Vehicle-to-everything communication-based lane change collision avoidance warning

Patent metadata

Field	Value
Publication number	US-2020282981-A1
Application number	US-201916295700-A
Country	US
Kind code	A1
Filing date	Mar 7, 2019
Priority date	Mar 7, 2019
Publication date	Sep 10, 2020
Grant date	—

Abstract

The disclosure describes embodiments for modifying a whether an ego vehicle changes lanes to a target lane at a target time based on a payload of a Vehicle-to-Everything (V2X) message originated by a remote vehicle. In some embodiments, a method includes determining, based on the payload, whether the remote vehicle is changing lanes to the target lane at the target time. The method includes determining that the ego vehicle is changing lanes to the target lane at approximately the target time. The method includes estimating that the ego vehicle and the remote vehicle will collide at the target lane at the target time. The method includes modifying an operation of a vehicle component of the ego vehicle so that the ego vehicle does not change lanes to the target lane at the target time.

First claim

What is claimed is:

1 . A method executed by an ego vehicle, the method comprising:
determining, based on a payload for a Vehicle-to-Everything (V2X) message originated by a remote vehicle, whether the remote vehicle is changing lanes to a target lane at a target time; determining that the ego vehicle is changing lanes to the target lane at approximately the target time; estimating that the ego vehicle and the remote vehicle will collide at the target lane at the target time; and modifying an operation of a vehicle component of the ego vehicle so that the ego vehicle does not change lanes to the target lane at the target time.

2 . The method of claim 1 , wherein the V2X message is a Dedicated Short-Range Communication message.

3 . The method of claim 1 , wherein the V2X message is not one of the following: a WiFi message; a 3G message; a 4G message; a 5G message; a Long-Term Evolution (LTE) message; a millimeter wave communication message; a Bluetooth message; and a satellite communication.

4 . The method of claim 1 , wherein the V2X message is received by a V2X radio.

5 . The method of claim 4 , wherein the V2X radio is not an element of the ego vehicle.

6 . The method of claim 4 , wherein the V2X radio includes a plurality of channels including a reserved channel that is reserved for receiving the V2X message.

7 . The method of claim 6 , wherein the reserved channel is reserved for a Basic Safety Message.

8 . The method of claim 1 , wherein the vehicle component is selected from a group that includes: an Advanced Driver Assistance System; an autonomous driving system; a communication unit; a speaker; a display; a heads-up display unit; and an actuator.

9 . A system included in an ego vehicle, the system comprising:
a processor communicatively coupled to a Vehicle-to-Everything (V2X) radio and a non-transitory memory, wherein the V2X radio is operable to receive a V2X message and the non-transitory memory stores computer code that is operable, when executed by the processor, to cause the processor to:
determine, based on a payload for a Vehicle-to-Everything (V2X) message originated by a remote vehicle, whether the remote vehicle is changing lanes to a target lane at a target time;
determine that the ego vehicle is changing lanes to the target lane at approximately the target time;
estimate that the ego vehicle and the remote vehicle will collide at the target lane at the target time; and
modify an operation of a vehicle component of the ego vehicle so that the ego vehicle does not change lanes to the target lane at the target time.

10 . The system of claim 9 , wherein the V2X message is a Dedicated Short-Range Communication message.

11 . The system of claim 9 , wherein the V2X message is not one of the following: a WiFi message; a 3G message; a 4G message; a 5G message; a Long-Term Evolution (LTE) message; a millimeter wave communication message; a Bluetooth message; and a satellite communication.

12 . The system of claim 9 , wherein the V2X message is received by a V2X radio.

13 . The system of claim 12 , wherein the V2X radio is not an element of the ego vehicle.

14 . The system of claim 12 , wherein the V2X radio includes a plurality of channels including a reserved channel that is reserved for receiving the V2X message.

15 . The system of claim 14 , wherein the reserved channel is reserved for a Basic Safety Message.

16 . The system of claim 9 , wherein the vehicle component is selected from a group that includes: an Advanced Driver Assistance System; an autonomous driving system; a communication unit; a speaker; a display; a heads-up display unit; and an actuator.

17 . A computer program product comprising instructions that, when executed by a processor, causes the processor to perform operations comprising:
determining, based on a payload for a Vehicle-to-Everything (V2X) message originated by a remote vehicle, whether the remote vehicle is changing lanes to a target lane at a target time; determining that an ego vehicle is changing lanes to the target lane at approximately the target time; estimating that the ego vehicle and the remote vehicle will collide at the target lane at the target time; and modifying an operation of a vehicle component of the ego vehicle so that the ego vehicle does not change lanes to the target lane at the target time.

18 . The computer program product of claim 17 , wherein modifying the operation of the vehicle component includes one of the following: modifying the vehicle component so that the vehicle component does not steer the ego vehicle to the target lane; modifying the operation of the vehicle component includes modifying the vehicle component so that the vehicle component only steers the ego vehicle to the target lane at a modified time that is different than the target time.

19 . The computer program product of claim 17 , wherein modifying the operation of the vehicle component includes causing the vehicle component to provide a warning to a driver of the ego vehicle.

20 . The computer program product of claim 19 , wherein the warning is selected from a group that consists of: providing a small counter-steering force on a steering wheel of the ego vehicle; causing an actuator installed in the steering wheel to vibrate; generating a warning message that is displayed on a display device of the ego vehicle; and generating a warning sound that is played over a speaker of the ego vehicle.

Assignees

• Toyota Motor Co Ltd

Inventors

• Wang Ziran
• Han Kyungtae
• Kim Baekgyu

Classifications

• G08G1/16

  Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) · CPC title

• B60W30/08

  Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences · CPC title

• B60T8/17558

  specially adapted for collision avoidance or collision mitigation (road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09) · CPC title

• B60Q9/007

  providing information about the distance to an obstacle, e.g. varying sound · CPC title

• B60Q9/006

  using a distance sensor · CPC title