WO2021054915A1 - Systèmes et procédés d'évitement de collision pour intersections sans feu de circulation - Google Patents

Systèmes et procédés d'évitement de collision pour intersections sans feu de circulation Download PDF

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Publication number
WO2021054915A1
WO2021054915A1 PCT/TR2020/050790 TR2020050790W WO2021054915A1 WO 2021054915 A1 WO2021054915 A1 WO 2021054915A1 TR 2020050790 W TR2020050790 W TR 2020050790W WO 2021054915 A1 WO2021054915 A1 WO 2021054915A1
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WO
WIPO (PCT)
Prior art keywords
road
side unit
board device
vehicle
intersection
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Application number
PCT/TR2020/050790
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English (en)
Inventor
Emrah METLI
Original Assignee
Metli Emrah
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Metli Emrah filed Critical Metli Emrah
Publication of WO2021054915A1 publication Critical patent/WO2021054915A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the present disclosure relates in general to traffic warning systems and methods employed to notify drivers of oncoming traffic conditions, more specifically, to alert drivers about possibility of a collision with another vehicle at an intersection, providing situation awareness messages about vehicles that may be occluded from direct line of sight to the approaching vehicle.
  • Main intersections on roadways are controlled by traffic signal lights to regulate vehicle movement to prevent collisions between vehicles travelling in traverse or lateral directions and ensure safe passage. But intersections which are not on main roadways are not controlled by traffic signal lights because of relatively low vehicle traffic and high cost of traffic control systems. At these intersections, vehicle collisions are frequently encountered because of obstruction of oncoming traffic from an intersecting lane. For example, trees, parked vehicles, buildings, fences etc. often obstruct drivers view of oncoming traffic from an intersecting lane. Driver has to enter the intersection with no knowledge whether another vehicle may be entering the same intersection because driver cannot see or unaware of an oncoming object.
  • the systems and methods utilizing object detection with on-board sensors aim to provide 360-degree awareness around a vehicle to prevent collisions.
  • These systems are fairly complex and expensive and limited to the line of sight of the sensors and operate poorly in inclement weather.
  • the systems and methods utilizing roadside sensors such as magnetic loop detectors, camera, radar etc. to detect objects are also fairly sophisticated and expensive in that they are prone to failure and need regular maintenance and calibration.
  • the systems and methods utilizing inter-vehicle communications broadcast vehicular information to other vehicles in an ad-hoc network indicating their present location, speed, heading and so on. These systems require immense computing power, low latency communication and accurate positioning, all of them necessitate very costly infrastructure investments.
  • U.S. patent No. 7,545,261 discloses a vehicular collision alert system which receives signals from devices commonly associated with vehicular use.
  • the system includes a radio receiving unit coupled to a directional antenna array mounted on the vehicle.
  • the antenna array is configured to receive radio signals produced by devices associated with vehicular use and facilitates determining a direction of a source of the received signals.
  • An angle of arrival of radio signal which is determined with the directional antenna and received signal strength indication values are used to determine heading of other vehicles.
  • the vehicular system further includes a navigational system configured to determine a present location and heading of the vehicle which provides information to a collision prediction system.
  • the collision prediction system is coupled to the radio receiving unit and the navigational system and is configured to compare the direction and heading of the source of received signals with the location and heading of the vehicle.
  • U.S. patent No. 10,163,342 discloses a method and apparatus for traffic safety using vehicle driving related information obtained on the basis of a transmission/reception beam pair of a road side unit and a vehicle on-board unit, in a system supporting millimeter wave beamforming, thereby reducing a probability that vehicle collisions occur where visual fields may be obscured.
  • the method includes receiving from an electronic device a first message including identification information of the electronic device and information for a transmission/reception beam pair determining whether the electronic device approaches a road position.
  • the road apparatus includes a transmission/reception unit to transmit/receive a signal to/from at least one electronic device and a controller to receive from the electronic device a first message including identification information of the electronic device and information for a transmission/reception beam pair determining whether the electronic device approaches a road position.
