Turn by turn activation of turn signals

• US 10,525,873 B2
• Filed: 02/20/2018
• Issued: 01/07/2020
• Est. Priority Date: 02/20/2018
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Research Institute, Inc. (Toyota Motor Corporation)
• Inventors: Rowell, Todd J.
• Primary Examiner(s): Akki, Munear T
• Application Number:
  US15/899,458
• Publication Number:
  US 20190255989A1
• Time in Patent Office: 686 Days
• Field of Search: 340475, 701301, 701 36, 701523
• CPC Class Codes: B60Q 1/346 with automatic actuation
• CPC Class Codes: B60W 2520/06 Direction of travel
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2554/806 Relative heading
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2756/10 Involving external transmission of data to or from the vehicle
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 60/0017 of other traffic participants
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G06V 20/597 Recognising the driver's state or behaviour, e.g. attention or drowsiness

Abstract

A turn signal system for activating a turn signal of a vehicle includes an electronic control unit having a processor and a non-transitory computer readable memory including a machine-readable instruction set. The electronic control unit is communicatively coupled to one or more external vehicle environment sensors, a vehicle speed sensor, and a turn signal. The machine-readable instruction set causes the processor to determine a vehicle speed based on an output signal of the vehicle speed sensor, predict a vehicle turning maneuver based on one or more environment signals output by the one or more external vehicle environment sensors when the vehicle speed is below a threshold, and automatically activate the turn signal in response to predicting the vehicle turning maneuver.

Claims

1. A turn signal system for activating a turn signal of a vehicle comprising:

an electronic control unit comprising a processor and a non-transitory computer readable memory;

one or more external vehicle environment sensors communicatively coupled to the electronic control unit;

a vehicle speed sensor communicatively coupled to the electronic control unit;

a turn signal communicatively coupled to the electronic control unit; and

a machine-readable instruction set stored in the non-transitory computer readable memory that causes the turn signal system to perform at least the following when executed by the processor;

determine a vehicle speed based on an output signal of the vehicle speed sensor;

determine the vehicle speed is below a threshold, wherein the threshold is based on at least one of;

(i) a distance between a current vehicle location and a predicted location of a vehicle turning maneuver or (ii) an angle between a current vehicle trajectory and a predicted vehicle trajectory upon completing the vehicle turning maneuver;

predict the vehicle turning maneuver based on one or more environment signals output by the one or more external vehicle environment sensors when the vehicle speed is below the threshold; and

automatically activate the turn signal in response to predicting the vehicle turning maneuver.

2. The turn signal system of claim 1, wherein the machine-readable instruction set further causes the processor to:

determine the angle between the current vehicle trajectory and the predicted vehicle trajectory upon completing the vehicle turning maneuver; and

select the threshold from the non-transitory computer readable memory based on the angle.

3. The turn signal system of claim 1, wherein the machine-readable instruction set further causes the processor to:

determine the distance between the current vehicle location and the predicted location of the vehicle turning maneuver, and

select the threshold from the non-transitory computer readable memory based on the distance.

4. The turn signal system of claim 1, wherein the one or more external vehicle environment sensors comprises at least one external environment camera communicatively coupled to the electronic control unit, and wherein the at least one external environment camera automatically captures image data and transmits the image data to the electronic control unit and the machine-readable instruction set further causes the processor to:

receive the image data from the at least one external environment camera; and

determine at least one of an intersecting thoroughfare and a parking location based on the image data.

5. The turn signal system of claim 1, wherein the one or more external vehicle environment sensors comprises at least one LIDAR sensor communicatively coupled to the electronic control unit, and wherein the at least one LIDAR sensor automatically captures topography data and transmits the topography data to the electronic control unit and the machine-readable instruction set further causes the processor to:

receive the topography data from the at least one LIDAR sensor and

determine at least one of an intersecting thoroughfare and a parking location based on the topography data.

6. The turn signal system of claim 1, further comprising one or more driver centric sensors communicatively coupled to the electronic control unit, wherein the one or more driver centric sensors generate one or more signals indicative of one or more conditions around a driver, wherein the one or more driver centric sensors comprises:

an infrared light emitter focusing infrared light onto one or more eyes of the driver; and

one or more driver facing cameras comprising an infrared camera positioned to capture the infrared light reflected from the one or more eyes of the driver.

7. The turn signal system of claim 6, wherein the machine-readable instruction set further causes the processor to:

receive image data from the one or more driver facing cameras;

determine a driver action comprising at least one of a driver head movement and a driver eye movement based on the image data from the one or more driver facing cameras; and

update the prediction of the vehicle turning maneuver with a prediction of the vehicle turning maneuver based on the one or more environment signals output by the one or more external vehicle environment sensors and the driver action when the vehicle speed is below the threshold.

