System and method for driving hazard estimation using vehicle-to-vehicle communication

• US 10,424,203 B2
• Filed: 01/29/2016
• Issued: 09/24/2019
• Est. Priority Date: 01/29/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Gunaratne, Pujitha
• Primary Examiner(s): Cass, Jean Paul
• Application Number:
  US15/010,069
• Publication Number:
  US 20170221362A1
• Time in Patent Office: 1,334 Days
• Field of Search: 701301
• CPC Class Codes: G08G 1/096716 where the received information does not generate 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 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A computing device for a vehicle hazard avoidance system. The device includes one or more processors for controlling operation of the computing device, and a memory storing computer-executable instructions which, when executed by the one or more processors, cause the computing device to receive hazard assessment information relating to a vehicle, perform an analysis of the hazard assessment information, and generate a hazard assessment based on the analysis.

Claims

1. A computing device for a hazard avoidance system for a vehicle, the computing device comprising one or more processors for controlling operation of the computing device, and a memory storing computer-executable instructions which, when executed by the one or more processors, cause the computing device to:

receive hazard assessment information transmitted from at least one transmitting vehicle residing within a predetermined distance from the vehicle, the hazard assessment information relating to the at least one transmitting vehicle, the hazard assessment information including information relating to the driver of the at least one transmitting vehicle;

analyze the received hazard assessment information to generate a hazard assessment value relating to the at least one transmitting vehicle;

compare the hazard assessment value relating to the at least one transmitting vehicle to a threshold hazard assessment value;

responsive to a result of comparing the hazard assessment value relating to the at least one transmitting vehicle to the threshold hazard assessment value, generate a warning to the at least one transmitting vehicle regarding the hazard assessment value relating to the at least one transmitting vehicle;

acquire hazard assessment information relating to the vehicle;

generate, using the hazard assessment information relating to the vehicle, a hazard assessment token including at least one of a value indicating an estimated braking reaction time of a driver of the vehicle, a value indicating an estimated steering reaction time of the driver of the vehicle, a value indicating an estimated acceleration reaction time of the driver of the vehicle, a value indicating an estimated driver engagement level of the driver of the vehicle, and a value indicating an estimated driver perception level of the driver of the vehicle; and

transmit the hazard assessment token to at least one other vehicle traveling within the predetermined distance from the vehicle,

wherein the information relating to the driver of the at least one transmitting vehicle includes at least one of a value indicating an estimated braking reaction time of a driver of the at least one transmitting vehicle, a value indicating an estimated steering reaction time of the driver of the transmitting vehicle, and a value indicating an estimated acceleration reaction time of the driver of the transmitting vehicle.

2. The computing device of claim 1 storing additional computer-executable instructions which, when executed by the one or more processors, cause the hazard avoidance computing device to generate a warning to an occupant of the vehicle.

3. The computing device of claim 1 wherein the hazard assessment information relating to the at least one transmitting vehicle includes “

x” and

“

y”

position coordinate values of the at least one transmitting vehicle, and wherein the computing device stores additional computer-executable instructions which, when executed by the one or more processors, cause the hazard avoidance computing device to;

receive “

x” and

“

y”

coordinate values of the vehicle; and

compare “

x” and

“

y”

coordinate values of the at least one transmitting vehicle to the associated “

x” and

“

y”

coordinate values of the vehicle when analyzing the hazard assessment information.

5. A vehicle hazard avoidance system including a computing device in accordance with claim 1.

6. A vehicle including a computing device in accordance with claim 1.

10. The computing device of claim 1 wherein the information relating to the driver of the at least one transmitting vehicle includes a value indicating an estimated driver perception level of the driver of the at least one transmitting vehicle.

11. The computing device of claim 10 wherein the information relating to the driver of the at least one transmitting vehicle includes a value indicating an estimated driver engagement level of a driver of the at least one transmitting vehicle.