  • the road side unit transmits the reference signal in all transmission beam directions which can be formed by a transmitter or transmits the reference signal using a plurality of predetermined transmission beam directions and registers vehicle ID ' s entering the intersection, the optimum beam pair and the intensity of the reference signal in a vehicle database.
  • the transmission/reception unit can transmit/receive a signal through the plurality of antennas according to a control of the controller.
  • an antenna includes a beam antenna capable of beamforming in a specific direction and/or an array antenna.
  • the transmission/reception unit includes a beamforming module.
  • the beamforming module forms a transmission/reception beam requested by the controller using at least one of digital beamforming, beamforming physically moving an antenna, antennas corresponding to previously-defined beam directions and antenna bundles or antenna arrays.
  • RSSI received signal strength indication
  • a general object of the present invention is to provide a novel and useful intersection collision warning system and method in which the aforementioned disadvantages of the prior art is eliminated. Aspects and advantages of the invention will be set forth in part in the following description or may be learned through practice of the invention.
  • One exemplary embodiment of the present invention provides a method of collision avoidance at intersections.
  • the method includes initiating a wireless connection or communication link between a road-side unit and at least an on-board device. Transmitting vehicle information to the road-side unit by at least an on-board device. Receiving from the road-side unit, orientation information of the intersection where the road-side unit is placed and another connected vehicle information and generating an intersection situation map by the on-board device. Notifying driver by the on-board device about other vehicles approaching the intersection from different directions.
  • vehicle information such as heading and/or speed is generated by the on-board device.
  • orientation (i.e. geographical positioning or geometry) information of the intersection is stored in the road-side unit.
  • no notification is generated.
  • driver can be notified visually and/or audibly.
  • Another exemplary embodiment of the present invention provides another method of collision avoidance at intersections.
  • the method includes initiating a wireless connection or communication link between a road-side unit and at least an on-board device. Receiving vehicle information from at least an on-board device and generating an intersection situation map by the road-side unit and transmitting at least a notification message to at least an on board device. Notifying driver by an on-board device about other vehicles approaching the intersection from different directions.
  • vehicle information such as heading and/or speed is generated by the on-board device.
  • orientation (i.e. geographical positioning or geometry) information of the intersection is stored in the road-side unit.
  • no notification message is transmitted to the on-board device.
  • driver can be notified visually and/or audibly.
  • Another exemplary embodiment of the present invention provides another method of collision avoidance at intersections. The method includes initiating a wireless connection or communication link between a road-side unit and at least an on-board device.
  • vehicle information such as heading and/or speed is generated by the on-board device.
  • communication between the on board device and the remote server is accomplished utilizing the cellular network data connection of the on-board device through the Internet.
  • orientation (i.e. geographical positioning or geometry) information of the intersection and identification number of the road-side unit is stored in the remote server.
  • no notification message is transmitted to the on-board device.
  • driver can be notified visually and/or audibly.
  • Another exemplary embodiment of the present invention provides another method of collision avoidance at intersections.
  • the method includes initiating a wireless connection or communication link between a road-side unit and at least an on-board device. Transmitting by the on-board device, vehicle information to the road-side unit. Transmitting by the road side unit, received vehicle information and road-side unit identification number to a wireless access point or gateway. Transmitting by the wireless access point or gateway, received vehicle information and received road-side unit identification number to a remote server. Generating an intersection situation map and transmitting at least a notification message to at least an on-board device via the wireless access point or gateway and the road-side unit by the remote server. Notifying driver by an on-board device about other vehicles approaching the intersection from different directions.
  • vehicle information such as heading and/or speed is generated by the on-board device.
  • communication between the wireless access point or gateway and the remote server is accomplished through the Internet.
  • orientation (i.e. geographical positioning or geometry) information of the intersection and identification number of the road-side unit is stored in the remote server.
  • no notification message is transmitted to the on-board device.
  • driver can be notified visually and/or audibly.
  • Another exemplary embodiment of the present invention provides a non-transitory computer- readable storage medium comprising instructions in code which when loaded into a memory and executed by a processor of a computing device cause the computing device to generate an intersection situation map utilizing orientation information of an intersection and connected vehicle information and generate at least a notification message.
