Cross-traffic assistance and control

• US 10,363,943 B2
• Filed: 12/11/2017
• Issued: 07/30/2019
• Est. Priority Date: 12/11/2017
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Sedlmayr, Joachim
• Primary Examiner(s): Alam, Mirza F
• Application Number:
  US15/837,555
• Publication Number:
  US 20190176844A1
• Time in Patent Office: 596 Days
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/17 with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/162 event-triggered
• 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

Abstract

Systems and methods are described for a lane crossing assistance system for a vehicle. An electronic controller is configured to automatically detect a first crossing lane intersecting with a current lane occupied by a host vehicle. The electronic controller determines, based at least in part on sensor data received from the at least one object sensor mounted on the host vehicle, whether a crossing vehicle is present in the first crossing lane and moving towards an intersection of the first crossing lane and the current lane occupied by the host vehicle. The electronic controller then calculates a first lane crossing vehicle arrival time and a first lane crossing time. A cross traffic guidance indicator is configured to produce an indication perceivable by a driver of the host vehicle that the intersection cannot be crossed by the host vehicle under current conditions.

Claims

1. A lane crossing assistance system for a vehicle, the system comprising:

at least one object sensor;

a cross traffic guidance indicator; and

an electronic controller configured to

automatically detect a multiple lane intersection where a first crossing lane and a second crossing lane both intersect with a current lane occupied by a host vehicle, wherein vehicles operating in the first crossing lane are expected to move in a first direction and vehicles operating in the second crossing lane are expected to move in a second direction opposite the first direction;

determine, based at least in part on sensor data received from the at least one object sensor mounted on the host vehicle, whether a crossing vehicle is present in the first crossing lane and moving towards an intersection of the first crossing lane and the current lane occupied by the host vehicle;

calculate, based at least in part on the sensor data, a first lane crossing vehicle arrival time indicative of an amount of time until the crossing vehicle in the first crossing lane will reach the intersection;

calculate a first lane crossing time indicative of an amount of time required for the host vehicle to move through the intersection across the first crossing lane;

determine, based at least in part on sensor data received from the at least one object sensor, whether a crossing vehicle is present in the second crossing lane and moving towards the multiple lane intersection;

calculated, based at least in part on the sensor data, a second lane crossing vehicle arrival time indicative of an amount of time until the crossing vehicle in the second crossing lane with reach the intersection;

calculate a second lane crossing time indicative of an amount of time required for the host vehicle to move through the intersection across the second crossing lane;

transmit an activation signal to the cross traffic guidance indicator in response to determining both that a crossing vehicle is present in the first crossing lane and that the first lane crossing time is greater than the first lane crossing vehicle arrival time; and

transmit the activation signal to the cross traffic guidance indicator in response to determining both that a crossing vehicle is present in the second crossing lane and that the second lane crossing time is greater than the second lane crossing vehicle arrival time,

wherein the cross traffic guidance indicator is configured to produce, in response to receiving the activation signal, an indication perceivable by a driver of the host vehicle that the intersection cannot be crossed by the host vehicle under current conditions.

2. The lane crossing assistance system of claim 1, wherein the at least one object sensor includes a first object sensor and a second object sensor, wherein the first object sensor is coupled to the host vehicle with a first field of view configured to detect vehicles approaching the intersection from a first direction, and wherein the second object sensor is coupled to the host vehicle with a second field of view configured to detect vehicles approaching the intersection from a second direction opposite the first direction.

3. The lane crossing assistance system of claim 1, wherein the cross traffic guidance indicator is configured to produce, in response to receiving a second activation signal from the electronic controller, a second indication perceivable by the driver of the host vehicle that there is sufficient time for the host vehicle to cross the intersection under current conditions, and

wherein the electronic controller is further configured to:

transmit the second activation signal to the cross traffic guidance indicator in response to a determination, based at least in part on the sensor data, that no crossing vehicle is present in the first crossing lane and that no crossing vehicle is present in the second crossing lane;

transmit the second activation signal to the cross traffic guidance indicator in response to a determination, based at least in part on the sensor data, that no crossing vehicle is present in the first crossing lane, that the crossing vehicle is present in the second crossing lane, and that the second lane crossing time is less than the second lane crossing vehicle arrival time;

transmit the second activation signal to the cross traffic guidance indicator in response to a determination, based at least in part on the sensor data, that no crossing vehicle is present in the second crossing lane, that the crossing vehicle is present in the first crossing lane, and that the first lane crossing time is less than the first lane crossing vehicle arrival time; and

transmit the second activation signal to the cross traffic guidance indicator in response to a determination, based at least in part on the sensor data that a first crossing vehicle is present in the first crossing lane, that the first lane crossing time is less than the first lane crossing vehicle arrival time, that a second crossing vehicle is present in the second crossing lane, and that the second lane crossing time is less than the second lane crossing vehicle arrival time.

