Collision avoidance for a connected vehicle based on a digital behavioral twin

Patent metadata

Field	Value
Publication number	US-10843689-B2
Application number	US-201816007796-A
Country	US
Kind code	B2
Filing date	Jun 13, 2018
Priority date	Jun 13, 2018
Publication date	Nov 24, 2020
Grant date	Nov 24, 2020

Abstract

The disclosure includes embodiments for a digital behavioral twin for collision avoidance. In some embodiments, a method includes recording digital data describing a driving context and a driving behavior of a remote vehicle and an ego vehicle in this driving context. In some embodiments, one or more of the remote vehicle and the ego vehicle is a connected vehicle. The method includes determining a risk of a collision involving one or more of the remote vehicle and the ego vehicle based on a first digital behavioral twin of the remote vehicle, a second digital behavioral twin of the ego vehicle and the digital data. The method includes modifying an operation of the ego vehicle based on the risk.

First claim

What is claimed is:

1. A method comprising:
recording digital data describing a driving context and a driving behavior of a remote vehicle and an ego vehicle;
determining a risk of a collision involving one or more of the remote vehicle and the ego vehicle based on a first digital behavioral twin of the remote vehicle, a second digital behavioral twin of the ego vehicle and the digital data, wherein the first digital behavioral twin models the driving behavior of a remote driver of the remote vehicle in one or more different driving contexts; and
modifying an operation of the ego vehicle based on the risk.

2. The method of claim 1 , wherein modifying the operation of the ego vehicle includes an electronic display of the ego vehicle displaying a graphical output that visually depicts the risk.

3. The method of claim 2 , wherein the graphical output is an augmented reality (AR) visualization that depicts the risk of the collision for each portion of a roadway currently being traveled or about to be traveled.

4. The method of claim 1 , further comprising the remote vehicle transmitting a vehicle-to-anything (V2X) message to the ego vehicle, wherein the V2X messages includes remote twin data describing the first digital behavioral twin.

5. The method of claim 1 , wherein the one or more different driving contexts is based on a pattern of the remote driver accelerating or breaking in response to a change of a traffic light.

6. The method of claim 1 , wherein the second digital behavioral twin models the driving behavior of an ego driver of the ego vehicle in a plurality of different driving contexts.

7. The method of claim 1 , wherein the ego vehicle is an autonomous vehicle.

8. The method of claim 7 , wherein modifying the operation of the ego vehicle includes the ego vehicle autonomously taking an action to modify the risk.

9. The method of claim 1 , further comprising modifying the first digital behavioral twin based on new digital data describing a different driving behavior of the remote vehicle in the driving context, wherein the first digital behavioral twin is modified to include this different driving behavior.

10. A system comprising:
a non-transitory memory storing digital data describing a driving context and a driving behavior of a remote vehicle and an ego vehicle; and
a processor that is communicatively coupled to the non-transitory memory, wherein the non-transitory memory stores computer code which, when executed by the processor, causes the processor to:
determine a risk of a collision involving one or more of the remote vehicle and the ego vehicle based on a first digital behavioral twin of the remote vehicle, a second digital behavioral twin of the ego vehicle and the digital data, wherein the first digital behavioral twin models the driving behavior of a remote driver of the remote vehicle in one or more different driving contexts; and
modify an operation of the ego vehicle based on the risk.

11. The system of claim 10 , wherein modifying the operation of the ego vehicle includes an electronic display of the ego vehicle displaying a graphical output that visually depicts the risk.

12. The system of claim 11 , wherein the graphical output is an augmented reality (AR) visualization that uses corresponding colored regions to indicate the risk of the collision for each portion of a roadway currently being traveled or about to be traveled.

13. The system of claim 10 , wherein the first digital behavioral twin is described by remote twin data that is received via a vehicle-to-anything (V2X) message received by the ego vehicle and transmitted by the remote vehicle.

14. The system of claim 10 , wherein the one or more different driving contexts is based on a pattern of the remote driver accelerating or breaking in response to a change of a traffic light.

15. The system of claim 10 , wherein the second digital behavioral twin models the driving behavior of an ego driver of the ego vehicle in a plurality of different driving contexts.

16. The system of claim 10 , wherein the ego vehicle is an autonomous vehicle and modifying the operation of the ego vehicle includes the ego vehicle autonomously taking an action to modify the risk.

17. The system of claim 10 , wherein the non-transitory memory stores additional computer code which, when executed by the processor, causes the processor to modify the first digital behavioral twin based on new digital data describing a different driving behavior of the remote vehicle in the driving context, wherein the first digital behavioral twin is modified to include this different driving behavior.

18. A computer program product comprising a non-transitory memory storing computer-executable code that, when executed by a processor, causes the processor to:
record digital data describing a driving context and a driving behavior of a remote vehicle and an ego vehicle;
determine a risk of a collision involving one or more of the remote vehicle and the ego vehicle based on a first digital behavioral twin of the remote vehicle, a second digital behavioral twin of the ego vehicle and the digital data, wherein the first digital behavioral twin models the driving behavior of a remote driver of the remote vehicle in one or more different driving contexts; and
modify an operation of the ego vehicle based on the risk.

19. The computer program product of claim 18 , wherein modifying the operation of the ego vehicle includes an electronic display of the ego vehicle displaying a graphical output that visually depicts the risk.

20. The computer program product of claim 18 , wherein the computer-executable code, when executed by the processor, further causes the processor to modify the first digital behavioral twin based on new digital data describing a different driving behavior of the remote vehicle in the driving context, wherein the first digital behavioral twin is modified to include this different driving behavior.

Assignees

• Toyota Motor Co Ltd

Inventors

• Jiang Zhihao
• Shiraishi Shinichi
• Kim Baekgyu

Classifications

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• H04W4/029

  Location-based management or tracking services · CPC title

• G06T19/006

  Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00) · CPC title

• H04W4/40

  for vehicles, e.g. vehicle-to-pedestrians [V2P] · CPC title