Vehicle-to-vehicle intersection navigation control

A host vehicle computer is programmed to receive intersection arrival data via vehicle-to-vehicle communications from one or more secondary vehicles. The computer assigns priority to each of the secondary vehicles based on the intersection arrival data and identifies one of the secondary vehicles as an immediately preceding vehicle. Upon receiving a ready signal clearance from the immediately preceding vehicle, the computer actuates a powertrain of the host vehicle, causing the host vehicle to proceed into, and through, the intersection.

BACKGROUND

Autonomous vehicles can have technical challenges to navigating intersections. Autonomous vehicle sensors may provide inaccurate data, and/or it may be difficult to interpret sensor data to predict the behavior of other vehicles in an intersection. A centralized controller, e.g., installed proximate an intersection to provide instructions to vehicles to navigate through the intersection can be expensive and difficult to implement.

DETAILED DESCRIPTION

Introduction

A vehicle-to-vehicle communication system20(seeFIGS. 1 and 2) provides a hardware and software infrastructure to address the problems that arise from a lack of a centralized controller to control vehicles at many intersections. The system20thus provides a solution for determining priority of right of way for vehicles intending to proceed through an intersection without a centralized controller. The system20further provides increased efficiency in navigating multiple autonomous vehicles though an intersection. Accordingly, a vehicle computer30in a host vehicle60is programmed to receive intersection arrival data via vehicle-to-vehicle communications from one or more secondary vehicles65. In certain applications, the arrival data includes a unique vehicle identification and an arrival time for each secondary vehicle.

The computer30assigns priority to each of the secondary vehicles based on the intersection arrival data. Based on the assigned priority, the computer30identifies one of the secondary vehicles as an immediately preceding vehicle. Upon receiving a ready signal clearance from the immediately preceding vehicle, the computer30actuates a powertrain of the host vehicle, causing the host vehicle to proceed into, and through, the intersection.

The process using vehicle-to-vehicle communications may include the host vehicle60determining its arrival time at the intersection, and requesting arrival data from secondary vehicles65at the intersection. The host vehicle60receives the arrival data, and determines a priority order list. Based on the priority list, the host vehicle60identifies an immediately preceding secondary vehicle65. The host vehicle60waits at the intersection until receiving a ready signal clearance from the immediately preceding secondary vehicle65.

While the host vehicle60is waiting to proceed into the intersection, it may receive an arrival data request, and send its arrival data in response.

When the host vehicle60determines it has received the ready signal clearance from the immediately preceding secondary vehicle65, the host vehicle60actuates a powertrain to proceed through the intersection. When the host vehicle60determines it has cleared the intersection, it sends a ready signal clearance for any secondary vehicles65waiting to proceed after the host vehicle60.

System

As shown inFIGS. 1 and 2, a vehicle-to-vehicle communication and control system20for determining vehicle priority at an intersection includes a computer30in communication with one or more sensors35, a communication system40, a powertrain system45, and a navigation device50. The vehicle system20may be installed in a host vehicle60, and one or more secondary vehicles65.

The computer30is a computing device that includes a processor32and a memory34.

The processor32is implemented via circuits, chips, or other electronic components and may include one or more microcontrollers, one or more field programmable gate arrays (FPGAs), one or more application specific circuits (ASICs), one or more digital signal processors (DSPs), one or more customer integrated circuits, etc. The processor32is programmable to process the data and communications received via the memory34, the sensors35, the communication system40and the navigation device50. Processing the data may include processing communications and/or other data captured or provided by the sensors35, the communication system40, and the navigation device50to determine when has priority cleared for the host vehicle60relative to one or more secondary vehicles65. The processor32may be further programmable to cause the host vehicle60to proceed through an intersection. As described below, the processor32instructs vehicle components to actuate in accordance with the sensor data.

The memory34is implemented via circuits, chips or other electronic components and can include one or more of read only memory (ROM), random access memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded MultiMediaCard (eMMC), a hard drive, or any volatile or non-volatile media etc. The memory34may store instruction for performing the processes described herein, and may data collected from sensors and communications.

The computer30is in electronic communication with one or more input devices, e.g. such as are conventional and known (and therefore not shown in the drawings), for providing data to the computer30and one or more output devices for receiving data and/or instructions from the computer30e.g., to actuate an output device. Exemplary input devices include: human machine interfaces (HMIs) such as a switch or graphical user interface (GUI); imaging devices such as LiDAR, still and/or video cameras, infrared sensors, the navigation device50etc., as well as other sensors and/or electronic control units (ECUs) that are known to provide data, e.g., on a vehicle communications bus or network, such as, radar, ultrasonic sensors, accelerometers, gyroscopes, pressure sensors, thermometers, barometers. altimeters, current sensing devices, voltage sensing devices, microphones, light sensors, etc. etc. Exemplary output that may be actuated by the computer devices include: warning light and audible subsystems; GUIs; HMIs; communication systems40having Bluetooth, Wi-Fi or cellular capabilities; other computers; the powertrain system45, etc.