  • the system includes at least a road-side unit placed at an intersection comprising wireless communication technologies, processor and memory, storing orientation information of the intersection and other connected vehicle information; at least an on-board device associated with a vehicle comprising wireless communication technologies, screen, speaker, processor and memory, initiating connection or communication link with the road-side unit, transmitting vehicle information, receiving orientation and other connected vehicle information, generating an intersection situation map with the software and algorithm it possesses and notifying driver; a GPS module associated with the on-board device determining at least one of a location, heading and speed of the vehicle.
  • on-board device can be an electronic device like a smartphone associated with a vehicle, comprising wireless communication technologies, GPS module, processor, memory, screen, speaker and software application configured to initiate connection or communication link with a road-side unit, transmit vehicle information, receive orientation and another connected vehicle information, generate an intersection situation map and notify driver.
  • wireless communication technologies GPS module, processor, memory, screen, speaker and software application configured to initiate connection or communication link with a road-side unit, transmit vehicle information, receive orientation and another connected vehicle information, generate an intersection situation map and notify driver.
  • Another exemplary embodiment of the present invention provides another system of collision avoidance at intersections.
  • the system includes at least an on-board device associated with a vehicle comprising wireless communication technologies, screen, speaker, processor and memory, initiating connection or communication link with a road-side unit, transmitting vehicle information and receiving at least a notification message; a GPS module associated with an on-board device determining at least one of a location, heading and speed of a vehicle; at least a road-side unit placed at an intersection comprising wireless communication technologies, processor and memory, storing orientation information of the intersection and other connected vehicle information, receiving vehicle information from at least an on-board device, generating an intersection situation map with the software and algorithm it possesses and transmitting at least a notification message to at least an on-board device.
  • an on-board device associated with a vehicle comprising wireless communication technologies, screen, speaker, processor and memory, initiating connection or communication link with a road-side unit, transmitting vehicle information and receiving at least a notification message
  • a GPS module associated with an on-board device determining at least one of a location, heading and speed of a vehicle
  • on-board device can be an electronic device like a smartphone associated with a vehicle, comprising wireless communication technologies, GPS module, processor, memory, screen, speaker and software application configured to initiate connection or communication link with a road-side unit, transmit vehicle information, receive at least a notification message and notify driver.
  • the system includes at least a road-side unit placed at an intersection, comprising wireless communication technologies, processor and memory; at least an on-board device associated with a vehicle and in communication with a remote server, comprising wireless communication technologies, screen, speaker, processor and memory, initiating connection or communication link with a road-side unit, receiving a road side unit identification number and transmitting the road-side unit identification number and vehicle information to the remote server; a GPS module associated with an on-board device determining at least one of a location, heading and speed of the vehicle; a remote server comprising processor and memory, storing orientation information of intersections and other connected vehicle information, receiving an identification number of a road-side unit and connected vehicle information, generating an intersection situation map with the software and algorithm it possesses and transmitting at least a notification message to at least an on board device.
  • on-board device can act as a wireless access point or gateway to a backend network which houses a server with its possession of wireless communication technologies and software application configured to transmit a received identification number of a road-side unit and vehicle information to a remote server, receive at least a notification message and notify driver.
  • on-board device can be an electronic device like a smartphone associated with a vehicle and in communication with a remote server, comprising wireless communication technologies, GPS module, processor, memory, screen, speaker and software application configured to communicate with the remote server, initiate connection or communication link with a road-side unit, receive the road-side unit identification number, transmit the road-side unit identification number and vehicle information to the remote server, receive at least a notification message and notify driver.
  • a remote server comprising wireless communication technologies, GPS module, processor, memory, screen, speaker and software application configured to communicate with the remote server, initiate connection or communication link with a road-side unit, receive the road-side unit identification number, transmit the road-side unit identification number and vehicle information to the remote server, receive at least a notification message and notify driver.
