System and method for intersection collision avoidance

Patent metadata

Field	Value
Publication number	US-12100300-B2
Application number	US-202217705996-A
Country	US
Kind code	B2
Filing date	Mar 28, 2022
Priority date	Jan 31, 2022
Publication date	Sep 24, 2024
Grant date	Sep 24, 2024

Abstract

Intersection collision avoidance may use a cellular transceiver for a cellular network and a processor located at a cellular access point for multi-access edge computing. The processor includes a shared world model and a conflict detection module. The shared world model is configured to receive, by the cellular transceiver, signals relating to at least two road users in proximity to an intersection within a vehicle transportation network, wherein the at least two road users include an ego vehicle, and the signals conform to a standards-based communication protocol. The conflict detection module is configured to receive object information from the shared world model, determine a potential future collision between the ego vehicle and an other road user of the at least two road users, and transmit a notification of the potential future collision to the ego vehicle over the cellular network.

First claim

What is claimed is:

1. A system for intersection collision avoidance, 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 relating to at least two road users in proximity to an intersection within a vehicle transportation network, wherein the at least two road users include an ego vehicle, and the signals conform to a standards-based communication protocol, and wherein the shared world model is configured to determine objects from the signals, fuse objects detected by multiple sources, and generate a single world view comprising object information relating to the objects; and
a conflict detection module configured to receive the object information from the shared world model, determine a potential future collision between the ego vehicle and an other road user of the at least two road users, and transmit a notification of the potential future collision to the ego vehicle over the cellular network.

2. The system of claim 1 , wherein the standards-based communication protocol comprises SAE 2735.

3. The system of claim 1 , wherein the other road user is a non-motorized road user, and the conflict detection module is configured to:
transmit, over the cellular network, a notification of the potential future collision to a cellular-enabled device supported by the other road user.

4. The system of claim 1 , wherein the signals include an intent signal comprising at least one of a direction indicated by a turn signal of the ego vehicle or a destination setting of the ego vehicle, and the signals are transmitted to the cellular transceiver using SAE 2735.

5. The system of claim 4 , wherein the intent signal is received as an encoded signal converted from a JSON string generated by the ego vehicle, and the system comprises:
a signal interface that receives the encoded signal from the cellular transceiver and converts the encoded signal to a format usable by the processor.

6. The system of claim 1 , wherein:
the signals include an intent signal comprising at least one of a direction indicated by a turn signal of the ego vehicle or a destination setting of the ego vehicle, and
the shared world model is configured to determine an intended path for the ego vehicle and supply the intended path to the conflict detection module a part of the object information.

7. The system of claim 6 , wherein the shared world model is configured to:
generate, where the direction of the turn signal is received, 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 received, 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 each received:
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, the 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 the conflict detection module, a set of drive goals for the ego vehicle relative to the intersection that conform to the intended path.

8. The system of claim 7 , 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.

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

10. The system of claim 1 , wherein:
the shared world model is configured to determine an intended path for the ego vehicle and supply the intended path to the conflict detection module with the object information as a set of drive goals, and
the conflict detection module receives the set of drive goals and determines the potential future collision using the set of drive goals.

11. The system of claim 1 , wherein:
the shared world model is configured to receive, at the cellular transceiver, signals from an infrastructure sensor that monitors at least a portion of the intersection, and
the signals from the infrastructure sensor conform to the standards-based communication protocol.

12. The system of claim 11 , wherein:
the shared world model is configured to determine, for a look-ahead period, a predicted path for each of the at least two road users using the signals relating to the at least two road users,
the signals relating to the at least two road users comprise signals received from the ego vehicle and the signals from the infrastructure sensor.

13. The system of claim 1 , wherein the processor is configured to control the cellular transceiver to transmit, to a shared world model of an autonomous vehicle in proximity to the intersection, the signals relating to the at least two road users over the cellular network.

14. The system of claim 1 , wherein:
the shared world model is configured to determine a predicted path for the ego vehicle using at least some of the signals;
the predicted path passes through the intersection;
the signals identify a location of a non-motorized road user of the at least two road users; and
the conflict detection module is configured to:
compare a combination of an entering lane and an exiting lane of the predicted path to a database storing a combination of an entering lane and an exiting lane of the intersection;
identify whether the predicted path is a path requiring a notification process different from a standard notification process based on the combination of the predicted path matching the combination of the intersection;
transmit the notification to the ego vehicle of a presence of the non-motorized road user according to the notification process and the location of the non-motorized road user where the predicted path is the path requiring the notification process different from the standard notification process; and otherwise,
determine whether the standard notification process indicates a notification to the ego vehicle of the presence of the non-motorized road user according to the location of the non-motorized road user.

15. The system of claim 14 , wherein the non-motorized road user carries a cellular device, and the conflict detection module is configured to:
transmit, over the cellular network a

Assignees

• Nissan North America Inc

Inventors

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

Classifications

• G08G1/166

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

• G08G1/0116 Primary

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

• H04W4/44

  for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] · CPC title

• H04W4/40

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

• G08G1/164 Primary

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