REVERSE OPERATION DETECTION SYSTEMS AND METHODS

Systems and method are provided for notifying an operator of a vehicle of reverse operation of a vehicle. In one embodiment, a method includes: determining, by a processor, reverse direction operation of a first vehicle on a road; selectively generating, by a processor, notification data based on the reverse operation, map data, camera data, and speed data, wherein the notification data includes information to notify an operator of a second vehicle of the reverse operation; and selectively generating, by a processor, communication data based on the reverse operation, wherein the communication data includes information to notify at least one of a third vehicle and a remote transportation system of the reverse direction operation.

INTRODUCTION

The present disclosure generally relates to vehicles, and more particularly relates to systems and methods for detecting reverse driving operation of a vehicle.

Most all vehicles are capable of driving in a forward and a reverse direction. Typically, vehicle operators operate the vehicle in a forward direction on a road. In some instances, a vehicle operator chooses to operate the vehicle in a reverse direction on the road. For example, when the operator misses an exit on a highway, the operator my choose to stop and operate the vehicle in a reverse direction toward the missed exit. Such operation along the road is undesirable as it may cause disruption to the flow of traffic and/or a collision, and in many cases is unlawful.

Accordingly, it is desirable to provide methods and systems for detection of a vehicle operating in a reverse direction along a road. It is further desirable to provide methods and systems for notifying others of the reverse operation of a vehicle. Furthermore, other desirable features and characteristics of the present invention will become apparent from the subsequent detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background.

SUMMARY

Systems and method are provided for notifying an operator of a vehicle of reverse operation of a vehicle. In one embodiment, a method includes: determining, by a processor, reverse direction operation of a first vehicle on a road; selectively generating, by a processor, notification data based on the reverse operation, map data, camera data, and speed data, wherein the notification data includes information to notify an operator of a second vehicle of the reverse operation; and selectively generating, by a processor, communication data based on the reverse operation, wherein the communication data includes information to notify at least one of a third vehicle and a remote transportation system of the reverse direction operation.

In various embodiments, the method includes receiving a message indicating reverse operation of an other vehicle, and wherein the determining the reverse direction operation of the first vehicle is based on the message. In various embodiments, the method includes determining that the other vehicle is traveling on a same road as the second vehicle based on the map data, and wherein the selectively generating the notification data is based on the determining. In various embodiments, the selectively generating the notification data includes determining that the other vehicle is traveling ahead of the second vehicle based on the map data, and wherein the selectively generating the notification data is based on the determining.

In various embodiments, the selectively generating the notification data includes determining that the speed limit of the road is above a threshold.

In various embodiments, the method includes detecting reverse direction operation of the first vehicle based on a transmission state of the first vehicle, and a speed of the first vehicle, and wherein the determining the reverse direction operation is based on the detection. In various embodiments, the first vehicle and the second vehicle are the same vehicle. In various embodiments, the method includes determining that the speed limit of the road is above a threshold, and wherein the determining the reverse direction operation is based on the determining.

In various embodiments, the method includes communicating the communication data to the remote transportation system.

In various embodiments, the method includes communicating the communication data to the third vehicle.

In another embodiment, a computer implemented system includes a reverse direction detection module that includes one or more processors configured by programming instructions encoded in non-transitory computer readable media. The reverse direction detection module is configured to: determine reverse direction operation of a first vehicle on a road; selectively generate notification data based on the reverse operation, map data, camera data, and speed data, wherein the notification data includes information to notify an operator of a second vehicle of the reverse operation; and selectively generate communication data based on the reverse operation, wherein the communication data includes information to notify at least one of a third vehicle and a remote transportation system of the reverse direction operation.

In various embodiments, the reverse direction detection module is further configured to receive a message indicating reverse operation of another vehicle, and wherein the determining the reverse direction operation of the first vehicle is based on the message. In various embodiments, the reverse direction detection module is further configured to determine that the other vehicle is traveling on a same road as the second vehicle based on the map data, and selectively generate the notification data based on the determination. In various embodiments, the reverse direction detection module is configured to selectively generate the notification data by determining that the other vehicle is traveling ahead of the second vehicle based on the map data, and generate the notification data based on the determination.

In various embodiments, the reverse direction detection module is configured to selectively generate the notification data by determining that the speed limit of the road is above a threshold, and generate the notification data based on the determination.