  • the system includes at least a road-side unit placed at an intersection, comprising wireless communication technologies, processor and memory; at least an on-board device associated with a vehicle, comprising wireless communication technologies, screen, speaker, processor and memory, initiating connection or communication link with a road-side unit and transmitting vehicle information to the road-side unit; a GPS module associated with an on-board device, determining at least one of a location, heading and speed of the vehicle; a wireless access point or gateway in communication with the road-side unit, comprising wireless communication technologies, processor and memory, receiving connected vehicle information and road-side unit identification number from the road-side unit and transmitting to a remote server; a remote server comprising processor and memory, storing orientation information of intersections and other connected vehicle information, receiving an identification number of a road-side unit and connected vehicle information, generating an intersection situation map with the software and algorithm it possesses and transmitting at least a notification message to at least an on-board device back through wireless access point or gateway
  • on-board device can be an electronic device like a smartphone associated with a vehicle, comprising wireless communication technologies, GPS module, processor, memory, screen, speaker and software application configured to initiate connection or communication link with a road-side unit, transmit vehicle information, receive at least a notification message and notify driver.
  • Figure 1 illustrates an exemplary collision avoidance system and method.
  • Figure 2 illustrates another exemplary collision avoidance system and method.
  • Figure 3 illustrates another exemplary collision avoidance system and method.
  • Figure 4 is a depiction of an on-board device.
  • Figure 5 is a depiction of a road-side unit.
  • Figure 6 is a signal flowchart illustrating a procedure of providing situation awareness information of another vehicle to a host vehicle when one or more vehicles are registered at an on-board device of a host vehicle.
  • Figure 7 is a signal flowchart illustrating a procedure of providing situation awareness information of another registered vehicle to at least one registered vehicle when two or more vehicles are registered at a road-side unit.
  • Figure 8 is a signal flowchart illustrating a procedure of providing situation awareness information of another registered vehicle to at least one registered vehicle when two or more vehicles are registered at a remote server.
  • Figure 9 is a signal flowchart illustrating another procedure of providing situation awareness information of another registered vehicle to at least one registered vehicle when two or more vehicles are registered at a remote server.
  • Figure 10 is an exemplary scenario illustrating a possible situation that may be encountered when generating an intersection situation map.
  • Figure 11 is another exemplary scenario illustrating a possible situation that may be encountered when generating an intersection situation map.
  • FIG 12 illustrates some of the possible situation awareness messages which can be generated to notify drivers of vehicles.
  • Figure 13 illustrates an intersection where a stop sign indicates vehicles approaching from side street must give way to vehicles approaching from main street.
  • Figure 14 is a flowchart illustrating a procedure or steps of generating an intersection situation map by an on-board device.
  • Figure 15 is a flowchart illustrating a procedure or steps of generating an intersection situation map by a road-side unit.
  • Figure 16 is a flowchart illustrating a procedure or steps of generating an intersection situation map by a remote server.
  • Figure 17 is another flowchart illustrating a procedure or steps of generating an intersection situation map by a remote server.
  • Figure 18 is a depiction of an exemplary arrangement illustrating an intersection with four road-side units placed at the connecting roadways before the intersection to facilitate earlier vehicle detection.
  • the method steps, acts or operations may be programmed or coded as computer-readable instructions and recorded electronically, magnetically or optically on a fixed, permanent, non-volatile or non-transitory computer-readable medium, computer-readable memory, machine-readable memory or computer program product.
  • computer-readable memory or computer-readable medium comprises instructions in code which when loaded into a memory and executed on a processer of a wireless communications device, mobile device, server or other computing device cause the computing device to perform one or more of the foregoing methods.
  • the invention can take the form of a computer program product accessible from a computer-usable or computer-readable medium providing program code for use by or in connection with a computer or any instruction execution system.
  • a computer-usable or computer-readable medium can be any apparatus that can contain, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus or device.
  • the computer-useable medium may include a propagated data signal with the computer-usable program code embodied therewith either in baseband or as part of a carrier wave.
  • the computer-useable program code may be transmitted using any appropriate medium including but not limited to the Internet, wireline, optical fiber cable, radio frequency etc.
  • This software may be incorporated as a module within a navigation application, or it may be an application that cooperates with a navigation or mapping application or it may be a self- contained (standalone) application that also performs the mapping and navigation functions.
  • server processes discussed herein may be implemented using a single server or multiple servers working in combination.
