Systems and methods for detecting and distributing hazard data by a vehicle

• US 9,786,171 B2
• Filed: 01/26/2016
• Issued: 10/10/2017
• Est. Priority Date: 01/26/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Prokhorov, Danil V.
• Primary Examiner(s): Ghulamali, Qutbuddin
• Application Number:
  US15/006,910
• Publication Number:
  US 20170213462A1
• Time in Patent Office: 623 Days
• Field of Search: 340901, 340902, 340903
• CPC Class Codes: G08G 1/0965 responding to signals from another vehicle, e.g. emergency 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
• CPC Class Codes: G08G 1/205 Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental

Abstract

A system for transmitting data corresponding to hazards from a first vehicle to a second vehicle includes a first sensor for detecting first hazard data corresponding to a potential hazard and a second sensor, being of a different type than the first sensor, for detecting second hazard data corresponding to the potential hazard. The system also includes a network access device for receiving and transmitting signals and an electronic control unit (ECU) that is coupled to the first sensor, the second sensor and the network access device. The ECU determines whether the potential hazard exists based on the first and second hazard data. The ECU also determines a category corresponding to the potential hazard. The ECU also instructs the network access device to transmit potential hazard data corresponding to the potential hazard to the second vehicle when the category is a first category.

Claims

1. A system for transmitting data corresponding to hazards from a first vehicle to a second vehicle comprising:

a first sensor configured to detect first hazard data corresponding to a potential hazard;

a second sensor configured to detect second hazard data corresponding to the potential hazard, the second sensor having different functionality than the first sensor;

a network access device configured to receive and transmit signals; and

an electronic control unit (ECU) coupled to the first sensor, the second sensor and the network access device and configured to;

determine whether the potential hazard exists based on the first hazard data and the second hazard data,

determine a category corresponding to the potential hazard, and

instruct the network access device to transmit potential hazard data corresponding to the potential hazard to the second vehicle that is within a predetermined distance of the first vehicle when the category is a first category.

2. The system of claim 1 wherein the ECU is further configured to determine whether the potential hazard exists by comparing the first hazard data to the second hazard data and confirming that the potential hazard exists when at least one of:

the first hazard data and the second hazard data both indicate that the potential hazard exists,

current conditions of an environment of the first vehicle limit capabilities of the first sensor and the second hazard data from the second sensor indicates that the potential hazard exists, or

the first sensor has a higher priority than the second sensor and the first hazard data from the first sensor indicates that the potential hazard exists.

3. The system of claim 2 further comprising an environment sensor coupled to the ECU and configured to detect the current conditions of the environment of the first vehicle.

4. The system of claim 2 wherein a priority of the first sensor and a priority of the second sensor are determined based on at least one of a type of the potential hazard, a resolution of each of the first sensor and the second sensor, or a predetermined priority weight assigned to each of the first sensor and the second sensor.

5. The system of claim 1 wherein the potential hazard corresponds to a third vehicle traveling towards an intersection and wherein the ECU is further configured to determine whether the potential hazard presents an actual hazard based on at least one of whether the third vehicle has a traditional right of way, whether the third vehicle has a special right of way, or whether the third vehicle is likely to breach the traditional right of way.

6. The system of claim 1 wherein the ECU is further configured to transmit the potential hazard data to authorities when the category is the first category.

7. The system of claim 1 wherein the ECU is further configured to determine that the second vehicle is potentially in danger based on the first hazard data and the second hazard data and to instruct the network access device to transmit the potential hazard data to the second vehicle in response to determining that the second vehicle is potentially in danger.

8. The system of claim 1 wherein the potential hazard data includes a request for the second vehicle to transmit location data corresponding to a location of the potential hazard to authorities.

9. A system for transmitting data corresponding to a hazard from a first vehicle to a second vehicle comprising:

a camera configured to detect image data corresponding to a third vehicle;

a radar device or a Light Detection and Ranging (LIDAR) device configured to detect wave data corresponding to the third vehicle;

a network access device configured to receive and transmit signals; and

an electronic control unit (ECU) configured to;

determine whether the third vehicle presents a potential hazard based on the image data and the wave data,

determine a category of the potential hazard based on the image data and the wave data,

determine that potential hazard data corresponding to the potential hazard should be transmitted to the second vehicle when the category of the potential hazard is a first category, and

instruct the network access device to transmit the potential hazard data to the second vehicle.

