US20220078588A1

US20220078588A1 - Method and apparatus for two-wheeler safety based on vehicular communications

Info

Publication number: US20220078588A1
Application number: US17/246,617
Authority: US
Inventors: Ram Shallom; Onn Haran; Amos Freund; Yuval Lachman
Original assignee: Autotalks Ltd
Current assignee: Autotalks Ltd
Priority date: 2020-09-06
Filing date: 2021-05-01
Publication date: 2022-03-10
Also published as: US20220074763A1; US11924723B2

Abstract

Devices for alerting visually a vehicle at an intersection when a specific two-wheeler is detected in an alert zone associated with the intersection using vehicle-to-everything (V2X) communications, and methods for configuring and using such devices. The devices include a display for displaying the visual alert and a communication and processing unit for processing V2X messages received from two-wheelers and for determining the need for and type of visual alert. The devices may be configured remotely using an application running on an installer's mobile device.

Description

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority from U.S. Provisional Patent Application No. 63/075,158 filed on Sep. 6, 2020, which is expressly incorporated herein by reference in its entirety.

FIELD

Embodiments disclosed herein relate generally to two-wheeler safety systems based on vehicular communications, and in particular to dynamic signs at an intersection alerting when a two-wheeler (e.g. a bicycle, motorcycle, scooter, moped, etc.) approaches the intersection.

BACKGROUND

Vehicle-to-everything (V2X) communications can prevent accidents in intersections by alerting a driver of a vehicle when another vehicle (or more generally a “road-user”, including two-wheelers and pedestrians) enters its driving path. Some road-users may burst into an intersection while not having right-of-way, and V2X may assist a lawful driver to mitigate that potential risk.
The main challenge of V2X is the limited value in the early market. To prevent an accident, both vehicles involved in the risky situation need to have V2X units (or “devices”), which is unlikely given the low penetration rate of V2X in the early market. A “smart intersection” was developed to solve this low penetration rate. Smart intersection devices (e.g. cameras) are placed at few selected large intersections, and the road-users detected by those cameras, mostly vehicles and not two-wheelers, are broadcast, so vehicles with V2X devices are aware of all road-users even if the road-users do not have V2X devices. However, such smart intersection devices are expensive, and they provide information only to vehicles with V2X devices. In addition, cameras suffer from limited ability to detect an object at night and low reliability in detecting vulnerable road-users such as two-wheeler users. Moreover, cameras struggle to detect two-wheelers obstructed by cars or even by trees, as common in bike lanes.
Two-wheeler usage in cities is growing, and with there is a growth in accidents involving two-wheelers. eScooter riders are the most prone to accidents, since eScooter stability is lower because of the small wheels. The vast majority of two-wheeler accidents happen at intersections.
There is therefore a need for, and it would be advantageous to have, devices with a visual display that can alert visually all drivers, even (and especially) those without V2X devices, about two-wheelers approaching an intersection.

SUMMARY

The disclosure next relates to a smart intersection capable of reliably protecting two-wheelers, to devices in such a smart intersection and to methods of using/operating such devices. The suggested smart intersection, devices and methods reflect a concept that alerts all vehicles (and their drivers), even those without V2X devices. Drivers of vehicles without V2X devices can receive a visual alert on a outdoor display, warning of a two-wheeler. Drivers of vehicles with V2X devices can receive in addition an alert displayed inside their vehicle. The new concept lowers dramatically the cost of a smart intersection installation for widening the protection of two-wheelers from accidents.
In various embodiments there is disclosed a device, comprising: a display for alerting visually a vehicle at an intersection when a specific two-wheeler is detected in an alert zone associated with the intersection using V2X communications. The alert zone is substantially perpendicular to a road on which the vehicle drives, substantially parallel to the road driven, or both.
The specific two-wheeler may be detected based on a V2X message received at the device from the specific two-wheeler, and the received V2X message is processed by the device. The device may further comprise a communication and processing unit configured to perform the detection and processing, and powering means to power the display and the communication and processing unit.
In some embodiments, the display may be in the form of a traffic light with an added template of a shape of a two-wheeler included or attached thereto. In some embodiments, the display is a dynamic display. A dynamic display may include a direction element that indicates a direction of movement of the two-wheeler. The direction element may for example be an arrow. More than one direction element may be included in a dynamic display. A dynamic display may be switched on and off, or flash intermittently.
In various embodiments, the device may be configured using an application running on an installer's mobile device.
In various embodiments there is disclosed a method, comprising: physically installing a device configured to visually alert a vehicle at an intersection; by the device and using V2X communications, detecting a specific two-wheeler in an alert zone associated with the intersection; and visually alerting the vehicle about the specific two-wheeler. The device may be configured after the physical installation using an application running on an installer's mobile device. Alternatively, the device may be pre-configured.
In some embodiments, the detecting includes, by the specific two-wheeler, sending a V2X message to the device and, by the device, processing data from the V2X message. In some embodiments, the V2X message reports a location and speed of the specific two-wheeler, and the processing includes checking if the speed is greater than a threshold, and if yes, checking if the specific two-wheeler in inside an alert zone. In some embodiments, if the specific two-wheeler is inside an alert zone, the processing further includes checking if the specific two-wheeler will arrive in less than a predetermined time period at the intersection. If yes, the processing further includes checking if a state related to the data is consistent and if yes, the method further includes setting a visual alert.