12. The computing device of claim 1 wherein the memory includes computer-executable instructions which, when executed by the one or more processors, cause the computing device to, responsive to the result of comparing the hazard assessment value relating to the at least one transmitting vehicle to the threshold hazard assessment value, generate a warning to at least one other transmitting vehicle different from the at least one transmitting vehicle regarding the hazard assessment value relating to the at least one transmitting vehicle, the at least one other transmitting vehicle residing within the predetermined distance of the vehicle.

4. A computing device for a hazard avoidance system for a vehicle, the computing device comprising one or more processors for controlling operation of the computing device, and a memory storing computer-executable instructions which, when executed by the one or more processors, cause the hazard avoidance computing device to:

receive hazard assessment information transmitted from at least one transmitting vehicle residing within a predetermined distance from the vehicle, the hazard assessment information relating to the at least one transmitting vehicle, the hazard assessment information including a velocity component of the at least one transmitting vehicle in an “

x”

reference direction and a velocity component of the at least one transmitting vehicle in a “

y”

reference direction, the hazard assessment information relating to the at least one transmitting vehicle also including an acceleration component of the at least one transmitting vehicle in an “

x”

reference direction and an acceleration component of the at least one transmitting vehicle in a “

y”

reference direction;

receive a velocity component of the vehicle in the “

x”

reference direction;

receive a velocity component of the vehicle in the “

y”

reference direction;

receive an acceleration component in the “

x”

reference direction of the vehicle;

receive an acceleration component of the vehicle in the “

y”

reference direction;

analyze the received hazard assessment information, the analysis including comparing “

x” and

“

y”

velocity components of the vehicle to the associated “

x” and

“

y”

velocity components of the at least one transmitting vehicle when analyzing the hazard assessment information, and also comparing “

x” and

“

y”

acceleration components of the vehicle to the associated “

x” and

“

y”

acceleration components of the at least one transmitting vehicle when analyzing the hazard assessment information;

using the analysis of the received hazard assessment information, generate a hazard assessment value relating to the at least one transmitting vehicle;

compare the hazard assessment value relating to the at least one transmitting vehicle to a threshold hazard assessment value; and

responsive to a result of comparing the hazard assessment value relating to the at least one transmitting vehicle to the threshold hazard assessment value, generate a warning to the at least one transmitting vehicle regarding the hazard assessment value relating to the at least one transmitting vehicle.

7. A method for estimating a collision hazard to a first vehicle posed by at least one other vehicle driving within a predetermined distance of the first vehicle, the method comprising steps of:

receiving, in the first vehicle, hazard assessment information transmitted from the at least one other vehicle, the hazard assessment information relating to the at least one other vehicle, the hazard assessment information including information relating to the driver of the at least one other vehicle;

analyzing the received hazard assessment information to generate a hazard assessment value relating to the at least one other vehicle;

comparing the hazard assessment value relating to the at least one other vehicle to a threshold hazard assessment value;

responsive to a result of comparing the hazard assessment value relating to the at least one other vehicle to the threshold hazard assessment value, generating a warning to the at least one other vehicle regarding the hazard assessment value relating to the at least one other vehicle;

acquiring hazard assessment information relating to the first vehicle;

generating, using the hazard assessment information relating to the first vehicle, a hazard assessment token including at least one of a value indicating an estimated braking reaction time of a driver of the vehicle, a value indicating an estimated steering reaction time of the driver of the vehicle, a value indicating an estimated acceleration reaction time of the driver of the vehicle, a value indicating an estimated driver engagement level of the driver of the vehicle, and a value indicating an estimated driver perception level of the driver of the vehicle; and

transmitting the hazard assessment token to at least one other vehicle traveling within the predetermined distance from the first vehicle,

wherein the information relating to the driver of the at least one transmitting vehicle includes at least one of a value indicating an estimated braking reaction time of a driver of the at least one transmitting vehicle, a value indicating an estimated steering reaction time of the driver of the transmitting vehicle, and a value indicating an estimated acceleration reaction time of the driver of the transmitting vehicle.

