System and method for intersection collision avoidance

Patent metadata

Field	Value
Publication number	US-12080168-B2
Application number	US-202217707513-A
Country	US
Kind code	B2
Filing date	Mar 29, 2022
Priority date	Jan 31, 2022
Publication date	Sep 3, 2024
Grant date	Sep 3, 2024

Abstract

An intersection collision avoidance system determines, for an ego vehicle, a direction indicated by its turn signal, its destination setting, or both, generates, where the direction is determined, a possible intended path relative to an intersection using a high-definition (HD) map and the direction, and generates, where the destination setting is determined, a possible intended path for using the HD map and the destination setting. Where the direction and the destination setting are both determined, the direction indicated by the turn signal is compared to the possible intended path generated using the destination setting, and one of the possible intended paths is selected based on the comparison. The system transmits, to a conflict detection module, a set of drive goals for the ego vehicle relative to the intersection that conforms to the intended path. The module can determine a possible collision with another road user using the drive goals.

First claim

What is claimed is:

1. A system for intersection collision avoidance, comprising:
a processor configured to:
determine, for an ego vehicle in proximity to an intersection of a vehicle transportation network, at least one a direction indicated by a turn signal of the ego vehicle or a destination setting of the ego vehicle;
generate, where the direction of the turn signal is determined, a possible intended path for the ego vehicle relative to the intersection using a high-definition map and the direction indicated by the turn signal;
generate, where the destination setting is determined, a possible intended path for the ego vehicle relative to the intersection using the high-definition map and the destination setting;
where the direction indicated by the turn signal and the destination setting are determined:
compare the direction indicated by the turn signal to the possible intended path generated using the high-definition map and the destination setting;
select, where the direction matches the possible intended path generated using the high-definition map and the destination setting, the possible intended path generated using the high-definition map and the destination setting as an intended path for the ego vehicle; and
select, where the direction does not match the possible intended path generated using the high-definition map and the destination setting, the possible intended path generated using the high-definition map and the direction as the intended path for the ego vehicle;

select, where direction indicated by the turn signal is determined and the destination setting is not determined, the possible intended path generated using the high-definition map and the direction as the intended path for the ego vehicle;
select, where the direction of the turn signal is not determined and the destination setting is determined, the possible intended path generated using the high-definition map and the destination setting as the intended path for the ego vehicle; and
transmit, to a conflict detection module, a set of drive goals for the ego vehicle relative to the intersection that conforms to the intended path, wherein the conflict detection module determines a potential future collision with an other road user of the intersection based on the set of drive goals.

2. The system of claim 1 , wherein the direction indicated by the turn signal is straight when the turn signal is off.

3. The system of claim 1 , wherein the set of drive goals is contained within an intent message, the intent message includes a current position, a current heading, and a current speed of the ego vehicle, and each goal of the set of drive goals includes an identifier of a lane segment, an expected position and heading of the ego vehicle for the goal, and a desired speed of the ego vehicle.

4. The system of claim 1 , wherein to determine the destination setting of the ego vehicle comprises to determine the destination setting from a navigation system of the ego vehicle.

5. A system for intersection collision avoidance, comprising:
a processor configured to:
determine, for an ego vehicle in proximity to an intersection of a vehicle transportation network, at least one of a direction indicated by a turn signal of the ego vehicle or a destination setting of the ego vehicle;
generate, where the direction of the turn signal is determined, a possible intended path for the ego vehicle relative to the intersection using a high-definition map and the direction indicated by the turn signal;
generate, where the destination setting is determined, a possible intended path for the ego vehicle relative to the intersection using the high-definition map and the destination setting;
where the direction indicated by the turn signal and the destination setting are determined:
compare the direction indicated by the turn signal to the possible intended path generated using the high-definition map and the destination setting; and
select, based on a result of the compare, an intended path for the ego vehicle as either the possible intended path generated using the high-definition map and the destination setting or the possible intended path generated using the high-definition map and the direction indicated by the turn signal; and

transmit, to a conflict detection module, a set of drive goals for the ego vehicle relative to the intersection that conforms to the intended path, wherein the conflict detection module determines a potential future collision with an other road user of the intersection based on the set of drive goals.

6. The system of claim 5 , wherein to select the intended path comprises to:
select the possible intended path generated using the high-definition map and the destination setting as an intended path for the ego vehicle where the direction matches the possible intended path generated using the high-definition map and the destination setting; and
select the possible intended path generated using the high-definition map and the direction as the intended path for the ego vehicle where the direction does not match the possible intended path generated using the high-definition map and the destination.

7. The system of claim 5 , wherein the processor is configured to:
select, where direction indicated by the turn signal is determined and the destination setting is not determined, the possible intended path generated using the high-definition map and the direction as the intended path for the ego vehicle.

8. The system of claim 5 , wherein the processor is configured to:
select, where the direction of the turn signal is not determined and the destination setting is determined, the possible intended path generated using the high-definition map and the destination setting as the intended path for the ego vehicle.

9. The system of claim 5 , comprising:
a cellular transceiver for a cellular network; and
a processor located at a cellular access point for multi-access edge computing, the processor comprising:
a shared world model configured to receive, by the cellular transceiver, signals at the cellular transceiver from at least two road users in proximity to the intersection, wherein the at least two road users include the ego vehicle and the other road user, and the signals conform to a standards-based communication protocol; and
the conflict detection module that receives the set of drive goals and object information from the shared world model, detects the potential future collision between the ego vehicle and the other road user of the at least two road users, and transmits a notification of the potential future collision to the ego vehicle over the cellular network.

10. The system of claim 9 , wherein the signals include an intent signal comprising the at least one of a direction indicated by the turn signal of the ego vehicle or the destination setting of the ego vehicle, and the signals are transmitted to the cellular transceiver that uses SAE 2735.

11. The system of claim 5 , comprising:
a wireless receiver coupled to the processor, wherein:
to determine the at least one the direction indicated by the turn signal of the ego vehicle or the destination setting of the ego vehicle comprises to receive, at the wireless receiver, the at least one the direction indicated by the turn signal of the ego vehicle or the destination setting of the ego vehicle.

12. The system of claim 5 , comprising:
an infrastructure sensor that monitors at least a portion of the intersection, wherein:
to determine the direction indicated by the turn signal of the ego vehicle comprises to obtain an image using the infrastructure sensor and to determine the direction from the image.

Assignees

• Nissan North America Inc

Inventors

• James Viju
• Pedersen Liam
• Chou Fang-Chieh
• Baig Najamuddin Mirza
• Tien Simon

Classifications

• G08G1/056

  with provision for distinguishing direction of travel · CPC title

• G08G1/04

  using optical or ultrasonic detectors · CPC title

• G08G1/0116 Primary

  from roadside infrastructure, e.g. beacons · CPC title

• H04W4/40

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

• H04W4/023

  using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds · CPC title