  • Applications may be implemented on a single system or distributed across multiple systems. Distributed components may operate sequentially or in parallel.
  • network communications can comprise sending and/or receiving information over one or more networks of various forms.
  • a network can comprise a local area network (LAN), wide area network (WAN), the Internet, cellular networks or other type(s) of networks.
  • a network may comprise any number and/or combination of hard-wired, wireless or other communication links.
  • orientation of intersections is intended to refer to geographical positioning or geometry of intersections.
  • geographical positioning is intended to refer to the direction of every roadway such as north, south, east, west or any other direction in between of those coming together at an intersection which can be defined as the point of crossing of two or more roadways.
  • GPS is intended to refer to all global navigation satellite systems that have different names in different countries.
  • location of vehicles is intended to refer to coordinates comprising latitude and longitude values determined by GPS and the term heading is intended to refer to the moving directions formed by the changing coordinates of the vehicles in time, determined by GPS, resulting from the movements of the vehicles.
  • an on-board device As used herein, it is meant with the association of an on-board device with a vehicle that an on-board device is situated within and carried with a vehicle and detecting the movements of the vehicle.
  • the present disclosure is directed to systems and methods to warn drivers of oncoming traffic conditions such as to alert drivers about possibility of a collision with another vehicle at an intersection, providing situation awareness messages about vehicles that may be occluded from direct line of sight to the approaching vehicle.
  • Figure 1 illustrates an exemplary collision avoidance system and method according to an exemplary embodiment of the present disclosure.
  • the on-board devices (not shown) in vehicle 101 and in vehicle 102 approaching an intersection from different lanes initiate a wireless connection (104, 105) as soon as they enter communication range with a road side unit 103 located near the intersection.
  • Range of wireless connection can be arranged according to average speed of the connecting lanes of the intersection such as to determine the times vehicles will reach the intersection to ensure timely notification of drivers.
  • Road side unit 103 can be located anywhere near the intersection such as illustrated here at any one corner of the intersection or at a center point above the intersection.
  • Vehicle information such as heading and/or speed is generated by on-board devices associated with the vehicles. Heading of the vehicles are determined by GPS modules (not shown) associated with the on-board devices and in communication (107, 108) with GPS satellites 106. Orientation information (i.e. geographical positioning) of the intersection is stored in the road-side unit 103.
  • the orientation of the intersection and the heading of the vehicles 101 and 102 are determined according to compass grades.
  • the orientation of the intersection illustrated in the exemplary embodiment of Figure 1 is designated as “0”, “90”, “180” and “270”. Every individual intersection can be designated differently according to the unique orientation of that intersection.
  • heading of the vehicle 101 moving toward the west is determined by the GPS module of the on-board device in the vehicle 101 as “270” and the heading of the vehicle 102 moving toward the south is determined by the GPS module of the on-board device in the vehicle 102 as “180”.
  • Vehicle 101 with heading “270” is associated with the road in the direction of 270 degrees
  • vehicle 102 with heading “180” is associated with the road in the direction of 180 degrees.
  • a range of deviation may be determined. For example, headings in the range of 270+44 and 270-44 degree may be associated with the road in the direction of 270 degrees. In this respect, in case of a slightly erroneous heading detection for vehicle 101 of, say, “290”, the vehicle 101 will be associated with the road in the direction of 270 degrees.
  • the intersection situation map 100 as a vehicle database depicting all vehicles around an intersection as illustrated in the exemplary embodiment of Figure 1 can be generated by the on-board device of the vehicles 101 and 102 with the software and algorithm they possess.
  • orientation information of the intersection and the other connected vehicle information is received from the road-side unit 103 by the on-board devices of the vehicles 101 and 102 and the direction each vehicle is approaching the intersection is determined and drivers are notified.
  • the intersection situation map 100 of Figure 1 can be generated by the road side unit 103 with the software and algorithm it possesses.
  • the vehicle information is received by the road-side unit 103 from the on-board devices of the vehicles 101 and 102 and intersection situation map is generated according to the orientation of the intersection and heading of the vehicles 101 and 102, determining the direction each vehicle is approaching the intersection.
  • intersection situation map 100 a notification message is generated for each vehicle 101 and 102.
