Method of dynamic intersection mapping

• US 8,903,639 B2
• Filed: 11/26/2012
• Issued: 12/02/2014
• 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 G
• Assistant Examiner(s): LI, CE LI
• Application Number:
  US13/684,772
• Publication Number:
  US 20130325344A1
• Time in Patent Office: 736 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, the method comprising:

mapping a road section proximate the motor vehicle, the road section including an intersection between a first road and a second road and an estimated lane configuration for the intersection;

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 vehicle travel history information for the road section from at least one of a transmitter proximate the road section and a transmitter disposed in at least one supplemental motor vehicle;

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

wherein the step of estimating the lane configuration of the intersection includes using the received vehicle travel history information for the road section to estimate a lane configuration of at least one lane on the first road as it exits 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;

calculating a threat of collision for the motor vehicle with the target vehicle by comparing the first path to the second path;

determining a line of sight condition associated with the target vehicle;

selecting between a normal alert mode for the collision warning system and an enhanced alert mode for the collision warning system based on the line of sight condition associated with the target vehicle, wherein the normal alert mode for the collision warning system is selected upon a determination that the line of sight condition indicates that the target vehicle is visible to the driver of the motor vehicle, and wherein the enhanced alert mode for the collision warning system is selected upon a determination that the line of sight condition indicates that the target vehicle is not visible to the driver of the motor vehicle;

wherein the normal alert mode includes a first mode associated with a warning alert and a second mode associated with no alert;

wherein the enhanced alert mode includes a first mode associated with a warning alert, a second mode associated with an informing alert, and a third mode associated with no alert;

selecting one of the first mode, the second mode, and third mode in the enhanced alert mode; and

providing an alert to the driver according to one of the normal alert mode and the selected enhanced alert mode based on the calculated threat of collision for the motor vehicle with the target vehicle.

2. The method according to claim 1, wherein the step of determining the line of sight condition associated with the target vehicle is based on the received signal transmitted by the target vehicle.

3. The method according to claim 2, wherein the line of sight condition indicates that the target vehicle is visible to the driver of the motor vehicle when the signal transmitted by the target vehicle is received within a direct path of the motor vehicle.

4. The method according to claim 2, wherein the line of sight condition indicates that the target vehicle is not visible to the driver of the motor vehicle when the signal transmitted by the target vehicle is received within at least one of a reflected wave path or a diffraction wave path.

5. The method according to claim 1,

wherein the step of determining the threat of collision further comprises determining at least one of:

(1) a distance to a vehicle collision point between the motor vehicle and the target vehicle, and (2) a time to the vehicle collision point between the motor vehicle and the target vehicle.

6. The method according to claim 1, wherein the enhanced alert mode is configured to provide the warning alert to the driver of the motor vehicle when the received threat of collision of the motor vehicle with the target vehicle includes a high threat of collision.

7. The method according to claim 1, wherein the enhanced alert mode is configured to provide the informing alert to the driver of the motor vehicle when the received threat of collision of the motor vehicle with the target vehicle includes a low threat of collision.

8. The method according to claim 1, wherein the enhanced alert mode is configured to provide no alert to the driver of the motor vehicle when the received threat of collision of the motor vehicle with the target vehicle includes no threat of collision.

9. The method according to claim 1, wherein the normal alert mode is configured to provide the warning alert to the driver of the motor vehicle when the received threat of collision of the motor vehicle with the target vehicle includes a high threat of collision.

10. The method according to claim 1, wherein the normal alert mode is configured to provide no alert to the driver of the motor vehicle when the received threat of collision of the motor vehicle with the target vehicle includes a low threat of collision or no threat of collision.

11. The method according to claim 1, wherein the step of receiving the threat of collision for the motor vehicle with the target vehicle includes receiving information indicating a low threat of collision;

providing the informing alert to the driver of the motor vehicle when the collision warning system is operating in the enhanced alert mode; and

providing no alert to the driver of the motor vehicle when the collision warning system is operating in the normal alert mode.

12. 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, the collision warning system including an electronic control unit configured to perform actions comprising;

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

calculating a threat of collision for the motor vehicle with the target vehicle;

receiving a line of sight condition associated with the target vehicle;

determining whether the line of sight condition indicates that the target vehicle is visible to a driver of the motor vehicle;

selecting between a normal alert mode for the collision warning system and an enhanced alert mode for the collision warning system based on the line of sight condition associated with the target vehicle, wherein the normal alert mode for the collision warning system is selected upon a determination that the line of sight condition indicates that the target vehicle is visible to the driver of the motor vehicle, and wherein the enhanced alert mode for the collision warning system is selected upon a determination that the line of sight condition indicates that the target vehicle is not visible to the driver of the motor vehicle;

wherein the normal alert mode includes a first mode associated with a warning alert and a second mode associated with no alert;

wherein the enhanced alert mode includes a first mode associated with a warning alert, a second mode associated with an informing alert, and a third mode associated with no alert;

selecting one of the first mode, the second mode, and third mode in the enhanced alert mode; and

providing an alert to the driver according to one of the normal alert mode and the selected enhanced alert mode based on the calculated threat of collision for the motor vehicle with the target vehicle; and

wherein the electronic control unit is further configured to perform the actions of calculating the threat of collision for the motor vehicle with the target vehicle by;

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, the road section including an intersection between a first road and a second road;

evaluating potential paths for the road section based on the vehicle travel history information, including estimating a lane configuration of 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;

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

comparing the first path to the second path to calculate the threat of collision for the motor vehicle with the target vehicle.

13. The motor vehicle according to claim 12, further comprising a display device associated with at least one of the navigation system and the collision warning system;

and

wherein the alert to the driver of the motor vehicle is provided to the driver on the display device.

14. The motor vehicle according to claim 12, wherein the electronic control unit is configured to determine the line of sight condition associated with the target vehicle based on the received signal transmitted by the target vehicle.

15. The motor vehicle according to claim 14, wherein the line of sight condition indicates that the target vehicle is visible to the driver of the motor vehicle when the signal transmitted by the target vehicle is received within a direct path of the motor vehicle;

and

wherein the line of sight condition indicates that the target vehicle is not visible to the driver of the motor vehicle when the signal transmitted by the target vehicle is received within at least one of a reflected wave path or a diffraction wave path.

16. The motor vehicle according to claim 12, wherein the electronic control unit is configured to calculate the threat of collision using at least one of:

(1) a distance to a vehicle collision point between the motor vehicle and the target vehicle, and (2) a time to the vehicle collision point between the motor vehicle and the target vehicle.