Patent Publication Number: US-2023162595-A1

Title: V2x route conflict with emergency vehicle indicator

Description:
INTRODUCTION 
     The present disclosure relates to identifying and locating emergency vehicles on highways and roadways. 
     The rate of emergency vehicle collisions during a light and sirens-on response is approximately 16.7 per 100,000 emergency vehicle operations. Ambulances are involved in 6000 accidents per year with approximately 35% of the accidents involving a fatality. These statistics are overwhelmingly due to a lack of awareness of the presence of emergency vehicles by other drivers. Even if a siren is detected, it may be difficult by the operator of another vehicle to locate the origin of the sound and assess the proximity and position of an emergency vehicle. 
     Even an aware operator may have difficulty locating an emergency vehicle even if sirens are sounding and emergency lights are flashing. This may be due to a difficulty of determining the direction of sound origin when the operator is in an enclosed vehicle with the windows closed, and this situation is enhanced for operators who may be hearing impaired. Flashing lights of an emergency vehicle in cross traffic may also be out of sight of the vehicle operator or hidden by other vehicles or roadway objects. 
     Thus, while current vehicle global positioning systems achieve their intended purpose, there is a need for a new and improved route conflict with emergency vehicle identification system. 
     SUMMARY 
     According to several aspects, a route conflict with emergency vehicle identification system includes an infrastructure receiving vehicle location, speed and trajectory information of an emergency vehicle. An automobile vehicle is in communication with the infrastructure and receives the vehicle location, speed and trajectory information of the emergency vehicle. A navigation system of the automobile vehicle operates using global positioning system (GPS) data and preloaded map data to generate a map identifying at least one roadway and a potential conflict on the at least one roadway between projected paths of the emergency vehicle and the automobile vehicle on the at least one roadway. A head-up display or a head-down display of the automobile vehicle visually presents the potential conflict. 
     In another aspect of the present disclosure, the potential conflict defines a trajectory conflict zone superimposed onto the map generated by the vehicle navigation system. 
     In another aspect of the present disclosure, the trajectory conflict zone includes a total length allowing for a time difference for the emergency vehicle and the automobile vehicle to reach a common location. 
     In another aspect of the present disclosure, a first end of the trajectory conflict zone defines an earliest projected time for the emergency vehicle to reach the common location, and a second end of the trajectory conflict zone defines a latest projected time for the emergency vehicle to reach the common location. 
     In another aspect of the present disclosure, at least one data window of the head-up display or the head-down display is provided, onto which is streamed an information display providing a digital speed display and a heading of the automobile vehicle. 
     In another aspect of the present disclosure, when generated the trajectory conflict zone is visually presented by the head-up display or the head-down display onto an impacted zone or area of the at least one roadway to alert an operator of the automobile vehicle of a potential travel path conflict. 
     In another aspect of the present disclosure, a first emergency vehicle symbol and an alert message presented by an information display of the head-up display or the head-down display identify the emergency vehicle may be traveling into the trajectory conflict zone. 
     In another aspect of the present disclosure, the at least one roadway includes a first roadway having the emergency vehicle traveling thereon and a second roadway having the automobile vehicle traveling thereon, and wherein the trajectory conflict zone is superimposed onto an intersection between the first roadway and the second roadway. 
     In another aspect of the present disclosure, a projected interference portion of the at least one roadway defines a closed road portion generated and presented by the head-up display or the head-down display which defines a lane portion of the at least one roadway where the emergency vehicle may be present. 
     In another aspect of the present disclosure, a recommended stop instruction is generated by the navigation system for the automobile vehicle including “stop to right” or “stop to left”, the recommended stop instruction presented on the head-up display or the head-down display. 
     According to several aspects, a route conflict with emergency vehicle identification system includes a position of an emergency vehicle transponded to an infrastructure using V2X. An emergency vehicle trajectory data is relayed from the infrastructure to an automobile vehicle proximate to the emergency vehicle. A navigation system of the automobile vehicle is utilized to probe for conflicts in trajectories of the emergency vehicle and the automobile vehicle. A roadway is reserved for the emergency vehicle highlighted in an image plane of a head-up display or a head-down display of the automobile vehicle. Emergency vehicle information is presented on an augmented reality plane of the head-up display when a conflict between a first travel path of the emergency vehicle and a second travel path of the automobile vehicle is detected. 
     In another aspect of the present disclosure, the emergency vehicle information further includes the number of emergency vehicles in conflict. 