  • a notification message is generated for vehicle 101 indicating another vehicle 102 is approaching the intersection from the right direction and other notification message is generated for vehicle 102 indicating another vehicle 101 is approaching the intersection from the left direction.
  • Figure 2 illustrates another exemplary collision avoidance system and method according to an exemplary embodiment of the present disclosure.
  • the on-board devices (not shown) in vehicle 201 and vehicle 202 approaching an intersection from different lanes initiate a wireless connection (204, 205) as soon as they enter communication range with a road-side unit 203 located near the intersection.
  • the on-board devices in vehicle 201 and the vehicle 202 receive the identification number of the road-side unit 203 and transmit this identification number and own vehicle information to a remote server 212.
  • Vehicle information such as heading and/or speed is generated by the on-board devices associated with the vehicles.
  • Heading of the vehicles are determined by GPS modules (not shown) associated with the on-board devices and in communication (207, 208) with GPS satellites 206.
  • on-board devices with their possession of wireless communication technologies and software application, act as gateways to a backend network which houses the remote server 212, utilizing one or more cellular network base stations 209, network gateway 210 and a data network 211 (e.g. the Internet) to transmit the identification number and vehicle information to the remote server 212.
  • a backend network which houses the remote server 212, utilizing one or more cellular network base stations 209, network gateway 210 and a data network 211 (e.g. the Internet) to transmit the identification number and vehicle information to the remote server 212.
  • a data network 211 e.g. the Internet
  • the orientation information of all intersections and identification number of all road-side units are related to each other and stored at a database on a local memory of the remote server 212 or a separate database 213 and the intersection which the vehicles 201 and 202 are approaching is determined from the received identification number of the road-side unit.
  • the intersection situation map 200 as illustrated in the exemplary embodiment of Figure 2 is generated by the remote server 212 with the software and algorithm it possesses and utilizing the orientation information of the intersection and heading of the vehicles 201 and 202, determining the direction each vehicle is approaching the intersection. Then, a separate notification message indicating the direction another vehicle is approaching the intersection is transmitted to each on-board device in vehicles 201 and 202 by the server 212 utilizing the data network 211 , network gateway 210 and cellular network base station 209.
  • the data network 211 represent one or more mechanisms by which a vehicle computer such as an on-board device may communicate with a remote server 212. Accordingly, the data network 211 may be one or more of various wired or wireless communication mechanisms including any desired combination of wired (e.g. cable and fiber) and/or wireless (e.g. cellular, satellite, microwave and radio frequency) communication mechanisms and any desired network topology or topologies when multiple communication mechanisms are utilized.
  • wired e.g. cable and fiber
  • wireless e.g. cellular, satellite, microwave and radio frequency
  • Figure 3 illustrates another exemplary collision avoidance system and method according to an exemplary embodiment of the present disclosure.
  • the on-board devices (not shown) in vehicle 301 and vehicle 302 approaching an intersection from different lanes initiate a wireless connection (304, 305) as soon as they enter communication range with a road-side unit 303 located near the intersection.
  • the on-board devices in vehicle 301 and the vehicle 302 transmit own vehicle information to the road-side unit 303.
  • Road-side unit 303 then transmits (309) received vehicle information and road-side unit identification number to a wireless access point or gateway 310.
  • Wireless access point or gateway 310 then transmits received vehicle information and received road-side unit identification number to a remote server 313.
  • Vehicle information such as heading and/or speed is generated by the on-board devices associated with the vehicles. Heading of the vehicles are determined by GPS modules (not shown) associated with the on-board devices and in communication (307, 308) with GPS satellites 306.
  • vehicle information and road side unit identification number are transmitted by the wireless access point or gateway 310 to a backend network which houses the remote server 313, utilizing network gateway 311 and a data network 312 (e.g. the Internet).
  • the orientation information of all intersections and identification number of all road-side units are related to each other and stored at a database on a local memory of the remote server 313 or a separate database 314 and the intersection which the vehicles 301 and 302 are approaching is determined from the received identification number of the road-side unit.