BRIEF DESCRIPTION OF THE DRAWINGS

Non-limiting examples of embodiments disclosed herein are described below with reference to figures attached hereto that are listed following this paragraph. The drawings and descriptions are meant to illuminate and clarify embodiments disclosed herein, and should not be considered limiting in any way. Like elements in different drawings may be indicated by like numerals. Elements in the drawings are not necessarily drawn to scale.

FIG. 1 illustrates a 4-way stop intersection with V2Signs;

FIG. 2 illustrates an exemplary alert zone;

FIG. 3 illustrates in a flow chart an exemplary method of V2Sign operation;

FIG. 4 illustrates in a block diagram an exemplary embodiment of a V2Sign;

FIG. 5A illustrates an embodiment of a V2Sign display with a steady light;

FIG. 5B illustrates an embodiment of a V2Sign display with a flashing light;

FIG. 5C illustrates an embodiment of a V2Sign display with symbol indicating direction of a two-wheeler;

FIG. 6 illustrates a flow chart for configuring a V2Sign.

DETAILED DESCRIPTION

Within the concept of a smart intersection capable of reliably protecting two-wheelers, there is disclosed herein a two-wheeler vehicular communication safety sign, named exemplarily “V2Sign”. A V2Sign can be placed adjacent to or on existing road-sign poles in signalized and non-signalized intersections. The V2Sign is observed by drivers of vehicles approaching an intersection, visually alerting when V2X-connected two-wheelers are about to enter an intersection. The V2Sign is powered by powering means, e.g. a power source such as a power grid or a solar panel. Its initial configuration may be simple enough to be performed by a non-technologically savvy installer, using for example a simple smartphone application.
A V2Sign may fit any intersection geometry, with any number of connecting roads, even a roundabout. FIG. 1 illustrates a 4-way stop intersection 100 with four V2Signs 102 a-d, one per incoming road. The intersection may include crosswalks, for example four crosswalks 112 a-d. V2Sign 102 a visually alerts a driver in a vehicle with or without V2X that arrives at the intersection from road segment 104. Similarly, V2Signs 102 b, 102 c and 102 d alert drivers arriving from road segments 106, 108 and 110 respectively.
The V2Sign provides a visual alert to vehicles driving toward the intersection when two-wheelers approach the intersection while located in “alert zones” described below, for example two- wheelers 116 and 118 arriving from the right or left of a V2Sign such as 102 a on, respectively, road segments 106 and 110. The two-wheelers have V2X units communicating through direct communication standards, either DSRC or C-V2X. The two-wheeler V2X unit broadcasts its location (obtained from a GNSS receiver and/or inertial sensors) over-the-air, and the V2Sign processes the received messages from all two-wheelers to detect if any of the two-wheelers approaches the intersection from an alert zone. V2Sign 102 a is observable by vehicles arriving to the intersection, for example by a vehicle 114 arriving on road segment 104. From the point of view of V2Sign 102 a, road segment 106 is to the right of road segment 104 and road segment 110 is to the left of road segment 104. Optionally, an alert can be extended to two-wheelers arriving on road segments 104 and 108.
FIG. 2 illustrates an exemplary alert zone. An alert zone is defined as a polygon (e.g. a rectangle) inside which movement of a two-wheeler is detected and will trigger an alert. The definition of alert zones is unique for each V2Sign. The alert zones are configured (in terms of shape/size/location) according to the shape of roads and bike lanes in intersection, intersection lanes routing, and location of a V2Sign in the intersection. The polygon shape matches the entire road, including the curb. An exemplary length of the polygon, from an entrace (starting point) to the intersection, may be 30 meters. More generally, an exemplary range of lengths may 20-40 meters. A more obstructed environment (by buildings, trees, etc.) may require a longer alert zone. An environment with perfect visibility may require a shorter alert zone. The alert zone width depends on the width of the road. An exemplary width may vary for example from 3 meters in a narrow ally to 20 meters in a major road with wide curbs.
In FIG. 2, two alert zones are provided with reference to V2Sign 102 b. A first alert zone 202 covers the road perpendicular to the vehicles observing sign 102 b (i.e. road segments 104, 108 and/or the intersection itself) and therefore can be referred to as a “perpendicular alert zone” for V2Sign 102 b. Any two-wheeler riding in this zone toward the intersection will alert sign 102 b if certain conditions are met. Zone 202 also covers crosswalk 112 a and a bike lane, if existing. A second alert zone 204 is parallel to the vehicles approaching the intersection (i.e. parallel to road segments 106 and 110), mostly to alert two-wheelers in crosswalk 112 a. Alert zone 204 can be referred to as a “parallel alert zone” for V2Sign 102 a.
FIG. 3 illustrates a flow chart of V2Sign operation, performed at the V2Sign. Operation begins in step 300 after a message is received from a two-wheeler (which is referred to next as a “specific” two-wheeler). The message reports location and speed of the two-wheeler. In step 302, a check is made if the specific two-wheeler's speed is greater than a threshold. Exemplary thresholds may be 10 km/h or 15 km/h. If No, the operation continues from step 312, where an alert received previously from the specific two-wheeler is cleared (if such an alert was set). That is, if an alert was previously set because of the specific two-wheeler, then that alert is cleared. If the alert from the specific two-wheeler was not set (triggered) previously, then no change is needed. Alerts set by other two-wheelers continue to be set. If Yes in step 302, the operation continues from step 304, which checks if the two-wheeler is inside an alert zone, for example, zone 202 or 204. If No in step 304, the operation continues from step 312. If Yes in step 304, the operation continues from step 306, which checks if the two-wheeler will arrive in a predetermined time period (e.g. less than X seconds) at the intersection. The value of X may be for example 3 seconds. If No in step 306, the operation continues from step 312. If Yes in step 306, the operation continues from step 308, which checks if a state is consistent, i.e. it an event associated with speed and location as reported in a previous message from the two-wheeler. If No in step 308 (i.e. the state is inconsistent), the operation continues from step 312. If Yes in step 308, the operation continues from step 310, which sets an alert for the specific two-wheeler. From both steps 310 and 312, the operation continues to step 314, where the operation ends.
