Nissan North America, Inc.

Andrew Christensen

Neal Probert

Roy Goudy

Jeremy Chambers

Heather Konet

Roy W Goudy

Adrian Tan

A method and apparatus for use in traversing a vehicle transportation network may include receiving, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, determining a relative position code indicating geospatial location of the remote vehicle relative to the host vehicle based the remote vehicle information, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code; identifying a vehicle control action based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, and traversing a portion of the vehicle transportation network in accordance with the vehicle control action, such that traversing the portion of the vehicle transportation network includes performing passing lane collision avoidance.

Converging path collision avoidance

A method for providing information to a driver of a vehicle includes obtaining host vehicle information that describes a first path to be traversed by a host vehicle, obtaining conflicting vehicle information that describes a second path to be traversed by a potentially conflicting vehicle, wherein the second path crosses the first path, determining a queue length representing a number of queued vehicles that are queued ahead of the host vehicle, determining a time-to-contact based on the host vehicle information and the conflicting vehicle information, and causing a warning alert to be output if the time-to-contact is less than a warning alert time value and the queue length is equal to or less than a warning alert length value.

Vehicle intersection warning system and method with false alarm suppression

A vehicle implementing vehicle operation assistance information management for autonomous vehicle control transfer may identify a vehicle operation assistance information item indicating a location of an expected vehicle operation control transfer, and, in response to a determination that an immanency for the vehicle operation assistance information item is within a maximum relevant immanence, present a representation of the vehicle operation assistance information item, which may include, in response to a determination that an urgency for the vehicle operation assistance information item indicates a warning urgency or an advisory urgency, controlling the primary graphical display portion and the secondary graphical display portion to present a graphical representation of the vehicle operation assistance information item, such that the primary graphical display portion presents a first portion of the graphical representation and the secondary graphical display portion presents a second portion of the graphical representation.

Vehicle operation assistance information management for autonomous vehicle control transfer

A method and apparatus for use in traversing a vehicle transportation network may include determining a stabilized codeword indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based on the host vehicle information, the remote vehicle information, and a reference direction, wherein a false negative incorrectly indicating that the expected path for the remote vehicle and the expected path for the host vehicle are divergent on a condition that a difference between a remote vehicle heading angle for the remote vehicle and a reference direction is within a heading approximation offset threshold, is identified as convergent. Traversing a vehicle transportation network may include traversing a portion of the vehicle transportation network in response to the stabilized codeword.

Converging path detection stabilized codeword generation

A method and apparatus for projected vehicle transportation network information notification for use in traversing a vehicle transportation network may include receiving a remote vehicle message including remote vehicle information indicating remote vehicle geospatial state information and remote vehicle kinematic state information, identifying host vehicle information including host vehicle geospatial state information and host vehicle kinematic state information, generating projected vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle information and the host vehicle information, and traversing the intersection represented by the projected vehicle transportation network information using the projected vehicle transportation network information by outputting at least a portion of the projected vehicle transportation network information representing the vehicle transportation network intersection.

Projected vehicle transportation network information notification

A vehicle implementing vehicle operation assistance information management for autonomous vehicle control operation may identify a vehicle operation assistance information item, the vehicle operation assistance information item indicating a location of a candidate vehicle control operation. On a condition that the immanency is within the maximum relevant immanence, the vehicle may present a representation of the vehicle operation assistance information item, which may include controlling the primary graphical display portion to present a graphical representation of the vehicle operation assistance information item, wherein controlling the primary graphical display portion to present the graphical representation includes controlling the primary graphical display portion to present a first portion of the graphical representation, and controlling the secondary graphical display portion to present the graphical representation, wherein controlling the secondary graphical display portion to present the graphical representation includes controlling the secondary graphical display portion to present a second portion of the graphical representation.

Vehicle operation assistance information management for autonomous vehicle control operation

A method and apparatus for use in traversing a vehicle transportation network may include determining a codeword based on host vehicle information and remote vehicle information, and wherein the codeword indicates whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent, and traversing a portion of the vehicle transportation network in response to the codeword. Determining the codeword may include determining an orientation sector based on a geodesic between the host vehicle and the remote vehicle, determining relative position information for the host vehicle and the remote vehicle based on the orientation sector, determining relative elevation information for the host vehicle and the remote vehicle based on the remote vehicle information and the host vehicle information, and determining relative heading information for the host vehicle and the remote vehicle based on the remote vehicle information and the host vehicle information.