The sensors35collect and send data to the computer30. The sensors35may detect internal states of the vehicle, for example, wheel speed, wheel orientation, and engine and transmission variables. The sensors35may detect the position or orientation of the vehicle, for example, global positioning system (GPS) sensors; accelerometers such as piezo-electric or microelectromechanical systems (MEMS); gyroscopes such as rate, ring laser, or fiber-optic gyroscopes; inertial measurements units (IMU); and magnetometers. The sensors35may detect the external world, for example, radar sensors, scanning laser range finders, light detection and ranging (LIDAR) devices, and image processing sensors such as cameras.

The communication system40is in communication with the computer30. The communication system40transmits and receives information wirelessly from other communication systems, enabling signals, data and other information to be exchanged via vehicle-to-vehicle communications between the host vehicle60and the one or more secondary vehicles65. Exemplary communication systems40include known Wi-Fi systems, radio transmitters and receivers, telecommunications systems, Bluetooth systems, cellular systems and mobile satellite communication systems.

The powertrain system45is in communication with the computer30. Upon actuation by the computer30, the powertrain system45provides a torque to wheels of the vehicle, propelling the vehicle forward. The powertrain system45may include an internal-combustion engine, a transmission, and/or an electric motor and a battery pack. The battery pack is connected to the electric motor. In a conventional powertrain, the engine is rotationally coupled to the transmission. In a hybrid powertrain, the electric motor is coupled to the transmission and transmits rotational kinetic energy to the transmission, and the internal-combustion engine may be coupled to either the electric motor or to the transmission. The transmission transmits the kinetic energy from the electric motor and/or the internal-combustion engine to a drive axle and ultimately to wheels of the vehicle, while applying a gear ratio allowing different tradeoffs between torque and rotational speed.

The navigation device50is in communication with the computer30. The navigation device50determines a location of the vehicle relative to stored map data. To determine the location, the navigation device50may rely on information from a global navigation satellite system, distance data from sensors35attached to a drivetrain of the vehicle, a gyroscope and/or an accelerometer. Exemplary navigation devices50include known GPS navigation devices, personal navigation devices, and automotive navigation systems.

Process

With reference toFIG. 3, a process100for determining vehicle priority at an intersection begins when the host vehicle60approaches an intersection. For example, the computer30may determine that the host vehicle60is approaching an intersection based on information and data received from the navigation device50.

Beginning the process at a block110, the computer30determines the arrival time of the host vehicle60. For example, the arrival time may be determined using the communication system40to access a network having a clock, e.g., an atomic clock, as is known, whereupon the network can indicate a time that the host vehicle arrived. Additionally, the network can further be used to synchronize vehicle60computer30clocks. Further alternatively and/or additionally network can indicate a current time to the computer30prior to the host vehicle60arriving at the intersection, the computer30maintaining the current time, and the arrival time indicated from the current time maintained by the computer30. The arrival time may be when the host vehicle60initially stops in a queue waiting to proceed through the intersection, such as the location of vehicle61inFIG. 4. Alternatively, the arrival time may be when the host vehicle60stops at a first position at an intersection. As used herein, the first position is the position in the queue at which no other vehicles are queued directly in front of the vehicle, such as vehicle62inFIG. 4.

In the first position the host vehicle60, and/or the secondary vehicle(s)65, may send a ready signal to the other vehicles60,65at the intersection. The ready signal indicates a ready status that the sending vehicle60,65is ready to proceed through the intersection, and is waiting until a vehicle having immediate priority has cleared its ready signal. The ready signal may be broadcast addressed to all vehicles. The ready signal may be broadcast to a specific vehicle in response to a request received from another vehicle, as discussed further below. The ready signal may be a discrete broadcast. The ready signal may be broadcast continuously, or sent at predetermined time intervals, i.e. every 5 seconds. The ready signal may include the arrival time of the broadcasting vehicle.