FIG. 4 illustrates schematically in a block diagram components of a V2Sign exemplarily numbered 400. V2Sign 400 may comprise a display unit (or simply “display”) 402 and a communication and processing unit 404. Optionally and as a powering means, a V2Sign may also comprise a solar panel 406. Each component may be located in a separate enclosure (box), although display unit 402 may be integrated with communication and processing unit 404 in a single enclosure. Communication and processing unit 404 may include a vehicular communication device 408, operative to communicate with vehicles and road-users (including two-wheelers), an optional GNSS receiver 410, and a processor 412. The GNSS is optional since the location of V2Sign may be configured at installation. However, adding the GNSS enables unit self-test such as detecting unexpected movement of the V2Sign (either accidental, i.e. if an operator moved the sign, or intentional, for example if someone stole the sign), which should stop operation until reinstallation is performed. An additional potential use of GNSS is to create positioning corrections for allowing the connected two-wheelers to improve their positioning. One or more additional communication devices 414, supporting protocols such as Bluetooth, WiFi, or cellular, can be added for configuration and for monitoring. One or more antennas 416 may be embedded inside the communication and processing unit or located externally for serving the V2X, GNSS and other protocols, if exist.
Display unit 402 may be dynamic and may be provided in various embodiments. The dynamic display may take many different shapes and forms, and may be adapted to match signs used per country. For example, it may use a standard traffic light with an added template of a shape of a two-wheeler included or attached thereto. The shape can be of a regular bicycle, an electric bicycle, or a scooter, chosen for example by the local authorities. The light can operate by being continuously ON once a two-wheeler is approaching, or it can operate intermittently (i.e. flash) once the two-wheeler is approaching.
FIG. 5A shows an exemplary embodiment of a V2Sign display (screen) marked 402′. Display 402′ is “dynamic” in the sense that includes a steady light element 500 that can be turned ON and OFF and which is lit whenever a two-wheeler triggers an alert. The display shows a traffic sign, which may differ per country. For example, some countries use a yellow sign, while others use a white sign with a red outline.
FIG. 5B shows another exemplary embodiment of a dynamic V2Sign display marked 402″. Display 402″ uses a different light element (502) that flashes when a two-wheeler triggers an alert.
FIG. 5C shows an exemplary embodiment of a V2Sign display marked 402′″, which includes direction elements (e.g. arrows or other symbolic representation of direction) that indicate symbolically the direction of travel of a two-wheeler. Display unit 402′″ includes a main element 504, i.e. a screen that can be configured to show different shapes, symbols, etc., and direction elements 506 a and 506 b. For example, main element 504 may be a LED matrix. Direction elements 506 a and 506 b show the direction from which the two-wheeler approaches the intersection (i.e. its direction of travel), which could be left, right, or even behind. The symbolic representation of a direction element that means “behind” may be a dedicated icon (not shown). The direction element may be static or flashing. Multiple direction elements may exist to represent multiple two-wheelers, and more that one direction element may be operational if more than one two-wheeler is endangered near an intersection. For example, when two different two-wheelers approach the intersection at the same time on two roads within alert zones of a given V2Sign (i.e. one in the perpendicular zone and one in the parallel zone), both arrows (506 a and 506 b) may lit up, flash, etc.
Each V2Sign needs to be configured before becoming operational, using for example a dedicated installation application. When a V2Sign is installed, it can be visible to multiple roads. The installation and configuration determine the orientation of the V2Sign in the intersection. The role of an installer is critical to determine which roads observe it, and consequently the alert zone for two-wheelers.
FIG. 6 illustrates a flow chart for configuring V2Sign. A V2Sign is not operational until the configuration is completed. The configuration is typically performed in the field after a V2Sign is physically installed, although pre-installation configuration is feasible as well. A dedicated installation application may typically run on an installer's mobile electronic device such as a smartphone or tablet. The V2Sign receives configuration parameters from the installer's mobile electronic device. The connectivity between the installer equipment and V2Sign may be wireless, for example using Bluetooth or similar, or wired.
In step 600, the V2Sign is powered-on for the first time after its physical installation but before configuration. In step 602, the V2Sign waits for the installation (for configuration) application. In step 604, the installation application shows the estimated location of the V2Sign on an area map on the installer's mobile device. The installer may have to validate the estimated location and can adjust the physical location of the sign on the map if the is location mistaken. In step 606, the installation application displays to the installer suggested alert zones on the map on the mobile device. The perpendicular and parallel alert zones (for example zones 202 and 204 for V2Sign 102 a) are displayed on the mobile device perpendicular to the road in which the drivers are observing the sign (i.e. road segment 104). The installer may have to validate the correctness of the suggested alert zones. This may be needed because the application applies logic to select only the roads that are relevant to the driver observing the sign, but any logic can be mistaken. The installer may adjust and fix the alert zones on the map. After finishing this step, V2Sign is now configured and ready for work.
While this disclosure has been described in terms of certain embodiments and generally associated methods, alterations and permutations of the embodiments and methods will be apparent to those skilled in the art. The disclosure is to be understood as not limited by the specific embodiments described herein, but only by the scope of the appended claims.

