Method of dynamic intersection mapping

• US 8,340,894 B2
• Filed: 10/08/2009
• Issued: 12/25/2012
• Est. Priority Date: 10/08/2009
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Yester, John L.
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): LI, CE LI
• Application Number:
  US12/576,078
• Publication Number:
  US 20110087433A1
• Time in Patent Office: 1,174 Days
• Field of Search: 701/300, 701/301, 701/117, 701/400, 701/409, 701/431, 701/437, 701/302, 340/3.41, 340/435, 340/436, 340/438, 340/903, 340/995.2
• US Class Current: 701/301
• CPC Class Codes: G01C 21/3815 Road data
• CPC Class Codes: G01C 21/3893 Transmission of map data from distributed sources, e.g. from roadside stations
• CPC Class Codes: G08G 1/09626 where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element
• 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
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A motor vehicle is provided having a collision warning system that can map an upcoming road section for the motor vehicle. The system can evaluate potential paths for the road section based on vehicle travel history information through it. The system can receive the information from a transmitter proximate the road section, such as a roadside transmitter or one or more nearby vehicles having traversed the road section. The road section can include an intersection and the system can determine a lane configuration for at least a portion of it based on vehicle travel history information. The system can calculate a threat of collision for the motor vehicle with a target vehicle based on map data obtained from estimated paths or lane configurations for the road section. Methods pertaining to mapping a road section and operation of the system are also provided.

Claims

1. A method of operating a collision warning system in a motor vehicle comprising:

mapping a road section proximate the motor vehicle including;

receiving vehicle travel history information for the road section from a transmitter proximate the road section;

evaluating potential paths for the road section based on the vehicle travel history information;

wherein the road section includes an intersection between a first road and a second road; and

wherein the step of evaluating potential paths for the road section further includes estimating a lane configuration on the first road as it exits the intersection using the received vehicle travel history information for the road section;

determining a first path for the motor vehicle to traverse the road section including at least one lane associated with the estimated lane configuration for the intersection;

receiving a signal transmitted by a target vehicle;

determining a second path for the target vehicle to traverse the road section including at least one lane associated with the estimated lane configuration for the intersection; and

calculating a threat of collision for the motor vehicle with the target vehicle including comparing the first and second paths.

2. The method according to claim 1, wherein, for receiving vehicle travel history information, the transmitter proximate the road section includes a roadside device.

3. The method according to claim 1, wherein, for receiving vehicle travel history information, the transmitter proximate the road section includes at least one supplemental vehicle.

4. The method according to claim 3, wherein the at least one supplemental vehicle includes a plurality of supplemental vehicles and evaluating potential paths for the road section includes comparing the vehicle travel history information from the plurality of supplemental vehicles for the road section.

5. The method according to claim 4, wherein the vehicle travel history information from the plurality of supplemental vehicles includes positional data for the vehicles determined from a navigation system for each of the plurality of supplemental vehicles.

6. The method according to claim 5, wherein each of the navigation systems includes a GPS-based system and the positional data includes vehicle travel history coordinates determined from GPS data.

7. The method according to claim 5, wherein the step of evaluating potential paths for the road section further includes estimating the lane configuration of the first road using the positional data associated with paths traveled by the supplemental vehicles for traversing the road section included in the vehicle travel history information.

8. The method according to claim 1, further comprising:

prior to the step of mapping the road section, determining that ma data including detailed information regarding the intersection is not available when the motor vehicle is approaching the road section.

9. The method according to claim 1, wherein:

the first path includes the motor vehicle turning from the second road to the first road as it traverses the intersection;

the second path includes the target vehicle crossing the intersection along the first road;

wherein the step of determining the first path includes identifying a first lane associated with the estimated lane configuration on which the motor vehicle can turn when following the first path;

wherein the step of determining the second path includes identifying a second lane associated with the estimated lane configuration on which the target vehicle can travel when following the second path; and

wherein the step of comparing the first and second paths includes evaluating whether the first and second lanes are different lanes on the first road as it exits the intersection.

10. The method according to claim 1, wherein, for receiving vehicle travel history information, the transmitter includes a plurality of supplemental vehicles having crossed the intersection and traversed a portion of the first road where it exits the intersection, and the vehicle travel history information includes positional data for the plurality of supplemental vehicles when they each crossed the intersection and traversed the portion of the first road.

11. The method according to claim 1, further comprising creating map data for the road section.

12. The method according to claim 11, wherein creating ma data for the road section includes updating preexisting map data for the road section.

13. The method according to claim 11, wherein creating ma data for the road section includes building paths for the road section and storing the map data.

14. The method according to claim 13, wherein building paths for the road section includes adding additional paths for the road section to preexisting map data based on the received vehicle travel history information.

15. The method according to claim 1, further comprising determining if preexisting map data is available for the road section and, if so, determining if the map data has been updated within a recent time period.

16. The method according to claim 15, further comprising, if preexisting map data is available for the road section, evaluating whether the received vehicle travel history information is consistent with the preexisting map data and, if so, evaluating potential paths for the road section based on the preexisting map data.

17. A motor vehicle comprising:

a transmitter configured to transmit signals on a vehicle communications network;

a receiver configured to receive signals on a vehicle communications network;

a navigation system; and

a collision warning system configured to perform actions comprising;

mapping an upcoming road section identified by the navigation system, the mapping including;

receiving via the receiver vehicle travel history information for the road section from a transmitter proximate the road section;

evaluating potential paths for the road section based on the vehicle travel history information;

wherein the road section includes an intersection between a first road and a second road; and

wherein evaluating potential paths for the road section further includes estimating a lane configuration on the first road as it exits the intersection using the received vehicle travel history information for the road section;

determining a first path for the motor vehicle to traverse the road section including at least one lane associated with the estimated lane configuration for the intersection;

receiving via the receiver a signal transmitted by a target vehicle;

determining a second path for the target vehicle to traverse the road section including at least one lane associated with the estimated lane configuration for the intersection; and

calculating a threat of collision for the motor vehicle with the target vehicle including comparing the first and second paths.

18. The motor vehicle according to claim 17, wherein the collision warning system is further configured to compare travel history information for the road section received via the receiver for a plurality of supplemental vehicles.

19. The motor vehicle according to claim 17, wherein the collision warning system is further configured to transmit travel history information for the motor vehicle for the road section to other motor vehicles.

20. A method of operating a collision warning system in a motor vehicle, comprising:

dynamically mapping an upcoming road section for the motor vehicle traveling along a second road, the upcoming road section including an intersection of the second road with a first road, dynamically mapping the upcoming road section including;

receiving first vehicle travel history information for the road section from a first supplemental vehicle having recently traversed the intersection along the first road;

receiving second vehicle travel history information for the road section from a second supplemental vehicle having recently traversed the intersection along the first road; and

estimating a lane configuration for the first road as it exits the intersection based on the received first and second vehicle travel history information;

receiving a signal transmitted by a target vehicle;

determining at least one lane associated with the estimated lane configuration for the intersection being traversed by the target vehicle based on the received signal transmitted by the target vehicle; and

calculating a threat of collision for the motor vehicle with the target vehicle based on the estimated lane configuration and the at least one lane being traversed by the target vehicle.