The determination of the arrival time may be based on a locational, or distance, comparison of the host vehicle60with the intersection, and further based on the host vehicle's60location relative to other vehicles at the intersection. For example, the computer30may determine that the host vehicle60is in a queue waiting to proceed through an intersection by determining the host vehicle60is stopped within a predetermined distance of the intersection, i.e. 100 ft., based on information and data received from the navigation device50. The computer may further determine the host vehicle60is in a queue waiting to proceed through an intersection by determining that another vehicle is detected with a predetermined distance, i.e. 20 ft., in front of the host vehicle60. In another example, the computer30may determine that the host vehicle60is in the first position by determining that the host vehicle60is stopped within a predetermined distance of the intersection, i.e. 50 ft., and may further determine that no other vehicle is detected with a predetermined distance, i.e. 20 ft., in front of the host vehicle60, based on information received from the navigation device50and the one or more sensors35, such as proximity sensors, LiDAR, etc.

Continuing the process at a block115, the computer30requests intersection arrival data via vehicle-to-vehicle communications from the one or more secondary vehicles65. For example, the computer30may transmit the request for intersection arrival data with the communication system40to be received by communication systems of the one or more secondary vehicles65.

The request for intersection arrival data may include a request for a unique identification and an arrival time for each of the one or more secondary vehicles65. The unique identification of each secondary vehicle65may be a vehicle identification number (YIN) associated with the vehicle at the time of manufacture, a username associated with a user of the vehicle, an electronic pin generated by a computer of the vehicle, etc. The arrival time for the secondary vehicle65may be determined similar to that of the host vehicle60discussed above. The request may further include the ready signal.

In response to receiving the request for intersection arrival data, the one or more secondary vehicles65may transmit intersection arrival data, including the unique identification and the arrival time for each of the one or more secondary vehicles65. The response may further include the ready signal.

Next, at a block120, the computer30of the host vehicle60receives the intersection arrival data via vehicle-to-vehicle communications from the one or more secondary vehicles65, such as being received by the communication system40of the host vehicle60after being sent from the communication systems40of the one or more secondary vehicles65.

Next, at a block125. the computer30determines a priority order list for the one or more secondary vehicles65based on the received arrival data. The priority order is assigned by the computer30comparing the respective arrival data of the one or more secondary vehicles65, and generating a chronological list of the one or more secondary vehicles65. The list of the one or more secondary vehicles65is ordered such that the secondary vehicle65that arrived at the intersection first is at a top of the list, and proceeds sequentially, with the secondary vehicle65that arrived last at the bottom of the list. For example, the arrival time of each of the one or more secondary vehicles65may be used to create a list with the one or more secondary vehicles65in chronological order. The priority order may include arrival data for the host vehicle60.

In response, at a block130, the computer30identifies, based on the determined priority list, one of the one or more secondary vehicles65as an immediately preceding vehicle. The immediately preceding vehicle is the last vehicle of the one or more secondary vehicles65to have priority to proceed through the intersection before the host vehicle60proceeds. For example, the immediately preceding vehicle may be identified at the bottom of the list as being the secondary vehicle that arrived last. In another example, the immediately preceding vehicle may be identified as the secondary vehicle having an arrival time that most closely precedes the arrival time of the host vehicle60determined by the computer30.

At a block135, while the host vehicle60computer30is waiting to instruct the vehicle60to proceed through the intersection, the host vehicle60may receive an arrival data request through the communication system40from one or more secondary vehicles65via vehicle-to-vehicle communications, as described above.

Next, at a block140, the computer30sends arrival data, including the arrival time of the host vehicle60, via vehicle-to-vehicle communications, as described above.

At a block145, the computer30determines whether a ready signal clearance has been received from the secondary vehicle identified as the immediately preceding vehicle. The ready signal clearance informs receiving vehicles that the sending vehicle has cleared its ready status, such as when the sending vehicle has proceeded through the intersection. The ready signal clearance may be an explicit signal sent by the secondary vehicle to the host vehicle60via vehicle-to-vehicle communications. Alternatively, the ready signal clearance may be an omission of a transmitted signal, e.g., cessation of a signal broadcast continually, or intermittently, such as at predetermined time intervals, by the secondary vehicle to the host vehicle60via vehicle-to-vehicle communications. The ready signal clearance may include data indicating that the sending vehicle has cleared its ready status, the identity of the sending vehicle, the priority order of the sending vehicle, and the direction of travel of the sending vehicle. The ready signal clearance may be addressed to an immediately succeeding vehicle. The immediately succeeding vehicle may be identified as the vehicle having an arrival time that most closely succeeds the arrival time of the vehicle sending the ready signal clearance. The ready signal clearance may be a public broadcast received by all vehicles within range.