Claims

What is claimed is:

1. A device, comprising: a display for alerting visually a vehicle at an intersection when a specific two-wheeler is detected in an alert zone associated with the intersection using vehicle-to-everything (V2X) communications.

2. The device of claim 1, wherein the specific two-wheeler is detected based on a V2X message received at the device from the specific two-wheeler, and wherein the received V2X message is processed by the device.

3. The device of claim 2, further comprising a communication and processing unit configured to perform the detection and processing.

4. The device of claim 3, further comprising powering means to power the display and the communication and processing unit.

5. The device of claim 1, wherein the display is in the form of a traffic light with an added template of a shape of a two-wheeler included or attached thereto.

6. The device of claim 1, wherein the display is a dynamic display.

7. The device of claim 1, wherein the display includes a direction element that indicates a direction of movement of the two-wheeler.

8. The device of claim 1, wherein the device is configured using an application running on an installer's mobile device.

9. The device of claim 1, wherein the alert zone is substantially perpendicular to a road on which the vehicle drives.

10. The device of claim 1, wherein the alert zone is substantially parallel to a road on which the vehicle drives.

11. The device of claim 6, wherein the dynamic display may be switched on and off.

12. The device of claim 6, wherein the dynamic display may flash intermittently.

13. The device of claim 7, wherein the direction element includes an arrow.

14. A method, comprising:

physically installing a device configured to visually alert a vehicle at an intersection;

by the device and using vehicle-to-everything (V2X) communications, detecting a specific two-wheeler in an alert zone associated with the intersection; and

visually alerting the vehicle about the specific two-wheeler.

15. The method of claim 14, wherein the detecting includes, by the specific two-wheeler, sending a V2X message to the device and, by the device, processing the V2X message.

16. The method of claim 14, wherein the device is configured after the physical installation using an application running on an installer's mobile device.

17. The method of claim 15, wherein the V2X message reports a location and speed of the specific two-wheeler, and wherein the processing includes checking if the speed is greater than a threshold, and if yes, checking if the specific two-wheeler in inside an alert zone.

18. The method of claim 17, wherein, if the specific two-wheeler is inside the alert zone, the processing further includes checking if the specific two-wheeler will arrive in less than a predetermined time period at the intersection.

19. The method of claim 18, wherein if the specific two-wheeler will arrive in less than a predetermined time period at the intersection, the processing further includes checking is a state is consistent and if yes, setting a visual alert for the visual alerting.