In various embodiments, the reverse direction detection module is further configured to detect reverse direction operation of the first vehicle based on a transmission state of the first vehicle, and a speed of the first vehicle, and determine the reverse direction operation based on the detection. In various embodiments, the first vehicle and the second vehicle are the same vehicle.

In various embodiments, the reverse direction detection module is further configured to determine that the speed limit of the road is above a threshold, and determine the reverse direction operation based on the determination.

In various embodiments, the reverse direction detection module is further configured to communicate the communication data to the remote transportation system.

In various embodiments, the reverse direction detection module is further configured to communicate the communication data to the third vehicle.

DETAILED DESCRIPTION

With reference toFIG. 1, a reverse direction detection system shown generally at100is associated with a vehicle10in accordance with various embodiments. In general, the reverse direction detection system100receives and processes sensor data, map data, vehicle to everything communications (V2X), and/or vehicle to vehicle communications (V2V) to determine when the vehicle10is operating in a reverse direction along a road and warn operators of other vehicles to take appropriate action.

As depicted in the example ofFIG. 1, the vehicle10is an automobile and generally includes a chassis12, a body14, front wheels16, and rear wheels18. The body14is arranged on the chassis12and substantially encloses components of the vehicle10. The body14and the chassis12may jointly form a frame. The wheels16-18are each rotationally coupled to the chassis12near a respective corner of the body14.

As shown, the vehicle10generally includes a propulsion system20, a transmission system22, a steering system24, a brake system26, a sensor system28, an actuator system30, at least one data storage device32, at least one controller34, and a communication system36. The propulsion system20, in various embodiments, includes an internal combustion engine, an electric machine, such as a traction motor powered by one or more batteries, alone (e.g., as a pure electric vehicle) or in combination with an internal combustion engine, and/or a fuel cell propulsion system (e.g., as a hybrid electric vehicle).

The transmission system22is configured to transmit power from the propulsion system20to the vehicle wheels16-18according to selectable speed ratios. According to various embodiments, the transmission system22may include a step-ratio automatic transmission, a continuously-variable transmission, or other appropriate transmission. The brake system26is configured to provide braking torque to the vehicle wheels16-18. The brake system26may, in various embodiments, include friction brakes, brake by wire, a regenerative braking system such as an electric machine, and/or other appropriate braking systems. The steering system24influences a position of the of the vehicle wheels16-18.

The sensor system28includes one or more sensing devices40a-40nthat sense observable conditions of the exterior environment and/or the interior environment of the vehicle10. The sensing devices40a-40ncan include, but are not limited to, radars, lidars, global positioning systems, optical cameras, thermal cameras, ultrasonic sensors, inertial measurement units, and/or other sensors. In various embodiments, the sensor system28further includes one or more sensing devices41a-41nthat sense observable conditions of one or more vehicle components. For example, one or more of the sensing device41a-41nsense a transmission range or state, and a vehicle speed. The sensor measurements are then used to determine when the vehicle10is operating in a reverse direction.

The actuator system30includes one or more actuator devices42a-42nthat control one or more vehicle features such as, but not limited to, the propulsion system20, the transmission system22, the steering system24, and the brake system26. In various embodiments, the vehicle features can further include interior and/or exterior vehicle features such as, but are not limited to, doors, a trunk, and cabin features such as air, music, lighting, etc. (not numbered).

The communication system36is configured to wirelessly communicate information to and from other entities48, such as but not limited to, other vehicles (“V2V” communication) infrastructure (“V2I” communication), everything (“V2X” communication), remote systems, charging stations, and/or personal devices (described in more detail with regard toFIG. 2). In an exemplary embodiment, the communication system36is a wireless communication system configured to communicate via a wireless local area network (WLAN) using IEEE 802.11 standards or by using cellular data communication. However, additional or alternate communication methods, such as a dedicated short-range communications (DSRC) channel, LTE-V2X, C-V2X, are also considered within the scope of the present disclosure. DSRC channels refer to one-way or two-way short-range to medium-range wireless communication channels specifically designed for automotive use and a corresponding set of protocols and standards.

The data storage device32stores data for use in controlling the autonomous vehicle10. In various embodiments, the data storage device32stores defined maps of the navigable environment. In various embodiments, the defined maps may be predefined by and obtained from a remote system (described in further detail with regard toFIG. 2). For example, the defined maps may be assembled by the remote system and communicated to the autonomous vehicle10(wirelessly and/or in a wired manner) and stored in the data storage device32. Route information may also be stored within data storage device32—i.e., a set of road segments (associated geographically with one or more of the defined maps) that together define a route that the user may take to travel from a start location (e.g., the user's current location) to a target location. As can be appreciated, the data storage device32may be part of the controller34, separate from the controller34, or part of the controller34and part of a separate system.

