position of the remote vehicle as behind the host vehicle on a condition that the host vehicle heading angle is at least the third metric and is less than 2π

, or on a condition that the host vehicle heading angle is at least zero and is less than the sixth metric;

on a condition that the orientation sector is a third defined orientation sector having an angle that is at least π and

less than 3π

/2;

determining the longitudinal relative position of the remote vehicle as ahead of the host vehicle on a condition that the host vehicle heading angle is at least the fifth metric and is less than the first metric,

determining the longitudinal relative position of the remote vehicle as adjacent to the host vehicle on a condition that the host vehicle heading angle is at least the first metric and is less than the third metric, or on a condition that the host vehicle heading angle is at least the sixth metric and is less than the fifth metric, and

determining the longitudinal relative position of the remote vehicle as behind the host vehicle on a condition that the host vehicle heading angle is at least the third metric and is less than 2π

, or on a condition that the host vehicle heading angle is at least zero and is less than the sixth metric; and

on a condition that the orientation sector is a fourth defined orientation sector having an angle that is at least 3π

/2 and less than 2π

;

determining the longitudinal relative position of the remote vehicle as ahead of the host vehicle on a condition that the host vehicle heading angle is at least zero and is less than a seventh metric, or on a condition that the host vehicle heading angle is at least the fifth metric and is less than 2π

,

determining the longitudinal relative position of the remote vehicle as adjacent to the host vehicle on a condition that the host vehicle heading angle is at least the seventh metric and is less than an eight metric, or on a condition that the host vehicle heading angle is at least the sixth metric and is less than the fifth metric, and

determining the longitudinal relative position of the remote vehicle as behind the host vehicle on a condition that the host vehicle heading angle is at least the eight metric and is less than the sixth metric.

11. The method of claim 10, wherein:

the first metric is a sum of;

a convergence angle for a geodesic between the host vehicle and the remote vehicle, and

a result of subtracting a first angular offset threshold from π

/2;

the second metric is a sum of;

the convergence angle, and

a sum of the first angular offset threshold and 3π

/2;

the third metric is a sum of;

the convergence angle, and

a sum of the first angular offset threshold and π

/2;

the fourth metric is a sum of;

the convergence angle, and

a result of subtracting the first angular offset threshold from 3π

/2;

the fifth metric is a result of subtracting, from the convergence angle, a sum of the first angular offset threshold and π

/2;

the sixth metric is a result of subtracting, from the convergence angle, a result of subtracting the first angular offset threshold from π

/2;

the seventh metric is a result of subtracting, from the convergence angle, a result of subtracting the first angular offset threshold from 3π

/2; and

the eighth metric is a result of subtracting, from the convergence angle, a sum of the first angular offset threshold and 3π

/2.

12. The method of claim 8, wherein determining the lateral relative position includes:

on a condition that the orientation sector is a first defined orientation sector having an angle that is less than π

/2;

determining the lateral relative position of the remote vehicle as in-line with the host vehicle on a condition that the host vehicle heading angle is at least a ninth metric and is less than a tenth metric, or on a condition that the host vehicle heading angle is at least a eleventh metric and is less than an twelfth metric,

determining the lateral relative position of the remote vehicle as to the left of the host vehicle on a condition that the host vehicle heading angle is at least the tenth metric and is less than the eleventh metric, and

determining the lateral relative position of the remote vehicle as to the right of the host vehicle on a condition that the host vehicle heading angle is at least zero and is less than the ninth metric, or the host vehicle heading angle is at least the twelfth metric and is less than 2π

;

on a condition that the orientation sector is a second defined orientation sector having an angle that is at least π

/2 and less than π

;

determining the lateral relative position of the remote vehicle as in-line with the host vehicle on a condition that the host vehicle heading angle is at least the ninth metric and is less than the tenth metric, or on a condition that the host vehicle heading angle is at least the eleventh metric and is less than the twelfth metric,

determining the lateral relative position of the remote vehicle as to the left of the host vehicle on a condition that the host vehicle heading angle is at least the tenth metric and is less than the eleventh metric, and

determining the lateral relative position of the remote vehicle as to the right of the host vehicle on a condition that the host vehicle heading angle is at least zero and is less than the ninth metric, or the host vehicle heading angle is at least the twelfth metric and is less than 2π

