Intersection assistance system and method

• US 7,209,051 B2
• Filed: 12/10/2004
• Issued: 04/24/2007
• Est. Priority Date: 03/05/2002
• Status: Expired due to Term

• Current Assignee: University of Minnesota
• Original Assignee: University of Minnesota
• Inventors: Cheng, Pi-Ming, Alexander, Lee, Donath, Max, Newstrom, Bryan, Shankwitz, Craig R., Gorjestani, Alec, Menon, Arvind, Ward, Nicholas J.
• Primary Examiner(s): Hofsass; Jeffery
• Assistant Examiner(s): Labbees; Edny
• Application Number:
  US11/009,941
• Publication Number:
  US 20050174257A1
• Time in Patent Office: 865 Days
• Field of Search: 340/907, 340/909, 340/911, 340/933, 340/934, 340/935, 340/936, 340/937, 340/938, 701/117, 701/118, 701/119, 701/301, 707/104.1
• US Class Current: 340/938
• CPC Class Codes: G06F 16/29 Geographical information databases

Abstract

An intersection assistance system includes at least one vehicle sensor and a gap estimator. The vehicle sensor is configured to obtain vehicle information on vehicles approaching the intersection along a main roadway. The gap estimator is configured to estimate gap information relating to a gap between the vehicles based on the vehicle information. The gap information includes a length of the gap, a location of the gap, and a velocity of the gap. In a method of obtaining information for use in assisting a driver of an entering vehicle to safely enter an intersection, vehicle information is obtained on vehicles traveling toward the intersection on a main roadway. Next, gap information is estimated relating to a gap between the vehicles based on the vehicle information. The gap information includes a length of the gap, a location of the gap, and a velocity of the gap.

Claims

1. An intersection assistance system comprising:

at least one vehicle sensor configured to obtain vehicle information on vehicles approaching an intersection on a main roadway, wherein the intersection includes the main roadway crossing another roadway; and

a gap estimator configured to estimate gap information relating to a gap between the vehicles based on the vehicle information, the gap information including a length of the gap, a location of the gap, and a velocity of the gap.

2. The system of claim 1 including an intersection state controller configured to generate a state output based on the gap information that is indicative of whether an entering vehicle can safely perform an intersection entering operation.

3. The system of claim 2, wherein the intersection state controller is configured to calculate a gap period corresponding to a time at which the gap is at the intersection, based on the gap information.

4. The system of claim 3, wherein the state output is generated based on a comparison between the gap period and a threshold gap period.

5. The system of claim 4, wherein the gap period is set based on information selected from a group consisting of the intersection entering operation to be performed by the entering vehicle, environmental information relating to an environment of the intersection, and entering vehicle information relating to the entering vehicle.

6. The system of claim 1, wherein:

the vehicle sensor includes a radar sensor configured to detect targets within the main roadway;

the system includes a geospatial database containing object data corresponding to one of real world objects and boundaries of non-vehicle traveling areas that are within a range of the radar sensor; and

the gap estimator is configured to filter out targets detected by the radar sensor that correspond to the object data in the geospatial database, and estimate the gap information based on the remaining targets detected by the radar sensor.

7. The system of claim 2 including an entering vehicle sensor configured to detect a vehicle type for the entering vehicle selected from a group consisting of a large vehicle, a small vehicle, a passenger vehicle, a semi-tractor, a utility vehicle, a tractor, a motorcycle, a motor home, and a trailer hauling vehicle, wherein the state output is based on the vehicle type.

8. The system of claim 2, wherein the entering vehicle sensor is configured to detect driver information corresponding to a driver of the entering vehicle selected from a group consisting of an age of the driver, a gender of the driver, a driver setting, an intent of the driver, and a driving record for the driver, wherein the state output is based on the driver information.

9. The system of claim 2 including an environment sensor configured to obtain environmental information on an environment of the intersection selected from a group consisting of a temperature, a humidity level, a wind speed, a wind direction, a relative humidity, an atmospheric pressure, a precipitation rate, a precipitation type, and a visibility, wherein the state output is based on the environmental information.