In various embodiments, the instructions of the controller34may include one or more separate programs, each of which comprises an ordered listing of executable instructions for implementing logical functions. The instructions, when executed by the processor44, receive and process signals from the sensor system28, perform logic, calculations, methods and/or algorithms for automatically controlling the components of the vehicle10, and generate control signals to the actuator system30to automatically control the components of the vehicle10based on the logic, calculations, methods, and/or algorithms. Although only one controller34is shown inFIG. 1, embodiments of the vehicle10can include any number of controllers34that communicate over any suitable communication medium or a combination of communication mediums and that cooperate to process the sensor signals, perform logic, calculations, methods, and/or algorithms, and generate control signals to control features of the vehicle10. As mentioned briefly above, all or part of the reverse direction detection system100ofFIG. 1is included within the controller34.

With reference now toFIG. 2, where an operating environment of the reverse direction detection system100is shown generally at50that includes a remote transportation system52that is associated with and communicates with one or more vehicles10a-10nas described with regard toFIG. 1. In various embodiments, the operating environment50further includes one or more user devices54that communicate with the vehicles10a-10nand/or the remote transportation system52via a communication network56.

The communication network56supports communication as needed between devices, systems, and components supported by the operating environment50(e.g., via tangible communication links and/or wireless communication links). For example, the communication network56can include a wireless carrier system60such as a cellular telephone system that includes a plurality of cell towers (not shown), one or more mobile switching centers (MSCs) (not shown), as well as any other networking components required to connect the wireless carrier system60with a land communications system. Each cell tower includes sending and receiving antennas and a base station, with the base stations from different cell towers being connected to the MSC either directly or via intermediary equipment such as a base station controller. The wireless carrier system60can implement any suitable communications technology, including for example, digital technologies such as CDMA (e.g., CDMA2000), LTE (e.g., 4G LTE or 5G), GSM/GPRS, or other current or emerging wireless technologies. Other cell tower/base station/MSC arrangements are possible and could be used with the wireless carrier system60. For example, the base station and cell tower could be co-located at the same site or they could be remotely located from one another, each base station could be responsible for a single cell tower or a single base station could service various cell towers, or various base stations could be coupled to a single MSC, to name but a few of the possible arrangements.

Apart from including the wireless carrier system60, a second wireless carrier system in the form of a satellite communication system64can be included to provide uni-directional or bi-directional communication with the vehicles10a-10n. This can be done using one or more communication satellites (not shown) and an uplink transmitting station (not shown). Uni-directional communication can include, for example, satellite radio services, wherein programming content (news, music, etc.) is received by the transmitting station, packaged for upload, and then sent to the satellite, which broadcasts the programming to subscribers. Bi-directional communication can include, for example, satellite telephony services using the satellite to relay telephone communications between the vehicle10and the station. The satellite telephony can be utilized either in addition to or in lieu of the wireless carrier system60.

A land communication system62may further be included that is a conventional land-based telecommunications network connected to one or more landline telephones and connects the wireless carrier system60to the remote transportation system52. For example, the land communication system62may include a public switched telephone network (PSTN) such as that used to provide hardwired telephony, packet-switched data communications, and the Internet infrastructure. One or more segments of the land communication system62can be implemented through the use of a standard wired network, a fiber or other optical network, a cable network, power lines, other wireless networks such as wireless local area networks (WLANs), or networks providing broadband wireless access (BWA), or any combination thereof. Furthermore, the remote transportation system52need not be connected via the land communication system62, but can include wireless telephony equipment so that it can communicate directly with a wireless network, such as the wireless carrier system60.