8. A vehicle hazard avoidance system including a computing device comprising one or more processors for controlling operation of the computing device, and a memory storing computer-executable instructions which, when executed by the one or more processors, cause the hazard avoidance computing device to:

receive hazard assessment information transmitted from at least one transmitting vehicle residing within a predetermined distance from the vehicle, the hazard assessment information relating to the at least one transmitting vehicle, the hazard assessment information including a velocity component of the at least one transmitting vehicle in an “

x”

reference direction and a velocity component of the at least one transmitting vehicle in a “

y”

reference direction, the hazard assessment information relating to the at least one transmitting vehicle also including an acceleration component of the at least one transmitting vehicle in an “

x”

reference direction and an acceleration component of the at least one transmitting vehicle in a “

y”

reference direction;

receive a velocity component of the vehicle in the “

x”

reference direction;

receive a velocity component of the vehicle in the “

y”

reference direction;

receive an acceleration component in the “

x”

reference direction of the vehicle;

receive an acceleration component of the vehicle in the “

y”

reference direction;

analyze the received hazard assessment information, the analysis including comparing “

x” and

“

y”

velocity components of the vehicle to the associated “

x” and

“

y”

velocity components of the at least one transmitting vehicle when analyzing the hazard assessment information, and also comparing “

x” and

“

y”

acceleration components of the vehicle to the associated “

x” and

“

y”

acceleration components of the at least one transmitting vehicle when analyzing the hazard assessment information;

using the analysis of the received hazard assessment information, generate a hazard assessment value relating to the at least one transmitting vehicle;

compare the hazard assessment value relating to the at least one transmitting vehicle to a threshold hazard assessment value; and

responsive to a result of comparing the hazard assessment value relating to the at least one transmitting vehicle to the threshold hazard assessment value, generate a warning to the at least one transmitting vehicle regarding the hazard assessment value relating to the at least one transmitting vehicle.

9. A vehicle including a computing device comprising one or more processors for controlling operation of the computing device, and a memory storing computer-executable instructions which, when executed by the one or more processors, cause the hazard avoidance computing device to:

receive hazard assessment information transmitted from at least one transmitting vehicle residing within a predetermined distance from the vehicle, the hazard assessment information relating to the at least one transmitting vehicle, the hazard assessment information including a velocity component of the at least one transmitting vehicle in an “

x”

reference direction and a velocity component of the at least one transmitting vehicle in a “

y”

reference direction, the hazard assessment information relating to the at least one transmitting vehicle also including an acceleration component of the at least one transmitting vehicle in an “

x”

reference direction and an acceleration component of the at least one transmitting vehicle in a “

y”

reference direction;

receive a velocity component of the vehicle in the “

x”

reference direction;

receive a velocity component of the vehicle in the “

y”

reference direction;

receive an acceleration component in the “

x”

reference direction of the vehicle;

receive an acceleration component of the vehicle in the “

y”

reference direction;

analyze the received hazard assessment information, the analysis including comparing “

x” and

“

y”

velocity components of the vehicle to the associated “

x” and

“

y”

velocity components of the at least one transmitting vehicle when analyzing the hazard assessment information, and also comparing “

x” and

“

y”

acceleration components of the vehicle to the associated “

x” and

“

y”

acceleration components of the at least one transmitting vehicle when analyzing the hazard assessment information;

using the analysis of the received hazard assessment information, generate a hazard assessment value relating to the at least one transmitting vehicle;

compare the hazard assessment value relating to the at least one transmitting vehicle to a threshold hazard assessment value; and

responsive to a result of comparing the hazard assessment value relating to the at least one transmitting vehicle to the threshold hazard assessment value, generate a warning to the at least one transmitting vehicle regarding the hazard assessment value relating to the at least one transmitting vehicle.