Collision avoidance in vehicular networks

• US 9,340,154 B2
• Filed: 06/11/2014
• Issued: 05/17/2016
• Est. Priority Date: 06/11/2014
• Status: Expired due to Fees

• Current Assignee: Socpra Sciences Et Gnie S.E.C.
• Original Assignee: Socpra Sciences Et Gnie S.E.C.
• Inventors: Cherkaoui, Soumaya, Chakroun, Omar, Abid, Mohamed Amine
• Primary Examiner(s): Tweel, Jr., John A
• Application Number:
  US14/301,810
• Publication Number:
  US 20150360611A1
• Time in Patent Office: 706 Days
• Field of Search: 340/436, 340/902, 340/903, 700/301
• US Class Current: 1/1
• CPC Class Codes: B60Q 1/525 automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/24 Capacitance type, e.g. as level indicator
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2422/00 Indexing codes relating to the special location or mounting of sensors
• CPC Class Codes: B60W 2422/90 on bumper, e.g. collision sensor
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles

Abstract

A method and nodes for collision avoidance in a vehicular network comprising a plurality of vehicles and lower-speed users. Data from a plurality of position notification messages sent from the lower-speed-node is received (directly from the lower-speed-node or through a road-side-node) and processed, in a vehicle-on-board-node of a moving vehicle, with positioning data of the moving vehicle into collision avoidance instructions. The collision avoidance instructions may be provided inside the vehicle by displaying the instructions on a screen and/or broadcasting the instructions through a speaker in the vehicle. The collision avoidance instructions may also be automatically applied by modifying dynamic parameters of the vehicle (e.g., affecting the vehicle speed and/or changing direction of the vehicle). The position notification message may comprise a sequential number value; a temporary ID value; a geographic latitude value; a geographic longitude value; and a class-speed value.

Claims

1. A method for collision avoidance in a vehicular network comprising a plurality of vehicles and lower-speed users of the vehicular network, the method comprising:

periodically receiving a position notification message, from a lower-speed-node, for use by a vehicle-on-board-node in a moving vehicle;

in the vehicle-on-board-node, receiving data from a plurality of position notification messages sent from the lower-speed-node; and

in the vehicle-on-board-node, processing the data related to the plurality of position notification messages with positioning data of the moving vehicle into collision avoidance instructions;

wherein the position notification message comprises;

a sequential number value;

a temporary ID value;

a geographic latitude value of the lower-speed-node;

a geographic longitude value of the lower-speed-node; and

a class-speed value.

2. The method of claim 1, wherein periodically receiving the position notification message comprises periodically wirelessly receiving the position notification message, directly from the lower-speed-node, at the vehicle-on-board-node and wherein processing the data related to the plurality of position notification messages comprises processing the plurality of received position notification messages into the collision avoidance instructions.

3. The method of claim 1, wherein periodically receiving the position notification message comprises periodically wirelessly receiving the position notification message, from the lower-speed-node, at a road side node, the method further comprising, from the road side node, sending data from the plurality of position notification messages to the vehicle on board.

4. The method of claim 1 further comprising, from the vehicle-on-board-node, providing the collision avoidance instructions inside the vehicle.

5. The method of claim 4, wherein providing the collision avoidance instructions inside the vehicle comprise at least one of displaying the instructions on at least one screen in the vehicle and broadcasting the instructions through at least one speaker in the vehicle.

6. The method of claim 1 further comprising, from the vehicle-on-board-node, applying the collision avoidance instructions by automatically modifying dynamic parameters of the vehicle.

7. The method of claim 6, wherein modifying the dynamic parameters of the vehicle comprise at least one of affecting the vehicle speed and changing direction of the vehicle.

8. The method of claim 1, wherein the class-speed value indicates if the lower-speed-node is a pedestrian or a two-wheeler.

9. The method of claim 1, wherein the position notification message further comprises:

a message type value;

a clock signal;

an elevation value of the lower-speed-node; and

a position-accuracy value of the lower-speed-node.

10. The method of claim 1, wherein the temporary ID value is a random value updated periodically, thereby enhancing privacy of the lower-speed-node.

11. The method of claim 1, wherein the position notification message further comprises:

a compass heading value of the lower-speed-node; and

an angle-acceleration value of the lower-speed-node.

12. The method of claim 11, wherein the angle-acceleration value of the lower-speed-node conveys a current position value of a steering wheel of two-wheeler, expressed as a positive angle of longitudinal and lateral acceleration.

13. The method of claim 1 further comprising

in the vehicle-on-board-node, receiving data from a plurality of position notification messages sent from a second vehicle-on-board-node of a second moving vehicle;

and

wherein processing, in the vehicle-on-board-node, the data related to the plurality of position notification messages further comprises processing the data related to the plurality of position notification messages sent from the lower-speed-node and the data plurality of position notification messages sent from the vehicle-on-board-node with positioning data of the moving vehicle into collision avoidance instructions.