;

on a condition that the orientation sector is a third defined orientation sector having an angle that is at least π and

less than 3π

/2;

determining the lateral relative position of the remote vehicle as in-line with the host vehicle on a condition that the host vehicle heading angle is at least a thirteenth metric and is less than a fourteenth metric, or on a condition that the host vehicle heading angle is at least a fifteenth metric and is less than a sixteenth metric,

determining the lateral relative position of the remote vehicle as to the left of the host vehicle on a condition that the host vehicle heading angle is at least zero and is less than the thirteenth metric, or on a condition that the host vehicle heading angle is at the sixteenth metric and is less than 2π

, and

determining the lateral relative position of the remote vehicle as to the right of the host vehicle on a condition that the host vehicle heading angle is at least the fourteenth metric and is less than the fifteenth metric; and

on a condition that the orientation sector is a fourth defined orientation sector having an angle that is at least 3π

/2 and less than 2π

;

determining the lateral relative position of the remote vehicle as in-line with the host vehicle on a condition that the host vehicle heading angle is at least the thirteenth metric and is less than the fourteenth metric, or on a condition that the host vehicle heading angle is at least the fifteenth metric and is less than the sixteenth metric,

determining the lateral relative position of the remote vehicle as to the left of the host vehicle on a condition that the host vehicle heading angle is at least zero and is less than the thirteenth metric, or on a condition that the host vehicle heading angle is at the sixteenth metric and is less than 2π

, and

determining the lateral relative position of the remote vehicle as to the right of the host vehicle on a condition that the host vehicle heading angle is at least the fourteenth metric and is less than the fifteenth metric.

13. The method of claim 12, wherein:

the ninth metric is a result of subtracting a second angular offset threshold from the convergence angle;

the tenth metric is a sum of the second angular offset threshold and the convergence angle;

the eleventh metric is a sum of;

the convergence angle, and

a result of subtracting the second angular offset threshold from π

;

the twelfth metric is a sum of the convergence angle, the second angular offset threshold and π

;

the thirteenth metric is a result of subtracting, from the convergence angle, a result of subtracting the second angular offset threshold from π

;

the fourteenth metric is a result of subtracting, from the convergence angle, a sum of the second angular offset threshold and π

;

the fifteenth metric is a result of subtracting the second angular offset threshold from the convergence angle; and

the sixteenth metric is a sum of the second angular offset threshold and the convergence angle.

14. The method of claim 8, wherein determining the lateral relative position includes:

determining the lateral relative position of the remote vehicle as to the left of the host vehicle, in-line with the host vehicle, or to the right of the host vehicle.

15. The method of claim 1, wherein determining the orientation sector includes:

determining the orientation sector from a plurality of orientation sectors, wherein the plurality of orientation sectors represents a quantization of the geospatial domain relative to the host vehicle.

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, 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,

determining convergence information indicating whether a remote vehicle expected path for the remote vehicle and a host vehicle expected path for the host vehicle are convergent based on the host vehicle information and the remote vehicle information, wherein determining convergence information includes;

determining an orientation sector relative to a reference direction, and corresponding to a geodesic between the host vehicle and the remote vehicle;

determining a longitudinal relative position of the remote vehicle with respect to the host vehicle based on the orientation sector; and

determining a lateral relative position of the remote vehicle with respect to the host vehicle based on the orientation sector, and

traversing a portion of the vehicle transportation network in response to the convergence information.

17. The method of claim 16, wherein determining the orientation sector includes:

determining the orientation sector as a first defined orientation sector having an angle that is less than π

/2, a second defined orientation sector having an angle that at least π

/2 and less than π

, a third defined orientation sector having an angle that at least π and

less than 3π

/2, or a fourth defined orientation sector having an angle that at least 3π

/2 and less than 2π

.

18. The method of claim 16, wherein determining the lateral relative position includes:

determining the longitudinal relative position of the remote vehicle as ahead of the host vehicle, adjacent to the host vehicle, or behind the host vehicle;

determining the lateral relative position of the remote vehicle as to the left of the host vehicle, in-line with the host vehicle, or to the right of the host vehicle; and

determining the longitudinal relative position and the lateral relative position based on the orientation sector, a host vehicle heading angle for the host vehicle, a remote vehicle heading angle for the remote vehicle, and an angular offset threshold.

