Turn path visualization to improve spatial and situational awareness in turn maneuvers

Patent metadata

Field	Value
Publication number	US-2021039715-A1
Application number	US-201816976900-A
Country	US
Kind code	A1
Filing date	Mar 9, 2018
Priority date	Mar 9, 2018
Publication date	Feb 11, 2021
Grant date	—

Abstract

Sensor data and data from V2V messages are used to detect obstacles. Additional obstacles are identified in map data according to a vehicle's position. In response to detecting a turn intent, a controller calculates a turn path according to the detected obstacles and properties of the vehicle. The turn path is presented to a user, such as by display on a HUD or superimposing the turn path on an image from a forward facing camera. A desired steering angle to traverse the turn path may be displayed, such as relative to the current steering angle of the vehicle. Notifications regarding the path and turning intent of other vehicle may be displayed along with the turn path.

First claim

1 . A method comprising, by a controller of a vehicle:
receiving outputs of one or more sensors; identifying one or more obstacles according to the outputs of the one or more sensors; (a) determining a turn path according to locations of the one or more obstacles; and (b) presenting a visual representation of the turn path on a display device coupled to the controller for execution by a driver of the vehicle.

2 . The method of claim 1 , further comprising:
performing (a) and (b) in response to receiving an indicator of turning intent from the driver of the vehicle.

3 . The method of claim 2 , wherein the indicator of turning intent comprises at least one of:
a change in steering wheel angle; turning on a turn signal; and detecting a turn in navigation data for a route selected by the driver.

4 . The method of claim 1 , wherein (b) further comprises:
detecting a current steering angle of the vehicle; determining a desired steering angle according to the turn path; and displaying an indicator of a difference between the current steering angle and the desired steering angle.

5 . The method of claim 4 , further comprising selecting a color for the indicator according to a magnitude of the difference.

6 . The method of claim 1 , wherein the one or more sensors include at least one of a camera, a light detection and ranging (LIDAR) sensor, and a radio detection and ranging (RADAR) sensor.

7 . The method of claim 1 , further comprising:
receiving a message from a second vehicle over a vehicle-to-vehicle (V2V) communication protocol; obtaining an additional obstacle location from the message; and performing (a) according to the one or more obstacles and the additional obstacle.

8 . The method of claim 1 , wherein the additional obstacle is an obstacle detected by a sensor of the second vehicle.

9 . The method of claim 7 , further comprising:
determining an intended path of the second vehicle; and performing (a) effective to avoid the intended path of the second vehicle.

10 . The method of claim 7 , wherein presenting the visual representation of the turn path on the display device comprises presenting the turn path from a top-down perspective, the visual representation further including a visual representation of the additional obstacle, the additional obstacle being out of a field of view of the driver.

11 . A system comprising one or more processing devices and one or more memory devices operably coupled to the one or more memory devices, the one or more memory devices storing executable code effective to cause the one or more processing devices to:
receive outputs of one or more sensors; identify one or more obstacles according to the outputs of the one or more sensors; (a) determine a turn path according to locations of the one or more obstacles; and (b) present a visual representation of the turn path on a display device coupled to the controller for execution by a driver of the vehicle.

12 . The system of claim 11 , wherein the executable code is further effective to cause the one or more processing devices to:
perform (a) and (b) in response to receiving an indicator of turning intent from the driver of the vehicle.

13 . The system of claim 11 , wherein the indicator of turning intent comprises at least one of:
a change in steering wheel angle; turning on a turn signal; and detecting a turn in navigation data for a route selected by the driver.

14 . The system of claim 11 , wherein the executable code is further effective to cause the one or more processing devices to perform (b) by:
detecting a current steering angle of the vehicle; determining a desired steering angle according to the turn path; and displaying an indicator of a difference between the current steering angle and the desired steering angle.

15 . The system of claim 14 , wherein the executable code is further effective to cause the one or more processing devices to display a color on the indicator according to a magnitude of the difference.

16 . The system of claim 11 , wherein the one or more sensors include at least one of a camera, a light detection and ranging (LIDAR) sensor, and a radio detection and ranging (RADAR) sensor.

17 . The system of claim 11 , wherein the executable code is further effective to cause the one or more processing devices to:
receive a message from a second vehicle over a vehicle-to-vehicle (V2V) communication protocol; obtain an additional obstacle location from the message; and perform (a) according to the one or more obstacles and the additional obstacle.

18 . The system of claim 11 , wherein the additional obstacle is an obstacle detected by a sensor of the second vehicle.

19 . The system of claim 17 , wherein the executable code is further effective to cause the one or more processing devices to:
determine an intended path of the second vehicle; and perform (a) effective to avoid the intended path of the second vehicle.

20 . The system of claim 17 , wherein the executable code is further effective to cause the one or more processing devices to present the visual representation of the turn path on the display device by presenting the turn path from a top-down perspective, the visual representation further including a visual representation of the additional obstacle, the additional obstacle being out of a field of view of the driver.

Assignees

• Ford Global Tech Llc

Inventors

• Ferrer John Michael
• Rao Jayanthi
• Schein Victoria

Classifications

• B60K35/28

  characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver · CPC title

• B60K35/85

  Arrangements for transferring vehicle- or driver-related data · CPC title

• B60K35/22

  Display screens · CPC title

• H04W4/46

  for vehicle-to-vehicle communication [V2V] · CPC title

• B62D15/0295 Primary

  by overlaying a vehicle path based on present steering angle over an image without processing that image · CPC title