10. The system of claim 2 including an environment sensor configured to obtain road information selected from a group consisting of a moisture content of the road, a temperature of the road, a moisture type, and a traction level for the road, wherein the state output is based on the road information.

11. The system of claim 2 including a display that is indicative of the state output.

12. An intersection assistance system comprising:

at least one first vehicle sensor configured to obtain first lane vehicle information on vehicles approaching an intersection in a first lane of a road;

a first gap estimator configured to estimate first lane gap information corresponding to a first lane gap between the vehicles traveling in the first lane based on the first lane vehicle information, the first lane gap information including a length of the first lane gap, a location of the first lane gap, and a velocity of the first lane gap;

at least one second vehicle sensor configured to obtain second lane vehicle information on vehicles approaching the intersection in a second lane of the road; and

a second gap estimator configured to estimate second lane gap information corresponding to a second lane gap between the vehicles traveling in the second lane based on the second lane vehicle information, the second lane gap information including a length of the second lane gap, a location of the second lane gap, and a velocity of the second lane gap.

13. The system of claim 12 including an intersection state controller configured to generate a state output based on at least one of the first lane gap information and the second lane gap information, wherein the state output is indicative of whether an entering vehicle can safely perform an intersection entering operation.

14. The system of claim 13, wherein the intersection state controller is configured to calculate a first gap period corresponding to a time at which the first lane gap is at the intersection based on the first lane gap information, and a second gap period corresponding to a time at which the second lane gap is at the intersection based on the second lane gap information.

15. The system of claim 14, wherein the state output is generated based on a comparison between the first lane gap period and a threshold gap period.

16. The system of claim 15, wherein the state output is generated based on a comparison between the second lane gap period and a threshold gap period.

17. The system of claim 14, wherein the intersection state controller is further configured to calculate a gap overlaying period corresponding to a time during which the first and second lane gaps overlay each other at the intersection.

18. The system of claim 17, wherein the state output is generated based on a comparison between the overlaying gap period and a threshold gap period.

19. The system of claim 17, wherein the threshold gap period is set based on information selected from a group consisting of the intersection entering operation to be performed by the entering vehicle, environmental information relating to an environment of the intersection, and entering vehicle information relating to the entering vehicle.

20. The system of claim 12, wherein:

the first and second vehicle sensors respectively include first and second radar sensors each configured to detect targets within the first and second lanes;

the system including a geospatial database containing object data corresponding to one of real world non-vehicle objects and boundaries of non-vehicle traveling areas that are within ranges of the first and second radar sensors; and

the first and second gap estimators are configured to respectively filter out targets detected by the first and second radar sensors that correspond to the object data in the geospatial database, and estimate the first and second lane gap information based on the filtered targets detected by the first and second radar sensors.

21. The system of claim 13 including an entering vehicle sensor configured to detect a vehicle type for the entering vehicle selected from a group consisting of a large vehicle, a small vehicle, a passenger vehicle, a semi-tractor, a utility vehicle, a tractor, a motorcycle, a motor home, a trailer hauling vehicle, and a bicycle, wherein the state output is based on the vehicle type.

22. The system of claim 13 including an entering vehicle sensor configured to detect driver information corresponding to a driver of the entering vehicle selected from a group consisting of an identity of the driver, an age of the driver, a gender of the driver, a driver setting, and a driving record for the driver, wherein the state output is based on the driver information.

23. The system of claim 13 including an environment sensor configured to obtain environmental information on an environment of the intersection selected from a group consisting of a temperature, a humidity level, a wind speed, a wind direction, a relative humidity, an atmospheric pressure, a precipitation rate, and a precipitation type, wherein the state output is based on the environmental information.

24. The system of claim 13 including an environment sensor configured to obtain road information selected from a group consisting of a moisture content of the road, a temperature of the road, a moisture type, and a friction level for the road, wherein the state output is based on the road information.