10. The system of claim 9 wherein the ECU is further configured to determine that the second vehicle has requested to receive all potential hazard data corresponding to a second category and to instruct the network access device to transmit the potential hazard data to the second vehicle when the category of the potential hazard is the second category.

11. The system of claim 9 wherein the ECU is further configured to determine whether the potential hazard exists by comparing the image data to the wave data and confirming that the potential hazard exists when at least one of:

the image data and the wave data both indicate that the potential hazard exists,

current conditions of an environment of the first vehicle limit capabilities of the camera and the wave data from the radar device or the LIDAR device indicates that the potential hazard exists, or

the camera has a higher priority than the radar device or the LIDAR device and the image data from the camera indicates that the potential hazard exists.

12. The system of claim 11 wherein a priority of the camera and a priority of the radar device or the LIDAR device are determined based on at least one of a type of the potential hazard, a resolution of each of the radar device or the LIDAR device and the camera, or a predetermined priority weight assigned to the radar device or the LIDAR device and the camera.

13. The system of claim 9 wherein the potential hazard corresponds to the third vehicle traveling towards an intersection and wherein the ECU is further configured to determine whether the potential hazard exists based on at least one of whether the third vehicle has a traditional right of way, whether the third vehicle has a special right of way, or whether the third vehicle is likely to breach the traditional right of way.

14. The system of claim 9 wherein the ECU is further configured to transmit the potential hazard data to at least one of an emergency vehicle or a location associated with emergency personnel when the category is the first category.

15. The system of claim 9 wherein the ECU is further configured to determine that the second vehicle is potentially in danger based on at least one of the image data or the wave data and to instruct the network access device to transmit the potential hazard data to the second vehicle in response to determining that the second vehicle is potentially in danger.

16. A method for detecting hazards by a first vehicle and transmitting hazard data to a second vehicle comprising:

detecting, by a first sensor, first hazard data;

detecting, by a second sensor having different functionality than the first sensor, second hazard data;

determining, by an electronic control unit (ECU), that a third vehicle is approaching an intersection;

determining, by the ECU, whether the third vehicle is a non-emergency vehicle and appears likely to breach a right of way or whether the third vehicle is an emergency vehicle based on the first hazard data and the second hazard data;

determining, by the ECU, that the third vehicle approaching the intersection presents a potential hazard when at least one of the third vehicle is the non-emergency vehicle and appears likely to breach the right of way or the third vehicle is the emergency vehicle; and

transmitting, by a network access device, potential hazard data corresponding to the potential hazard to the second vehicle when the second vehicle is within a predetermined distance of the first vehicle.

17. The method of claim 16 further comprising determining, by the ECU, a category of the potential hazard and determining, by the ECU, whether to transmit the potential hazard data to authorities based on the category.

18. The method of claim 16 further comprising determining, by the ECU, whether the second vehicle is potentially in danger based on the first hazard data and the second hazard data and wherein transmitting, by the network access device, the potential hazard data to the second vehicle is performed in response to determining that the second vehicle is potentially in danger.

19. The method of claim 16 further comprising comparing, by the ECU, the first hazard data to the second hazard data and confirming, by the ECU, that the third vehicle approaching the intersection presents the potential hazard when at least one of:

the first hazard data and the second hazard data both indicate that the potential hazard exists,

current conditions of an environment of the vehicle limit capabilities of the first sensor and the second hazard data from the second sensor indicates that the potential hazard exists, or

the first sensor has a higher priority than the second sensor and the first hazard data from the first sensor indicates that the potential hazard exists.

20. The method of claim 16 wherein:

the third vehicle is the emergency vehicle,

the first sensor is a microphone configured to detect audio data, and

determining that the third vehicle is approaching the intersection includes analyzing, by the ECU, a Doppler Effect of the audio data.