     In another aspect of the present disclosure, the emergency vehicle information further includes directions to the emergency vehicle including left or right in an intersection of the roadway. 
     In another aspect of the present disclosure, the emergency vehicle information further includes a relative direction of the emergency vehicle such as being straight behind or straight ahead of the automobile vehicle. 
     In another aspect of the present disclosure, the head-up display or the head-down display functions to highlight threats including other vehicles that are in a path of the automobile vehicle and visible to an operator of the automobile vehicle thereby enhancing threat conspicuity and detection. 
     In another aspect of the present disclosure, a projected interference portion is projected by the head-up display or the head-down display onto a current travel lane of the roadway presently being driven by the automobile vehicle defining a path available for travel of the emergency vehicle. 
     In another aspect of the present disclosure, a projected interference portion is projected by the head-up display or the head-down display onto an oncoming lane of the roadway defining a path available for travel of the emergency vehicle in a direction opposite to a direction of current travel of automobile vehicle. 
     According to several aspects, a method for identifying emergency vehicles and resolving vehicle to vehicle conflicts includes: transponding a position of an emergency vehicle to an infrastructure using V2X; relaying emergency vehicle trajectory data from the infrastructure to an automobile vehicle proximate to the emergency vehicle; utilizing a navigation system of the automobile vehicle to probe for conflicts in trajectories of the emergency vehicle and the automobile vehicle; highlighting a roadway reserved for the emergency vehicle in an image plane of a head-up display or a head-down display of the automobile vehicle; and presenting emergency vehicle information on an augmented reality plane of the head-up display or the head-down display when a conflict is detected. 
     In another aspect of the present disclosure, the method further includes reserving travel lanes for the emergency vehicle and controlling traffic lights to provide all green lights to the emergency vehicle on the roadway. 
     In another aspect of the present disclosure, the method further includes utilizing a navigation system of the automobile vehicle operating using global positioning system (GPS) data and preloaded map data and generating a map identifying the roadway and a potential conflict on the roadway between projected paths of the emergency vehicle and the automobile vehicle on the roadway. 
     Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. 
         FIG.  1    is a side elevational view of a route conflict with emergency vehicle identification system according to an exemplary aspect; 
         FIG.  2    is an end view looking forward from an automobile using the system of  FIG.  2   ; 
         FIG.  3    is a diagrammatic presentation of a map produced using the system of  FIG.  1   ; 
         FIG.  4    is an end view modified from  FIG.  2    to present conflict resolution results; 
         FIG.  5    is a diagrammatic presentation of the map of  FIG.  3    further showing a superimposed trajectory conflict zone; 
         FIG.  6    is an end view looking forward modified from  FIG.  2    to further present multiple emergency vehicle information and a forward directed projected interference portion of the upcoming roadway; and 
         FIG.  7    is an end view looking forward modified from  FIG.  6    to present multiple emergency vehicle information and to further present a rearward directed projected interference portion of the upcoming roadway. 
     
    
    
     DETAILED DESCRIPTION 
     The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. 
     Referring to  FIG.  1   , a route conflict with emergency vehicle identification system  10  is initiated to identify a presence of an emergency vehicle  12  traveling on a first roadway  14 . The emergency vehicle  12  may be an ambulance, a police vehicle, a fire truck, and the like. The emergency vehicle  12  transmits vehicle location, speed and trajectory information using a transmission system  16  which generates electronic signal data  18  representing the vehicle location, speed and trajectory information which is received and disseminated by an infrastructure  20  such as a cloud data system. A common form of data management used by the infrastructure  20  includes a V2X system portion. A V2X system refers to ‘Vehicle-to-Everything,’ or ‘vehicle to X,’ and operates by passing information from any vehicle to any entity that may affect the vehicle and vice versa. 
     The information travels from sensors in the vehicle such as the emergency vehicle  12  and other sources through high-bandwidth, high-reliability links, allowing communication with other vehicles, infrastructure such as parking spaces and traffic lights  22  such as a stoplight or pedestrian crossing light. For example, by sharing information of the emergency vehicle  12  such as speed, direction of travel and type of vehicle with other entities around the emergency vehicle  12 , the awareness of an operator of an automobile vehicle  24  positioned in proximity to the emergency vehicle  12  of potential dangers and interactions with a path of travel of the emergency vehicle  12  helps reduce a likelihood of collision between the emergency vehicle  12  and the automobile vehicle  24 , reduction of severity of injuries, and reduction of road accident fatalities. 