19. The method of claim 16, wherein determining convergence information includes:

on a condition that the orientation sector is a first defined orientation sector having an angle that is less than π

/2;

determining the longitudinal relative position includes;

determining the longitudinal relative position of the remote vehicle as ahead of the host vehicle on a condition that a host vehicle heading angle for the host vehicle is at least zero and is less than a first metric, or on a condition that the host vehicle heading angle is at least a second metric and is less than 2π

;

determining the longitudinal relative position of the remote vehicle as adjacent to the host vehicle on a condition that the host vehicle heading angle is at least the first metric and is less than a third metric, or on a condition that the host vehicle heading angle is at least a fourth metric and is less than the second metric; and

determining the longitudinal relative position of the remote vehicle as behind the host vehicle on a condition that the host vehicle heading angle is at least the third metric and is less than the fourth metric, and

determining the lateral relative position includes;

determining the lateral relative position of the remote vehicle as in-line with the host vehicle on a condition that the host vehicle heading angle is at least a fifth metric and is less than a sixth metric, or on a condition that the host vehicle heading angle is at least a seventh metric and is less than an eight metric;

determining the lateral relative position of the remote vehicle as to the left of the host vehicle on a condition that the host vehicle heading angle is at least the sixth metric and is less than the seventh metric; and

determining the lateral relative position of the remote vehicle as to the right of the host vehicle on a condition that the host vehicle heading angle is at least zero and is less than the fifth metric, or the host vehicle heading angle is at least the eight metric and is less than 2π

;

on a condition that the orientation sector is a second defined orientation sector having an angle that is at least π

/2 and less than π

;

determining the longitudinal relative position includes;

determining the longitudinal relative position of the remote vehicle as ahead of the host vehicle on a condition that the host vehicle heading angle is at least a ninth metric and is less than the first metric;

determining the longitudinal relative position of the remote vehicle as adjacent to the host vehicle on a condition that the host vehicle heading angle is at least the first metric and is less than the third metric, or on a condition that the host vehicle heading angle is at least a tenth metric and is less than the ninth metric; and

determining the longitudinal relative position of the remote vehicle as behind the host vehicle on a condition that the host vehicle heading angle is at least the third metric and is less than 2π

, or on a condition that the host vehicle heading angle is at least zero and is less than the tenth metric, and

determining the lateral relative position includes;

determining the lateral relative position of the remote vehicle as in-line with the host vehicle on a condition that the host vehicle heading angle is at least the fifth metric and is less than the sixth metric, or on a condition that the host vehicle heading angle is at least the seventh metric and is less than the eight metric;

determining the lateral relative position of the remote vehicle as to the left of the host vehicle on a condition that the host vehicle heading angle is at least the sixth metric and is less than the seventh metric; and

determining the lateral relative position of the remote vehicle as to the right of the host vehicle on a condition that the host vehicle heading angle is at least zero and is less than the fifth metric, or the host vehicle heading angle is at least the eight metric and is less than 2π

;

on a condition that the orientation sector is a third defined orientation sector having an angle that is at least π and

less than 3π

/2;

determining the longitudinal relative position includes;

determining the longitudinal relative position of the remote vehicle as ahead of the host vehicle on a condition that the host vehicle heading angle is at least a ninth metric and is less than the first metric;

determining the longitudinal relative position of the remote vehicle as adjacent to the host vehicle on a condition that the host vehicle heading angle is at least the first metric and is less than the third metric, or on a condition that the host vehicle heading angle is at least a tenth metric and is less than the ninth metric; and

determining the longitudinal relative position of the remote vehicle as behind the host vehicle on a condition that the host vehicle heading angle is at least the third metric and is less than 2π

, or on a condition that the host vehicle heading angle is at least zero and is less than the tenth metric, and

determining the lateral relative position includes;

determining the lateral relative position of the remote vehicle as in-line with the host vehicle on a condition that the host vehicle heading angle is at least an eleventh metric and is less than a twelfth metric, or on a condition that the host vehicle heading angle is at least a thirteenth metric and is less than a fourteenth metric;

determining the lateral relative position of the remote vehicle as to the left of the host vehicle on a condition that the host vehicle heading angle is at least zero and is less than the eleventh metric, or on a condition that the host vehicle heading angle is at the fourteenth metric and is less than 2π