14. The method of claim 13 further comprising:

in the second vehicle-on-board-node, receiving data from the plurality of position notification messages sent from the lower-speed-node;

in the second vehicle-on-board-node, receiving data from a plurality of position notification messages sent from the vehicle-on-board-node of the moving vehicle; and

in the second vehicle-on-board-node, processing the data related to the plurality of position notification messages sent from the lower-speed-node and the data plurality of position notification messages sent from the vehicle-on-board-node with positioning data of the second moving vehicle into collision avoidance instructions for the second moving vehicle.

15. A vehicle-on-board-node for collision avoidance for use in a moving vehicle in a vehicular network comprising a plurality of vehicles and lower-speed users of the vehicular network, the vehicle-on-board-node comprising:

a network interface module for periodically receiving data from a plurality of position notification messages sent from a lower-speed-node; and

a processor module for processing the data related to the plurality of position notification messages with positioning data of the moving vehicle into collision avoidance instructions;

wherein the position notification message comprises;

a sequential number value;

a temporary ID value;

a geographic latitude value of the lower-speed-node;

a geographic longitude value of the lower-speed-node; and

a class-speed value.

16. The vehicle-on-board-node of claim 15, wherein the network interface module periodically receives the position notification message wirelessly directly from the lower-speed-node and wherein the processor module processes the plurality of received position notification messages into the collision avoidance instructions.

17. The vehicle-on-board-node of claim 15, wherein the network interface module periodically receives wirelessly receives the position notification message, originally sent from the lower-speed-node, from a road side node.

18. The vehicle-on-board-node of claim 15 further comprising at least one screen for displaying the collision avoidance instructions inside the vehicle.

19. The vehicle-on-board-node of claim 15 further comprising at least one speaker for broadcasting the collision avoidance instructions inside the vehicle.

20. The vehicle-on-board-node of claim 15 further comprising a vehicle control module for applying the collision avoidance instructions by performing at least one of affecting the vehicle speed and changing direction of the vehicle.

21. The vehicle-on-board-node of claim 15, wherein the class-speed value indicates if the lower-speed-node is a pedestrian or a two-wheeler.

22. The vehicle-on-board-node of claim 15, wherein the position notification message further comprises:

a message type value;

a clock signal;

an elevation value of the lower-speed-node; and

a position-accuracy value of the lower-speed-node.

23. The vehicle-on-board-node of claim 15, wherein the position notification message further comprises:

a compass heading value of the lower-speed-node; and

an angle-acceleration value of the lower-speed-node.

24. The vehicle-on-board-node of claim 23, wherein the angle-acceleration value of the lower-speed-node conveys a current position value of a steering wheel of two-wheeler, expressed as a positive angle of longitudinal and lateral acceleration.

25. The vehicle-on-board-node of claim 15, wherein the network interface module receive data from a plurality of position notification messages sent from a second vehicle-on-board-node of a second moving vehicle, wherein the processor module processes the data related to the plurality of position notification messages by processing the data related to the plurality of position notification messages sent from the lower-speed-node and the data plurality of position notification messages sent from the vehicle-on-board-node with positioning data of the moving vehicle into collision avoidance instructions.

26. A lower-speed-node for collision avoidance in a vehicular network comprising a plurality of vehicles and lower-speed users of the vehicular network, the lower-speed-node comprising:

a network interface for periodically sending a position notification message, for use by a vehicle-on-board-node in a moving vehicle;

a processor module for processing at least location data of the lower-speed-node into the position notification message comprising;

a sequential number value;

a temporary ID value;

a geographic latitude value of the lower-speed-node;

a geographic longitude value of the lower-speed-node; and

a class-speed value.

27. The lower-speed-node of claim 26, wherein the processor module sets the temporary ID value to a random value and for updating the random periodically, thereby enhancing privacy.

28. The lower-speed-node of claim 26, wherein the processor module increments the sequential number value at each periodic transmission of the position notification message.

29. The lower-speed-node of claim 26, wherein the class-speed value indicates if the lower-speed-node is a pedestrian or a two-wheeler.

30. The lower-speed-node of claim 26, wherein the position notification message further comprises:

a message type value;

a clock signal;

an elevation value of the lower-speed-node; and

a position-accuracy value of the lower-speed-node.

31. The lower-speed-node of claim 26, wherein the position notification message further comprises:

a compass heading value of the lower-speed-node; and

an angle-acceleration value of the lower-speed-node.

32. The lower-speed-node of claim 31, wherein the processor module sets the class-speed value to a two-wheeler and sets the angle-acceleration value considering a current position value of a steering wheel of the two-wheeler, expressed as a positive angle of longitudinal and lateral acceleration.