25. The system of claim 13 including a display of information indicative of the state output.

26. A method of obtaining information for use in assisting a driver of an entering vehicle to safely enter an intersection, the method comprising steps of:

a) obtaining vehicle information on vehicles traveling on a main roadway toward an intersection including the main roadway crossing another roadway; and

b) estimating gap information relating to a gap between the vehicles based on the vehicle information, the gap information including a length of the gap, a location of the gap, and the velocity of the gap.

27. The method of claim 26 including a step of c) generating a state output based on the gap information that is indicative of whether the entering vehicle can safely perform an intersection entering operation.

28. The method of claim 27, wherein the generating step c) includes calculating a gap period corresponding to a time at which the gap is at the intersection based on the gap information.

29. The method of claim 28, wherein the generating step c) includes comparing the gap period to a threshold gap period and generating the state output based thereon.

30. The method of claim 29 including setting the threshold gap period based on information selected from a group consisting of the intersection entering operation to be performed by the entering vehicle, environmental information relating to an environment of the intersection, and entering vehicle information relating to the entering vehicle.

31. The method of claim 26, wherein:

the obtaining step a) includes detecting targets within the main roadway with a radar sensor; and

the estimate step b) includes;

filtering out targets detected by the radar sensor that correspond to object data contained in a geospatial database, the object data corresponding to one of real world non-vehicle objects and boundaries of non-vehicle traveling areas that are within a range of the radar sensor; and

estimating the gap information based on the remaining targets detected by the radar sensor.

32. The method of claim 27 including detecting a vehicle type for the entering vehicle selected from a group consisting of a large vehicle, a small vehicle, a passenger vehicle, a semi-tractor, a utility vehicle, a tractor, a motorcycle, a motor home, and a trailer hauling vehicle, wherein the state output is generated in the generating step c) based on the vehicle type.

33. The method of claim 27 including obtaining driver information corresponding to a driver of the entering vehicle selected from a group consisting of an identity of the driver, an age of the driver, a gender of the driver, a driver setting, a driving record for the driver, wherein the state output generated in the generating step c) is based on the driver information.

34. The method of claim 27 including obtaining environmental information on an environment of the intersection selected from a group consisting of a temperature, a humidity level, a wind speed, a wind direction, a relative humidity, an atmospheric pressure, a precipitation rate and a precipitation type, wherein the state output generated in the generating step c) is based on the environmental information.

35. The method of claim 27 including obtaining road information corresponding to the main roadway selected from a group consisting of a moisture content of the road, a temperature of the road, a moisture type, and a friction level for the road, wherein the state output generated in the generating step c) is based on the road information.

36. The method of claim 27 including displaying assistance information indicative of the state output.

37. An intersection assistance system comprising:

at least one first vehicle sensor configured to obtain first lane vehicle information on vehicles approaching an intersection in a first lane of a road;

a first gap estimator configured to estimate first lane gap information corresponding to a first lane gap between the vehicles traveling in the first lane based on the first lane vehicle information, the first lane gap information including a length of the first lane gap, a location of the first lane gap, and a velocity of the first lane gap;

at least one second vehicle sensor configured to obtain second lane vehicle information on vehicles approaching the intersection in a second lane of the road;

a second gap estimator configured to estimate second lane gap information corresponding to a second lane gap between the vehicles traveling in the second lane based on the second lane vehicle information, the second lane gap information including a length of the second lane gap, a location of the second lane gap, and a velocity of the second lane gap; and

an intersection state controller configured to generate a state output based on at least one of the first lane gap information and the second lane gap information, wherein the state output is indicative of whether an entering vehicle can safely perform an intersection entering operation, and wherein the intersection state controller is configured to calculate a first gap period corresponding to a time at which the first lane gap is at the intersection based on the first lane gap information, and a second gap period corresponding to a time at which the second lane gap is at the intersection based on the second lane gap information, and wherein the intersection state controller is further configured to calculate a gap overlaying period corresponding to a time during which the first and second lane gaps overlay each other at the intersection.