Converging path detection codeword generation

Patent metadata

Field	Value
Publication number	US-10062286-B2
Application number	US-201615010752-A
Country	US
Kind code	B2
Filing date	Jan 29, 2016
Priority date	Jan 29, 2016
Publication date	Aug 28, 2018
Grant date	Aug 28, 2018

Abstract

A method and apparatus for use in traversing a vehicle transportation network may include determining a codeword based on host vehicle information and remote vehicle information, and wherein the codeword indicates whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent, and traversing a portion of the vehicle transportation network in response to the codeword. Determining the codeword may include determining an orientation sector based on a geodesic between the host vehicle and the remote vehicle, determining relative position information for the host vehicle and the remote vehicle based on the orientation sector, determining relative elevation information for the host vehicle and the remote vehicle based on the remote vehicle information and the host vehicle information, and determining relative heading information for the host vehicle and the remote vehicle based on the remote vehicle information and the host vehicle information.

First claim

What is claimed is:

1. A method for use in traversing a vehicle transportation network, the method comprising:
traversing, by a host vehicle, the vehicle transportation network, wherein traversing the vehicle transportation network includes:
receiving, at the host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, the remote vehicle information indicating remote vehicle geospatial state information for the remote vehicle and remote vehicle kinematic state information for the remote vehicle,
identifying host vehicle information for the host vehicle, the host vehicle information including one or more of host vehicle geospatial state information for the host vehicle, or host vehicle kinematic state information for the host vehicle,
determining a codeword, wherein the codeword is based on the host vehicle information and the remote vehicle information, and wherein the codeword indicates whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent, and wherein determining the codeword includes:
determining an orientation sector based on a geodesic between the host vehicle and the remote vehicle;
determining relative position information for the host vehicle and the remote vehicle based on the orientation sector;
determining relative elevation information for the host vehicle and the remote vehicle based on the remote vehicle information and the host vehicle information; and
determining relative heading information for the host vehicle and the remote vehicle based on the remote vehicle information and the host vehicle information, and

controlling the host vehicle to traverse a portion of the vehicle transportation network in response to the codeword, wherein:
a first portion of the codeword indicates a relative position of the remote vehicle relative to the host vehicle;
a second portion of the codeword indicates a relative elevation of the remote vehicle relative to the host vehicle; and
a third portion of the codeword indicates a relative heading of the remote vehicle relative to the host vehicle.

2. The method of claim 1 , wherein receiving the remote vehicle message includes:
storing the remote vehicle information in a memory of the host vehicle.

3. The method of claim 1 , wherein the remote vehicle geospatial state information includes geo spatial coordinates for the remote vehicle, and the remote vehicle kinematic state information includes one or more of a remote vehicle velocity for the remote vehicle, a remote vehicle heading for the remote vehicle, a remote vehicle acceleration for the remote vehicle, or a remote vehicle yaw rate for the remote vehicle.

4. The method of claim 1 , wherein determining relative elevation information includes:
determining the relative elevation of the remote vehicle as higher than the host vehicle, level with the host vehicle, or lower than the host vehicle.

5. The method of claim 1 , wherein determining relative elevation information includes:
determining the relative elevation information based on a host vehicle elevation of the host vehicle, a remote vehicle elevation of the remote vehicle, and a spatial distance offset threshold.

6. The method of claim 1 , wherein determining relative heading information includes:
determining the relative heading of the remote vehicle as aligned with the host vehicle, opposite the host vehicle, or crossing with the host vehicle.

7. The method of claim 1 , wherein determining relative heading information includes:
determining relative heading information based on a host vehicle heading angle for the host vehicle, a remote vehicle heading angle for the remote vehicle, and a heading approximation offset threshold.

8. The method of claim 1 , wherein the first portion includes four bits, the second portion includes two bits, and the third portion includes two bits.

9. The method of claim 1 , wherein the first portion of the codeword includes:
a first sub-portion that indicates a relative longitudinal position of the remote vehicle relative to the host vehicle; and
a second sub-portion of the codeword indicates a relative lateral position of the remote vehicle relative to the host vehicle.

10. The method of claim 9 , wherein the first portion includes four bits, the first sub-portion includes two bits, and the second sub-portion includes two bits.

11. The method of claim 1 , wherein controlling the host vehicle to traverse the portion of the vehicle transportation network in response to the codeword includes:
determining a host vehicle control action based on the codeword.

12. The method of claim 11 , wherein determining the host vehicle control action based on the codeword includes:
using the codeword to identify the host vehicle control action from a defined plurality of host vehicle control actions.

13. The method of claim 12 , wherein the codeword is one of a defined plurality of codewords, and wherein each host vehicle control action from the defined plurality of host vehicle control actions is associated with a respective codeword from the defined plurality of codewords.

14. The method of claim 1 , wherein on a condition that the codeword indicates that the expected path for the remote vehicle and the expected path for the host vehicle are convergent, controlling the host vehicle includes at least one of activating an alarm, or initiating an evasive action.

15. The method of claim 14 , wherein the evasive action includes at least one of braking, steering, or accelerating.

16. The method of claim 1 , wherein on a condition that the codeword indicates that the expected path for the remote vehicle and the expected path for the host vehicle are divergent, controlling the host vehicle in response to the codeword includes:
receiving a second remote vehicle message including remote vehicle information for a second remote vehicle;
determining a second codeword based on the host vehicle information and the remote vehicle information for the second remote vehicle; and
controlling the host vehicle to traverse the portion of the vehicle transportation network in response to the second codeword.

17. A method for use in traversing a vehicle transportation network, the method comprising:
traversing, by a host vehicle, the vehicle transportation network, wherein traversing the vehicle transportation network includes:
receiving, at the host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, the remote vehicle information indicating remote vehicle geospatial state information for the remote vehicle and remote vehicle kinematic state information for the remote vehicle,
identifying host vehicle information for the host vehicle, the host vehicle information including one or more of host vehicle geospatial state information for the host vehicle, or host vehicle kinematic state information for the host vehicle, and
controlling the host vehicle to traverse a portion of the vehicle transportation network in response to a codeword, wherein the codeword is based on the host vehicle information and the remote vehicle information, and wherein the codeword indicates whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent, and wherein:
a first portion of the codeword indicates a relative position of the remote vehicle relative to the host vehicle;
a second portion of the cod

Assignees

• Nissan North America Inc

Inventors

• Goudy Roy
• Probert Neal
• Christensen Andrew
• Chambers Jeremy

Classifications

• G08G1/164 Primary

  Centralised systems, e.g. external to vehicles · CPC title

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title