Honda Motor Co., Ltd.

Great Wall Motor Company Limited

Samir Al-Stouhi

Paritosh Kelkar

Hasan Tafish

Yoichi Sugimoto

Kei Oshida

Shigenobu Saigusa

Xue Bai

Jingfu Jin

Hamid Hekmatian

Sue Bai

Embodiments, systems, and techniques for vehicle operation assistance are provided herein. Vehicle operation assistance may be provided by a method. An example method includes transmitting a help request for help to a help center based on an emergency status of an occupant of a vehicle. The method also includes receiving availability information from the help center. The availability information indicates availability of one or more potential leader vehicles in an area. The method yet further includes placing the system in a follower mode based on a selection of a leader vehicle from the one or more potential leader vehicles by establishing a connection with the potential leader vehicle. In follower mode the vehicle is a follower vehicle. The method additionally includes wirelessly receiving a navigation instruction from the leader vehicle. The method includes executing a driving maneuver in an autonomous fashion based on the navigation instruction from the leader vehicle.

Vehicle operation assistance

A system and method for estimating and communicating a path of travel of a reference vehicle by road side equipment (RSE) that includes establishing communication between the RSE and an on-board equipment of the reference vehicle and receiving vehicle parameters of the reference vehicle from the on-board of the reference vehicle. The system and method also include estimating the path of travel of the reference vehicle based on the vehicle parameters of the reference vehicle and environmental parameters determined by the RSE. The system and method further include establishing communication between the RSE and an on-board equipment of a target vehicle and communicating the estimated path of travel of the reference vehicle from the RSE to the target vehicle, wherein a probability of collision between the reference vehicle and the target vehicle is determined based on the estimated path of travel of the reference vehicle.

System and method for providing vehicle collision avoidance at an intersection

Methods and systems may be used for obtaining a high-confidence point-cloud. The method includes obtaining three-dimensional sensor data. The three-dimensional sensor data may be raw data. The method includes projecting the raw three-dimensional sensor data to a two-dimensional image space. The method includes obtaining sparse depth data of the two-dimensional image. The method includes obtaining a predicted depth map. The predicted depth map may be based on the sparse depth data. The method includes obtaining a predicted error-map. The predicted error map may be based on the sparse depth data. The method includes outputting a high-confidence point-cloud. The high-confidence point-cloud may be based on the predicted depth map and the predicted error-map.

Method and apparatus for predicting depth completion error-map for high-confidence dense point-cloud

Methods and system for compensating for vehicle system errors. A virtual camera is added to vehicle sensor configurations and a coordinate transformation process which attempts to match multiple 3D points associated with a landmark to a detected landmark. The virtual camera is associated with the detected landmark. The 3D world coordinate points may be transformed to a real 3D camera coordinate system and then to a virtual 3D camera coordinate system. The 3D points in real and virtual camera coordinate frames are projected onto the corresponding 2D image pixel coordinates, respectively. Inclusion of the virtual camera in the coordinate transformation process presents a 3D to 2D point corresponding problem which may be resolved using camera pose estimation algorithms. An offset compensation transformation matrix may be determined which accounts for errors contributed by mis-calibrated vehicle sensors or systems and applied to all data prior to use by the vehicle control systems.

Methods and systems to compensate for vehicle calibration errors

A method for controlling vehicle sensor data acquisition using a vehicular communication network includes, receiving a global time signal at the first vehicle and at the second vehicle. The first vehicle synchronizes a local clock signal of the first vehicle with the global time signal, and the second vehicle synchronizes a local clock signal of the second vehicle with the global time signal. Further, the method includes determining a capture interval that minimizes a time between actuation of a sensor of the first vehicle and actuation of a sensor of the second vehicle. The method includes actuating, according to the capture interval, the sensor of the first vehicle and the sensor of the second vehicle. The first vehicle transmits to the second vehicle the sensor data, and the second vehicle transmits to the first vehicle the sensor data.

System and method for synchronized vehicle sensor data acquisition processing using vehicular communication

Embodiments, systems, and techniques for vehicle operation assistance are provided herein. Vehicle operation assistance may be provided by monitoring characteristics of an occupant of a vehicle and determining an emergency status for the occupant based on characteristics of the occupant, transmitting a request for help based on the emergency status indicating the occupant of the vehicle is experiencing an emergency, receiving a 'follow me' request from a potential leader vehicle, enabling follower mode such that vehicle is a follower vehicle and the potential leader vehicle is a leader vehicle, establishing a connection with the leader vehicle and receiving navigation instructions from the leader vehicle based on the vehicle being in follower mode, generating driving action commands based on navigation instructions, and executing respective driving action commands in an autonomous fashion based on the vehicle being in follower mode.