4. The lane crossing assistance system of claim 3, wherein the electronic controller is configured to detect a condition indicative of an expectation that the host vehicle will proceed through the multiple lane intersection while continuing to operate in the current lane by detecting that a turn signal of the host vehicle is not activated.

5. The lane crossing assistance system of claim 3, wherein the electronic controller is configured to detect a condition indicative of an expectation that the host vehicle will proceed through the multiple lane intersection while continuing to operate in the current lane by determining that a vehicle navigation system configured to provide turn-by-turn driving directions to an operator of the host vehicle is directing the host vehicle along a route that proceeds through the multiple lane intersection while continuing to operate in the current lane.

6. The lane crossing assistance system of claim 1, wherein the electronic controller is further configured to

detect a condition indicative of an expectation that the host vehicle will turn at the multiple lane intersection to operate in the second crossing lane after moving across the first crossing lane;

determine, in response to detecting the condition and based on the sensor data from the at least one object sensor, whether the crossing vehicle detected in the second crossing lane poses a collision risk to the host vehicle; and

transmit the activation signal to the cross traffic guidance indicator in response to a determination both that the crossing vehicle is present in the second crossing lane and that the crossing vehicle present in the second crossing lane poses the collision risk to the host vehicle.

7. The lane crossing assistance system of claim 6, wherein the electronic controller is configured to detect the condition indicative of the expectation that the host vehicle will turn at the multiple lane intersection to operate in the second crossing lane after moving across the first crossing lane by detecting that a turn signal of the host vehicle is activated.

8. The lane crossing assistance system of claim 6, wherein the electronic controller is configured to detect the condition indicative of the expectation that the host vehicle will turn at the multiple lane intersection to operate in the second crossing lane after moving across the first crossing lane by determining that a vehicle navigation system configured to provide turn-by-turn driving directions to an operator of the host vehicle is directing the host vehicle along a route that turns at the multiple lane intersection and continues in the second direction.

9. The lane crossing assistance system of claim 1, wherein the indication produced by the cross traffic guidance indicator in response to receiving the activation signal includes at least one selected from a group consisting of a lighted icon on a dashboard of the host vehicle, a text-based message, and an audible sound.

10. The lane crossing assistance system of claim 1, wherein the cross traffic guidance indicator includes a first lightable icon and a second lightable icon, and wherein the cross traffic guidance indicator is configured to

light the first lightable icon in response to receiving the activation signal from the electronic controller indicating that there is sufficient time for the host vehicle to cross the intersection under the current conditions;

and

light the second lightable icon in response to receiving a second activation signal from the electronic controller indicating that the intersection can be crossed by the host vehicle under the current conditions.

11. The lane crossing assistance system of claim 1, wherein the electronic controller is configured to automatically detect the multiple lane intersection based on information from a vehicle navigation system configured to provide turn-by-turn driving directions to an operator of the host vehicle.

12. The lane crossing assistance system of claim 1, wherein the electronic controller is configured to automatically detect the multiple lane intersection by

receiving image data from a camera coupled to the host vehicle with a field of view in front of the host vehicle, and

processing the received image data to detect the first crossing lane.

13. The lane crossing assistance system of claim 1, wherein the at least one object sensor includes at least one camera coupled to the host vehicle, and wherein the electronic controller is configured to determine whether the crossing vehicle is present in the first crossing lane and moving towards the intersection by analyzing the received image data.

14. The lane crossing assistance system of claim 1, wherein the at least one object sensor includes at least one distance ranging sensor selected from a group consisting of a radar sensor, a lidar sensor, and a sonar sensor.

15. The lane crossing assistance system of claim 1, wherein the at least one object sensor includes a vehicle-to-vehicle communication interface configured to receiving vehicle location information from other vehicles operating near the host vehicle.

16. The lane crossing assistance system of claim 1, wherein the electronic controller is further configured to transmit an acceleration control signal to a vehicle accelerator control system, wherein the acceleration control signal is configured to prevent the host vehicle from entering the intersection until either no crossing vehicle is detected in the first crossing lane or the first lane crossing time is greater than the first lane crossing vehicle arrival time calculated for a new crossing vehicle detected in the first crossing lane.

17. The lane crossing assistance system of claim 1, wherein the electronic controller is configured to transmit an acceleration control signal to a vehicle accelerator control system, wherein the acceleration control signal is configured to cause the vehicle accelerator control system to increase the acceleration of the vehicle to a target acceleration determined to enable the host vehicle to move through the intersection and across the first crossing lane before the crossing vehicle in the first crossing lane reaches the intersection.

18. The lane crossing assistance system of claim 1, wherein the electronic controller is configured to calculate the first lane crossing time based on at least one selected from a group consisting of a current speed of the host vehicle, predetermined acceleration capabilities of the host vehicle, a total length of the host vehicle including any towed objects, and a current location of the host vehicle relative to the intersection.