     Referring to  FIG.  2    and again to  FIG.  1   , the route conflict with emergency vehicle identification system  10  may operate in conjunction with the automobile vehicle  24  defining a host vehicle which is traveling on a second roadway  26  or may be traveling on the same first roadway  14  as the emergency vehicle  12 . The automobile vehicle  24  includes an augmented reality (AR) head-up display (HUD)  28  which generates and presents data to an operator of the automobile vehicle  24  on at least one data window  30  onto which is streamed an information display  32 , which may for example provide a digital speed display and a heading  34  of the automobile vehicle  24 . According to several aspects, the head-up display (HUD)  28  may also be replaced by a head-down display within the scope of the present disclosure. Further discussion of the head-up display (HUD)  28  herein may therefore equally include the head-down display. 
     Referring to  FIG.  3    and again to  FIGS.  1  and  2   , a vehicle navigation system  36  of the automobile vehicle  24  operates for example using global positioning system (GPS) data and preloaded map data to create a map  38  which identifies for example the first roadway  14  and the second roadway  26 . An automobile vehicle symbol  40  represents the automobile vehicle  24  traveling on the second roadway  26  toward a trip end point  42 . Using data received from the infrastructure  20  the vehicle navigation system  36  probes for any conflicts in the travel paths of the automobile vehicle  24  and the emergency vehicle  12  and calculates and presents a trajectory conflict zone  44  defining a potential collision between the emergency vehicle  12  and the automobile vehicle  24  as the emergency vehicle  12  travels in a direction of travel  46  toward the emergency vehicle  12  or toward an intersection of the first roadway  14  and the second roadway  26 . 
     Referring to  FIG.  4   , when generated the trajectory conflict zone is visually presented by the HUD  28  onto the impacted zone or area of the first roadway  14  or the second roadway  26  to alert the operator of the automobile vehicle  24  of the potential travel path conflict. At this time, the information display  32  presents a first emergency vehicle symbol  48  and an alert message  50  identifying an emergency vehicle has been identified which may be traveling into the trajectory conflict zone  44 . A second emergency vehicle symbol  52  may also be projected by the HUD  28  onto the vehicle travel path of the second roadway  26  ahead of the visually presented trajectory conflict zone  44  to further notify the operator of the automobile vehicle  24 . 
     Referring to  FIG.  5    and again to  FIG.  3   , the trajectory conflict zone  44  is superimposed onto the map  38  generated by the vehicle navigation system and may have any desired geometric shape and is presented in an exemplary oval shape on  FIGS.  3  and  5   , having a total length  56 . The total length  56  of the trajectory conflict zone  44  allows for a time difference for the emergency vehicle  12  and the automobile vehicle  24  to reach a common location such as an intersection  58  between the first roadway  14  and the second roadway  26 . The total length  56  allows for potential changes in speed of the emergency vehicle  12  and of the automobile vehicle  24  as they progress toward the intersection  58 . For example, a first end  60  of the trajectory conflict zone  44  defines an earliest projected time for the emergency vehicle  12  to reach the common location or intersection  58 , and a second end  62  of the trajectory conflict zone  44  defines a latest projected time for the emergency vehicle  12  to reach the common location or intersection  58 , after which a collision with the automobile vehicle  24  is least likely. 
     Referring to  FIG.  6    and again to  FIGS.  2  and  4   , according to several aspects the route conflict with emergency vehicle identification system  10  may also receive data and provide analyses of potential conflicts between the host or automobile vehicle  24  and two or more emergency vehicles which may commonly include an ambulance and a fire truck or an ambulance and a police vehicle. In these scenarios, the emergency vehicle identification system  10  identifies a best-case position or zone for the automobile vehicle  24  to stop to avoid the one or more emergency vehicles. In the example provided in  FIG.  6   , an operator&#39;s view through a windshield  64  of the automobile vehicle  24  is presented. The information display  32  of the at least one data window  30  presents a third emergency vehicle symbol  66  and an alert message  68  which varies from the alert message  50  by identifying a quantity  70  of projected emergency vehicles, which in the example provided identifies two (2) emergency vehicles may be encountered on a current travel lane  72  of a third roadway  74  upon which the automobile vehicle  24  is traveling. 