17. The turn signal system of claim 1, wherein the machine-readable instruction set further causes the processor to:

determine a confidence level associated with the predicted vehicle turning maneuver, wherein the confidence level is determined based on the vehicle speed, wherein automatically activating the turn signal is further in response to determining the confidence level associated with the predicted vehicle turning maneuver is above a predetermined confidence level.

8. A method for activating a turn signal of a vehicle, the method comprising:

determining a vehicle speed based on an output signal of a vehicle speed sensor;

determining the vehicle speed is below a threshold, wherein the threshold is based on at least one of;

(i) a distance between a current vehicle location and a predicted location of a vehicle turning maneuver or (ii) an angle between a current vehicle trajectory and a predicted vehicle trajectory upon completing the vehicle turning maneuver;

predicting the vehicle turning maneuver based on one or more signals output by one or more external vehicle environment sensors when the vehicle speed is below the threshold; and

activating the turn signal of the vehicle in response to predicting the vehicle turning maneuver.

9. The method of claim 8, further comprising:

determining the threshold based on the angle between the current vehicle trajectory and the predicted vehicle trajectory upon completing the vehicle turning maneuver.

10. The method of claim 8, further comprising:

determining the threshold based on the distance between the current vehicle location and the predicted location of the vehicle turning maneuver.

11. The method of claim 8, further comprising:

receiving image data from the one or more external vehicle environment sensors wherein the one or more external vehicle environment sensors comprises at least one external environment camera; and

determining at least one of an intersecting thoroughfare or a parking location based on the image data.

12. The method of claim 8, further comprising:

receiving topography data from the one or more external vehicle environment sensors wherein the one or more external vehicle environment sensors comprises at least one LIDAR sensor; and

determining at least one of an intersecting thoroughfare and a parking location based on the topography data.

13. The method of claim 8, further comprising:

receiving image data from one or more driver facing cameras;

determining a driver action comprising at least one of a driver head movement and driver eye movement based on the image data from the one or more driver facing cameras; and

updating the prediction of the vehicle turning maneuver based on one or more environment signals output by the one or more external vehicle environment sensors when the vehicle speed is below the threshold with a prediction of the vehicle turning maneuver based on the one or more environment signals output by the one or more external vehicle environment sensors and the driver action when the vehicle speed is below the threshold.

18. The method of claim 8, further comprising:

determining a confidence level associated with the predicted vehicle turning maneuver, wherein the confidence level is determined based on the vehicle speed, wherein activating the turn signal is further in response to determining the confidence level associated with the predicted vehicle turning maneuver is above a predetermined confidence level.

14. A vehicle having a turn signal system for activating a turn signal of the vehicle comprising:

an electronic control unit comprising a processor and a non-transitory computer readable memory;

at least one external environment camera for capturing image data of an external environment of the vehicle communicatively coupled to the electronic control unit;

a vehicle speed sensor communicatively coupled to the electronic control unit;

a turn signal communicatively coupled to the electronic control unit; and

a machine-readable instruction set stored in the non-transitory computer readable memory that causes the turn signal system to perform at least the following when executed by the processor;

determine a vehicle speed based on an output signal of the vehicle speed sensor;

determine the vehicle speed is below a threshold, wherein the threshold is based on at least one of;

(i) a distance between a current vehicle location and a predicted location of a vehicle turning maneuver or (ii) an angle between a current vehicle trajectory and a predicted vehicle trajectory upon completing the vehicle turning maneuver;

predict the vehicle turning maneuver based on the image data from the at least one external environment camera when the vehicle speed is below the threshold; and

automatically activate the turn signal in response to predicting the vehicle turning maneuver.

15. The vehicle of claim 14, further comprising:

a global positioning system communicatively coupled to the electronic control unit, wherein the global positioning system provides one or more signals indicative of a vehicle location; and

map data stored in the non-transitory computer readable memory, wherein the machine-readable instruction set further causes the processor to;

correlate the image data to the map data based on the vehicle location provided by the global positioning system; and

update the prediction of the vehicle turning maneuver based on the correlation of the image data with the map data.

16. The vehicle of claim 15, wherein the machine-readable instruction set further causes the processor to:

determine the angle between the current vehicle trajectory and predicted vehicle trajectory upon completing the vehicle turning maneuver;

determine the distance between the current vehicle location and the predicted location of the vehicle turning maneuver, and

select the threshold from the non-transitory computer readable memory based on the angle and the distance.

19. The vehicle of claim 14, wherein the machine-readable instruction set further causes the processor to:

determine a confidence level associated with the predicted vehicle turning maneuver, wherein the confidence level is determined based on the vehicle speed, wherein automatically activating the turn signal is further in response to determining the confidence level associated with the predicted vehicle turning maneuver is above a predetermined confidence level.