Although only one user device54is shown inFIG. 2, embodiments of the operating environment50can support any number of user devices54, including multiple user devices54owned, operated, or otherwise used by one person. Each user device54supported by the operating environment50may be implemented using any suitable hardware platform. In this regard, the user device54can be realized in any common form factor including, but not limited to: a desktop computer; a mobile computer (e.g., a tablet computer, a laptop computer, or a netbook computer); a smartphone; a video game device; a digital media player; a piece of home entertainment equipment; a digital camera or video camera; a wearable computing device (e.g., smart watch, smart glasses, smart clothing); or the like. Each user device54supported by the operating environment50is realized as a computer-implemented or computer-based device having the hardware, software, firmware, and/or processing logic needed to carry out the various techniques and methodologies described herein. For example, the user device54includes a microprocessor in the form of a programmable device that includes one or more instructions stored in an internal memory structure and applied to receive binary input to create binary output. In some embodiments, the user device54includes a GPS module capable of receiving GPS satellite signals and generating GPS coordinates based on those signals. In other embodiments, the user device54includes cellular communications functionality such that the device carries out voice and/or data communications over the communication network56using one or more cellular communications protocols, as are discussed herein. In various embodiments, the user device54includes a visual display, such as a touch-screen graphical display, or other display.

The remote transportation system52includes one or more backend server systems, which may be cloud-based, network-based, or resident at the particular campus or geographical location serviced by the remote transportation system52. The remote transportation system52can be manned by a live advisor, or an automated advisor, or a combination of both. The remote transportation system52can communicate with the user devices54and/or the vehicles10a-10nto schedule rides, dispatch vehicles10a-10n, communicate information, and the like as will be discussed in more detail below.

As can be appreciated, the subject matter disclosed herein provides certain enhanced features and functionality to what may be considered as a standard or baseline vehicle10and/or remote transportation system52. To this end, a vehicle and a remote transportation system can be modified, enhanced, or otherwise supplemented to provide the additional features of the reverse direction detection system100disclosed herein.

As shown in more detail with regard toFIG. 3and with continued reference toFIG. 1, the reverse direction detection system100may be implemented as one or more modules configured to perform one or more methods by way of, for example, a processor. As can be appreciated, the modules shown inFIG. 3can be combined and/or further partitioned in order perform the functions or methods described herein. Furthermore, inputs to the modules may be received from the sensor system28, received from other control modules (not shown) associated with the vehicle10, received from the communication system36, and/or determined/modeled by other sub-modules (not shown) within the controller34ofFIG. 1. Furthermore, the inputs might also be subjected to preprocessing, such as sub-sampling, noise-reduction, normalization, feature-extraction, missing data reduction, and the like.

In various embodiments, the reverse direction detection system100includes a reverse direction detection module102, a notification module104, and a communications module106. The modules shown can be implemented on each of the vehicles10a-10nand/or on the remote transportation system52. For example, the reverse direction detection module102detects when a vehicle is operating in reverse based on vehicle operation data108indicating, for example, speed and transmission state. The notification module104selectively notifies or warns an operator of the vehicle via notification data110of the detected reverse operation based on map data111and/or camera data113(e.g., including images of traffic signs). The communications module106selectively communicates messages via message data112to the remote transportation system52, the user devices54, and/or the vehicles10a-10nbased on the reverse direction detection.

For example,FIG. 4illustrates an embodiment of the reverse direction detection system100being implemented on a vehicle200and the remote transportation system52, and the vehicle200detects its own reverse operation, self-reports the detection, and self warns of the danger of the operation. For example, as shown, the reverse direction detection module102of the vehicle200detects that the vehicle200is operating in reverse based on the vehicle operation data108. The notification module104of the vehicle200identifies the location of the vehicle200to be on an expressway or other road with high speed traffic based on the map data111and/or camera data113. The notification module104warns the operator (via the notification data110) about the reverse maneuver. The communications module106reports the reverse operation to the remote transportation system52(via message data112). If the vehicle is V2X equipped, the communications module106broadcasts standard messages (via message data112) that includes the transmission state of the vehicle200as being reverse.

In another example,FIG. 5illustrates an embodiment of the reverse direction detection system100being implemented on vehicle200,202, and204and the remote transportation system52, and the vehicles202,204receiving a message about reverse operation of the vehicle200. For example, the reverse direction detection module102of the vehicle204receives the message broadcast from the vehicle200(via message data114) and identifies that the vehicle200is reversing in its path. The notification module104of the vehicle204warns the operator of the vehicle204about the reverse operation in its path via the notification data110. The communications module106of the vehicle204reports the location of the reverse operation to the remote transportation system52via message data112.

In another example the reverse direction detection module102of the vehicle202receives the message broadcast from the vehicle200and identifies that the vehicle200is not reversing in its path. The communications module106reports the location of the reverse operation of vehicle200to the remote transportation system52via message data112.