     Because multiple emergency vehicles may be encountered, the route conflict with emergency vehicle identification system  10  identifies a best location for the automobile vehicle  24  to pull off the third roadway  74  to minimize potential conflicts with any of the emergency vehicles. Further operator assistance is provided by identifying a direction  76  with respect to the automobile vehicle  24  where an encounter with an emergency vehicle may occur, and identifies a recommended stop instruction  78  for the automobile vehicle  24 , such as “stop to right”, “stop to left”, and the like. A fourth emergency vehicle symbol  80  is also projected by the HUD  28  onto the visually presented third roadway  74  which may be the same as or differ from the head-up display  28 . A projected interference portion  82  of the upcoming third roadway  74  defining for example a closed road portion is generated and presented by the HUD  28  which presents a lane portion of the third roadway  74  where emergency vehicles may be present. 
     Referring to  FIG.  7    and again to  FIGS.  2 ,  4  and  6   , according to other aspects the route conflict with emergency vehicle identification system  10  identifies when one or more emergency vehicles may be present in a second lane or an oncoming lane  84  of the third roadway  74  which are different than the current travel lane  72  of the automobile vehicle  24 . A second projected interference portion  86  is projected by the head-up display  28  onto the oncoming lane  84  which is similar in appearance but opposite lane located with respect to the projected interference portion  82  described in reference to  FIG.  6   . The fourth emergency vehicle symbol  80  may be projected by the HUD  28  onto the visually presented current travel lane  72  which may be the same as or differ from the HUD  28 . Further operator assistance is provided by identifying a direction  88  with respect to the automobile vehicle  24  opposite to the direction  76  described in reference to  FIG.  6    where the one or more emergency vehicles may be traveling, and identifies the recommended stop instruction  78 , such as “stop to right”, “stop to left”, and the like. The fourth emergency vehicle symbol  80  is also projected by the HUD  28  onto the visually presented third roadway  74  which may be the same as or differ from the display described in reference to  FIGS.  4  and  6   . 
     According to several aspects, a haptic seat device  90  of the automobile vehicle  24  reinforces directional information via right-left-fore-aft actuator engagement to the operator of the automobile vehicle  24 . Actuation of the haptic seat device  90  signifies to the operator a relative direction of potential conflicts due to the emergency vehicle  12  or the multiple emergency vehicles. 
     An exemplary use case for the augmented reality HUD  28  is to highlight imminent threats on the roadway ahead. Threats may be threats that are currently physically present or threats that will appear due to conflict of the vehicle&#39;s trajectory and that of the threat. The route conflict with emergency vehicle identification system  10  of the present disclosure probes for imminent collision threats with emergency vehicles using V2X data and highlights the roadway where a collision may occur unless the conflict is resolved. The system of the present disclosure also generates conflict resolution recommendations such as recommending a vehicle stop direction or location. 
     The route conflict with emergency vehicle identification system  10  of the present disclosure may use augmented reality HUDs for situations including to highlight threats such as other vehicles that are in a path of the automobile vehicle and visible to an operator of the automobile vehicle thereby enhancing threat conspicuity and detection. One or more areas of the roadway where an imminent collision is predicted with emergency vehicles that are not visible to the driver are highlighted. The present system probes for imminent collision threats with emergency vehicles using V2X data and highlights using the HUD  28  the roadway where a collision may occur unless the conflict is resolved. 
     A route conflict with emergency vehicle identification system  10  of the present disclosure offers several advantages. These include emergency vehicle situation awareness and conflict resolution that includes the following features: 1) Emergency vehicles transpond their position and intent to an infrastructure such as using V2X. 2) The infrastructure relays emergency vehicle trajectory data to all surrounding vehicles and reserves travel lanes for the emergency vehicle. This may include controlling traffic lights such as providing all green lights to the emergency vehicle. 3) A navigation system of the automobile vehicle probes for conflict in the trajectories of the emergency vehicle and the automobile vehicle. 4) The system highlights the roadway reserved for the emergency vehicle in a second image plane of a dual plane head-up-display (HUD). An augmented reality plane of the HUD, when a conflict is detected, presents emergency vehicle information, with priority given in a near image plane. This information may include but is not limited to a number of emergency vehicles in conflict, a relative direction of the emergency vehicles such as being straight behind or straight ahead of the object or the automobile vehicle, and directions such as left or right in an intersection. 5) A haptic seat device of the automobile vehicle reinforces directional information via right-left-fore-aft actuator engagement. 
     If a number greater than one of emergency vehicles are projected to be in conflict with a path of the automobile automobile vehicle  24 , a relative direction of the multiple emergency vehicles  12  (straight behind or straight-ahead, left or right in an intersection) is projected. 
     The description of the present disclosure is merely exemplary in nature and variations that do not depart from the gist of the present disclosure are intended to be within the scope of the present disclosure. Such variations are not to be regarded as a departure from the spirit and scope of the present disclosure.