Converging path detection codeword generation

A method and apparatus for use in traversing a vehicle transportation network may include a host vehicle receiving a remote vehicle message including remote vehicle information, identifying host vehicle information, determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected blind spot collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, in response to identifying the expected blind spot collision condition, identifying a vehicle control action based on the host vehicle dynamic state code, and traversing a portion of the vehicle transportation network in accordance with the vehicle control action.

Blind spot collision avoidance

A method and apparatus for use in traversing a vehicle transportation network may include receiving a remote vehicle message including remote vehicle information indicating remote vehicle geospatial state information and remote vehicle kinematic state information, identifying host vehicle information including host vehicle geospatial state information and host vehicle kinematic state information, determining convergence information indicating whether a remote vehicle expected path for the remote vehicle and a host vehicle expected path for the host vehicle are convergent based on the host vehicle information and the remote vehicle information, and traversing a portion of the vehicle transportation network in response to the convergence information. Determining the convergence information may include determining an orientation sector based on a geodesic between the host vehicle and the remote vehicle, and determining relative position information for the host vehicle and the remote vehicle based on the orientation sector.

Converging path detection

A vehicle implementing vehicle operation assistance information management for autonomous vehicle control transfer may identify a vehicle operation assistance information item indicating a location of an expected vehicle operation control transfer, and may, on a condition that an immanency for the vehicle operation assistance information item is within a maximum relevant immanence, determine an urgency based on the immanency, and present a representation of the vehicle operation assistance information item, which may include controlling a primary graphical display portion of the vehicle to present a graphical representation of the vehicle operation assistance information item, controlling a secondary graphical display portion of the vehicle to present the graphical representation, or a combination thereof. The vehicle may, control an auditory presentation device of the vehicle to present an auditory representation of the vehicle operation assistance information item.

A vehicle may traverse a portion of a vehicle transportation network, which may include a processor of the vehicle executing instructions to identify a first vehicle operation assistance information item, and, on a condition that an immanency for the first vehicle operation assistance information item is within a maximum relevant immanence and a utility metric for the first vehicle operation assistance information item indicates high utility, present a representation of the first vehicle operation assistance information item by, on a condition that a first urgency identified based on the immanency indicates a warning urgency or an advisory urgency, controlling a primary graphical display portion to present a first portion of a graphical representation of the first vehicle operation assistance information item, and controlling a secondary graphical display portion to present a second portion of the graphical representation.

Vehicle operation assistance information management

A method and apparatus for use in traversing a vehicle transportation network may include a host vehicle receiving a remote vehicle message including remote vehicle information, identifying host vehicle information, determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected passing lane collision condition based on the relative position code, the remote vehicle dynamic state code, the host vehicle dynamic state code, and a current acceleration rate for the host vehicle, in response to identifying the expected passing lane collision condition, identifying a vehicle control action, and traversing a portion of the vehicle transportation network in accordance with the vehicle control action.

Passing lane collision avoidance

A method and apparatus for use in traversing a vehicle transportation network may include a host vehicle receiving a remote vehicle message including remote vehicle information, identifying host vehicle information, determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected forward collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, identifying a deceleration rate for safely traversing the vehicle transportation network in response to identifying the expected forward collision condition, identifying a vehicle control action based on the deceleration rate, and traversing a portion of the vehicle transportation network in accordance with the vehicle control action.

Forward collision avoidance

A method and apparatus for use in traversing a vehicle transportation network may include a host vehicle receiving a remote vehicle message including remote vehicle information, identifying host vehicle information, determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected rear-end collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, in response to identifying the expected rear-end collision condition, identifying a vehicle control action based on the host vehicle dynamic state code, and traversing a portion of the vehicle transportation network in accordance with the vehicle control action.

Rear-end collision avoidance

A method for providing information to a driver of a vehicle includes receiving, at a host vehicle via a wireless electronic communication link, messages that each include remote vehicle information for a respective one of the one or more remote vehicles; identifying host vehicle information for the host vehicle; determining that a potential message occlusion exists based at least in part on the remote vehicle information for the one or more remote vehicles and the host vehicle information; and in response to determining that a potential message occlusion exists, causing a message occlusion alert to be output.

Growing community of inventors

South Lyon, MI, United States of America

Andrew Christensen