; and

determining the lateral relative position of the remote vehicle as to the right of the host vehicle on a condition that the host vehicle heading angle is at least the twelfth metric and is less than the thirteenth metric; and

on a condition that the orientation sector is a fourth defined orientation sector having an angle that is at least 3π

/2 and less than 2π

;

determining the longitudinal relative position includes;

determining the longitudinal relative position of the remote vehicle as ahead of the host vehicle on a condition that the host vehicle heading angle is at least zero and is less than a fifteenth metric, or on a condition that the host vehicle heading angle is at least the ninth metric and is less than 2π

;

determining the longitudinal relative position of the remote vehicle as adjacent to the host vehicle on a condition that the host vehicle heading angle is at least the fifteenth metric and is less than a sixteenth metric, or on a condition that the host vehicle heading angle is at least the tenth metric and is less than the ninth metric; and

determining the longitudinal relative position of the remote vehicle as behind the host vehicle on a condition that the host vehicle heading angle is at least the sixteenth metric and is less than the tenth metric, and

determining the lateral relative position includes;

determining the lateral relative position of the remote vehicle as in-line with the host vehicle on a condition that the host vehicle heading angle is at least the eleventh metric and is less than the twelfth metric, or on a condition that the host vehicle heading angle is at least the thirteenth metric and is less than the fourteenth metric;

determining the lateral relative position of the remote vehicle as to the left of the host vehicle on a condition that the host vehicle heading angle is at least zero and is less than the eleventh metric, or on a condition that the host vehicle heading angle is at the fourteenth metric and is less than 2π

; and

determining the lateral relative position of the remote vehicle as to the right of the host vehicle on a condition that the host vehicle heading angle is at least the twelfth metric and is less than the thirteenth metric.

20. The method of claim 19, wherein:

the first metric is a sum of;

a convergence angle for a geodesic between the host vehicle and the remote vehicle, and

a result of subtracting a first angular offset threshold from π

/2;

the second metric is a sum of;

the convergence angle, and

a sum of the first angular offset threshold and 3π

/2;

the third metric is a sum of;

the convergence angle, and

a sum of the first angular offset threshold and π

/2;

the fourth metric is a sum of;

the convergence angle, and

a result of subtracting the first angular offset threshold from 3π

/2;

the fifth metric is a result of subtracting a second angular offset threshold from the convergence angle;

the sixth metric is a sum of the second angular offset threshold and the convergence angle;

the seventh metric is a sum of;

the convergence angle, and

a result of subtracting the second angular offset threshold from π

;

the eighth metric is a sum of the convergence angle, the second angular offset threshold and π

;

the ninth metric is a result of subtracting, from the convergence angle, a sum of the first angular offset threshold and π

/2;

the tenth metric is a result of subtracting, from the convergence angle, a result of subtracting the first angular offset threshold from π

/2;

the eleventh metric is a result of subtracting, from the convergence angle, a result of subtracting the second angular offset threshold from π

;

the twelfth metric is a result of subtracting, from the convergence angle, a sum of the second angular offset threshold and π

;

the thirteenth metric is a result of subtracting the second angular offset threshold from the convergence angle;

the fourteenth metric is a sum of the second angular offset threshold and the convergence angle;

the fifteenth metric is a result of subtracting, from the convergence angle, a result of subtracting the first angular offset threshold from 3π

/2; and

the sixteenth metric is a result of subtracting, from the convergence angle, a sum of the first angular offset threshold and 3π

/2.

21. 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;

determining convergence information indicating whether a remote vehicle expected path for a remote vehicle and a host vehicle expected path for the host vehicle are convergent based on host vehicle information and remote vehicle information, wherein determining convergence information includes;

determining an orientation sector relative to a reference direction, and corresponding to a geodesic between the host vehicle and the remote vehicle; and

determining relative position information for the host vehicle and the remote vehicle based on the orientation sector, a host vehicle heading angle for the host vehicle, a remote vehicle heading angle for the remote vehicle, and an angular offset threshold, and

traversing a portion of the vehicle transportation network in response to the convergence information.