FIG. 6illustrates an embodiment of the reverse direction detection system100being implemented on vehicle206and the remote transportation system52, and the remote transportation system52detects the reverse operation, reports to other vehicles206, and the vehicles206warn their operators.

For example, the reverse direction detection module102of the remote transportation system52receives a message indicating reverse operation from one or more of the vehicles200-204. The communications module106of the remote transportation system52pushes messages via message data112indicating the reverse operation to relevant vehicles206in the area of the reverse operation.

The notifications module of the vehicle206receives the message indicating the reverse operation and warns the operator about the reverse operation in the path of the vehicle206via notification data110.

Referring now toFIGS. 7 and 8, and with continued reference toFIGS. 1-6, flowcharts illustrate methods300,500that can be performed by the reverse direction detection system100ofFIGS. 1-6in accordance with the present disclosure. As can be appreciated in light of the disclosure, the order of operation within the methods is not limited to the sequential execution as illustrated inFIGS. 7 and 8but may be performed in one or more varying orders as applicable and in accordance with the present disclosure. In various embodiments, the methods300and500can be scheduled to run based on one or more predetermined events, and/or can run continuously during operation of the vehicle10or the remote transportation system52.

In various embodiments, the method300may begin at305. Thereafter, at310, a message is received at a vehicle indicating reverse operation of another vehicle. The latitude and longitude of the vehicle (HV) and the other vehicle (RV) is converted to Earth Centered Earth Fixed (ECEF) coordinates (X_ECEF, Y_ECEF, Z_ECEF) at320. The ECEF coordinates for all the RVs are converted to East North Up (ENU) coordinates (X_ENU, Y_ENU) at330. The RVs global coordinate system is rotated in relation to the HVs heading at340. The location, path history, and heading is then used to classify the RV in respect to the HV as: ahead, behind, intersecting, oncoming, left side, right side at350.

The RV's transmission state and speed are then verified at360. For example, if the RVs transmission state is not reverse or the RV's speed is zero, the method300may end at370. If the RVs transmission state is reverse and the RV's speed is greater than zero, the map data is evaluated to determine if the RV is on a road with a speed limit higher than a threshold at380and if so, the RV is reported as a reverse operation to the remote transportation system52at390.

If the RV is classified as ahead of the HV at400, the difference between the HV and the RV elevation is compared to an elevation threshold and/or map matching is used to determine if the RV and the HV are on the same road at410. If the RV and the HV are not on the same road at410, the method may end at370. If, however, the RV and the HV are traveling on the same road at410, the operating conditions of the HV and the RV are evaluated at420. For example, if the HV transmission state is drive, the HV speed is greater than a threshold, and the RV reverse speed is greater than a threshold, and the distance to the RV is less than a distance threshold, and the time to the RV is less than a time threshold at420, the notification is generated to notify the operator of the HV of the reverse operation of a vehicle ahead at430. Thereafter, the method300may end at370.

If the HV transmission state is not drive, the HV speed is not greater than a threshold, the RV reverse speed is not greater than a threshold, the distance to the RV is not less than a distance threshold, or the time to the RV is not less than a time threshold, the method300may end at370without reporting.

In various embodiments, the method500may begin at505. Thereafter, the HVs transmission state and speed are evaluated at510and reverse operation on a highspeed road is confirmed at520-530. For example, if the HVs transmission state is reverse and the HVs speed is greater than zero at510, then the road conditions are evaluated at520-530. For example, if the map data and/or camera data (e.g., including captured road signs) indicates that the vehicle is on an expressway or other fast speed road at520, it is concluded that the HV is operating on a fast speed road and the notification is generated to notify the operator of the HV of the reverse operation of the vehicle at540. Additionally or alternatively, the history of vehicle movement just before and after the transmission state change is evaluated at530looking for specific patterns such as, but not limited to, the HV travelling at speed above a threshold (e.g. 40 mph) for TBD seconds, the operator applies brake vehicle deceleration higher than a threshold, the HV stops completely, the transmission state changes to reverse, and the HV moves in reverse for a distance larger than a threshold (e.g. 15 meters). If pattern occurs, it is concluded that the HV is operating on a fast speed road and the notification is generated to notify the operator of the HV of the reverse operation of the vehicle at540.

A notification message is communicated to the remote transportation system52to report the location of the reverse operation at550and, optionally, the remote transportation system52generates a batch message of the reverse operation to nearby vehicles at560. Thereafter, the method500may end at570.