At the block150, in response to the computer30receiving the ready signal clearance from the immediately preceding vehicle, the computer30actuates the powertrain system45causing the host vehicle60to proceed into the intersection.

At a block155, after the powertrain45has been actuated, the computer30determines whether the host vehicle60has cleared the intersection. Determination of the whether the host vehicle60has cleared the intersection may be based on a comparison of the host vehicle's60geo-location compared to the intersection, and/or further based on the distance traveled subsequent actuating the powertrain system45at the block150. For example, the host vehicle's position may be determined by the navigation device50relative to the map data. In further example the navigation device50may compare the host vehicle's current position to the first position location to determine the distance traveled subsequent actuating the powertrain system45; this distance may also be determined with data received from the sensors35, such as using known speed sensors and known algorithms to calculate distance based on a measured speed for a period of time. Once the host vehicle60has traveled at least a predetermined distance amount, e.g. 100 ft., the computer30may determine the host vehicle60has cleared the intersection. When the computer determines the host vehicle60has cleared the intersection, the computer30moves to a block160. Else, the computer30returns to the block150, continuing to actuate the powertrain system45and determining whether the host vehicle60has cleared the intersection in a looped manner.

At the block160, after the computer30has determined that the host vehicle60has cleared the intersection, the computer30sends a ready signal clearance. The ready signal clearance indicates to vehicles at the intersection that the host vehicle has proceeded through the intersection, and other vehicles waiting to go through the intersection may proceed. As discussed above, the ready signal clearance may be an explicit signal send by the communication system40to be received by other vehicles through vehicle-to-vehicle communication. Additionally, also as discussed above, the ready signal clearance may an omission of a transmitted signal e.g. the cessation of a signal broadcast continually, or intermittently, such as at predetermined time intervals.

With reference now toFIGS. 4-7, the host vehicle60, and secondary vehicles65are shown navigating an intersection.

InFIG. 4, the host vehicle60has arrived at the intersection at the first position. The host vehicle60determines its arrival time (FIG. 3, block110). The host vehicle60then sends out a request for arrival data (FIG. 3, block115). The secondary vehicles65a-cin the first positions around the intersection each send arrival data to the host vehicle60. The host vehicle60receives the arrival data and determines priority of the secondary vehicles65a-cbased on arrival times (FIG. 3, blocks120and125), as shown in the table below.

Based on the determined priority, the host vehicle60identifies secondary vehicle65bas being the immediately preceding vehicle (FIG. 3, block130).

InFIG. 5, secondary vehicle65aproceeds through the intersection, and sends the ready signal clearance. Host vehicle60may receive the ready signal clearance from secondary vehicle65a, however, secondary vehicle65ais not the immediate preceding vehicle to the host vehicle60. Accordingly, the host vehicle60continues to wait at the intersection.

InFIG. 6, while host vehicle60is waiting to proceed through the intersection, secondary vehicle65ddetermines that secondary vehicle65ais no longer within a predetermined distance in front of secondary vehicle65d, and advances to the first position at the intersection. In the first position, secondary vehicle65ddetermines its arrival time, then sends out a request for arrival data. Host vehicle60receives the arrival data request (FIG. 3, block135), and then responds by sending its arrival data (FIG. 3, block140).

Also inFIG. 6, secondary vehicle65breceives the ready signal clearance from secondary vehicle65a, the immediately preceding vehicle to secondary vehicle65b. Having received the ready signal clearance, secondary vehicle65bprecedes through the intersection and sends its ready signal clearance. The ready signal clearance is received by host vehicle60(FIG. 3, block145). Secondary vehicle65eadvances to the first position vacated by secondary vehicle65b.

InFIG. 7, having received the ready signal clearance from secondary vehicle65b, the immediately preceding vehicle to host vehicle60, host vehicle60actuates its powertrain (FIG. 3, block150) to proceed through the intersection. Once host vehicle60has cleared the intersection (FIG. 3, block155), it sends the ready signal clearance (FIG. 3, block160). The ready signal clearance is received by the secondary vehicle65c, and the process is continued by secondary vehicles65c-eetc.

CONCLUSION

With regard to the media, processes, systems, methods, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes could be practiced with the described steps performed in an order other than the order described herein. It further should be understood that certain steps could be performed simultaneously, that other steps could be added, or that certain steps described herein could be omitted. For example, in the process100, one or more of the steps could be omitted, or the steps could be executed in a different order. In other words, the descriptions of systems and/or processes herein are provided for the purpose of illustrating certain embodiments, and should in no way be construed so as to limit the disclosed subject matter, unless such order is explicitly described in the claims.