A method and system for controlling sensor data acquisition using a vehicular communication network is provided. An example method includes establishing an operable connection between a first vehicle and remote vehicles. The first vehicle and the remote vehicles operate based upon a common time base according to a global time signal. The method includes receiving capability data that includes a sensor actuation time slot of each of the remote vehicles indicting a time slot at which the sensors of each of the remote vehicles are actuating. The sensor actuation time slot of each of the remote vehicle is different. The method also includes dividing a clock cycle into a plurality of time slots based on the remote vehicles and controlling, according to the plurality of time slots and the sensor actuation time slot, sensor actuation of a sensor of the first vehicle and the sensors of the remote vehicles.

System and method for avoiding sensor interference using vehicular communication

A method and system for controlling vehicle sensor data acquisition using a vehicular communication network, including synchronizing a local clock signal of a first vehicle and a local clock signal of a second vehicle with a global time signal. Further, determining a capture interval for a sensor data acquisition process time that maximizes a total number of data frames that can be captured by a sensor of the first vehicle and by a sensor of the second vehicle. Based on the capture interval, transmitting a first sensor trigger pulse to the sensor of the first vehicle and transmitting a second sensor trigger pulse according to the sensor of the second vehicle. The first vehicle transmits the sensor data from the sensor of the first vehicle to the second vehicle, and the second vehicle transmits the sensor data from the sensor of the second vehicle to the first vehicle.

A system and method for providing vehicle collision avoidance at an intersection include determining environmental parameters associated with a vicinity of the intersection. The system and method also include estimating a path of travel of a reference vehicle and a target vehicle, wherein the path of travel of the reference vehicle and the target vehicle are based on the environmental parameters and parameters pertaining to the reference vehicle and the target vehicle. Additionally, the system the method include estimating a probability of collision between the reference vehicle and the target vehicle at the intersection based on the path of travel of the reference vehicle and the target vehicle and providing a collision avoidance response, wherein a type of the collision avoidance response is based on the probability of collision between the reference vehicle and the target vehicle at the intersection.

A DSRC controller used for controlling a dedicated short-range communication (DSRC) device is provided. The DSRC controller includes a processor communicatively coupled to a memory device. The processor is programmed to store a communication profile of the DSRC device. The communication profile includes rules for transmitting and receiving communications by the DSRC device. The processor is also programmed to receive DSRC zone information describing a DSRC zone, determine a current location of the DSRC device, compare the current location to the DSRC zone information, determine whether the DSRC device is located within a DSRC zone based on the comparison, and if the determination is that the DSRC device is located within the DSRC zone, update the communication profile based on the DSRC zone information.

Systems and methods for controlling DSRC communications

A computer-implemented method and system for controlling sensor data acquisition including establishing an operable connection for computer communication between a first vehicle and remote vehicles within a communication range. The method includes receiving capability data corresponding to the capabilities of sensors of the one or more remote vehicles, including a sensor actuation time slot. The method includes selecting a set of N remote vehicles based on the capability data. The set of N remote vehicles consists remote vehicles closest to the first vehicle, and the sensor actuation time slot of each of the remote vehicles in the set of N remote vehicles are different. The method includes dividing a clock cycle into a plurality of time slots, and controlling, according to the plurality of time slots and the sensor actuation time slot, sensor actuation.

A system and method for providing vehicle collision avoidance at an intersection include receiving vehicle parameters from a reference vehicle and environmental parameters from roadside equipment. The system and method also include processing a vehicle behavioral map based on the vehicle parameters and the environmental parameters and transmitting the vehicle behavioral map to a target vehicle. The system and method additionally include processing a confidence table based on the vehicle behavioral map and vehicle parameters provided by the target vehicle. The system and method further include providing a collision avoidance response based on the confidence table, wherein the collision avoidance response is provided to the target vehicle to avoid a possible collision with the reference vehicle at the intersection.

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Dearborn, MI, United States of America

Samir Al-Stouhi