  • the intersection situation map 300 as illustrated in the exemplary embodiment of Figure 3 is generated by the remote server 313 with the software and algorithm it possesses and utilizing the orientation information of the intersection and heading of the vehicles 301 and 302, determining the direction each vehicle is approaching the intersection. Then, a separate notification message indicating the direction another vehicle is approaching the intersection is transmitted to each on-board device in vehicles 301 and 302 by the server 313 utilizing the data network 312, network gateway 311 , wireless access point or gateway 310 and road-side unit 303.
  • the data network 312 represent one or more mechanisms by which a road-side unit 303 may communicate with a remote server 313. Accordingly, the data network 312 may be one or more of various wired or wireless communication mechanisms including any desired combination of wired (e.g. cable and fiber) and/or wireless (e.g. cellular, satellite, microwave and radio frequency) communication mechanisms and any desired network topology or topologies when multiple communication mechanisms are utilized.
  • wired e.g. cable and fiber
  • wireless e.g. cellular, satellite, microwave and radio frequency
  • FIG 4 is a depiction of an on-board device 400 associated with a vehicle on which the present invention may be implemented.
  • the on-board device 300 includes a processor 401 , flash memory 402 and/or random-access memory 403 for executing one or more applications.
  • the on-board device 400 includes a user interface 404 for interacting with the on-board device 400 and its applications.
  • the user interface 404 may include one or more input/output devices such as a display screen 405 (e.g. an LCD or LED screen or touch sensitive display screen) and a keyboard or keypad 406.
  • the on-board device 400 may include a transceiver 407 for communicating with data network 211 .
  • the transceiver 307 may be a radio frequency (RF) transceiver for wirelessly communicating with one or more base stations 209 over a cellular wireless network using cellular communication protocols and standards for both voice calls and packet data transfer such as GSM, CDMA, GPRS, EDGE, UMTS, LTE etc.
  • RF radio frequency
  • the on-board device 400 includes a Bluetooth module 408 for communicating with road-side units over a communication link.
  • a Bluetooth device can operate in three main states. It can either be advertising, scanning or connected. To get the on-board device and a road side unit connected, the road-side unit advertises and the on-board device scans for it or vice versa and then initiate a connection. Advertising essentially involves broadcasting packets which allow another scanning device to discover them.
  • the on-board device 400 may alternatively include Wi-Fi, DSRC, or other radio frequency communication protocols, visible light communication technologies like Li-Fi or infrared communication technologies like UV for communicating with road-side devices over a communication link.
  • the on-board device 400 depicted by way of example in Figure 4 uses the position determining subsystem 409 to determine a current heading of a vehicle.
  • the position determining subsystem 409 includes a GPS module 410 to determine heading of a vehicle from subsequent locations of the vehicle in a certain time interval.
  • the determined heading of a vehicle is stored in the memory (402, 403) and transmitted to a road-side unit or a remote server when connected to a road-side unit for certain embodiments.
  • the heading of a vehicle is updated and saved in memory (402, 403) in regular intervals.
  • An accelerometer 411 and/or a digital compass 412 and/or a gyroscope 413 may also be used alternatively or in combination or addition to a GPS module 410 to determine a current heading of a vehicle.
  • These sensors 411 , 412 and 413 associated with the on-board device may act as a navigation aid to continuously calculate by dead reckoning the heading of a vehicle in cases where poor GPS connection may arise.
  • the processor 401 coupled to the memory (402, 403) enables the on-board device 400 to perform an action in the form of a computer-readable program code when a connection is initiated with a road-side unit such as transmitting vehicle information to a road-side unit, receiving orientation and other connected vehicle information, generating an intersection situation map and notifying driver or transmitting vehicle information to a road-side unit and receiving a notification message or receiving identification number of a road-side unit, transmitting identification number and vehicle information to a remote server and receiving a notification message.
  • Driver can be notified visually and/or audibly using display screen 405 and/or speaker 414. Alternatively, driver can be provided with a haptic and/or a tactile feedback.
  • FIG. 5 is a depiction of a road-side unit 500 located near an intersection on which the present invention may be implemented.
  • the road-side unit 500 includes a processor 501 and one or more memory 502 for executing one or more applications and includes a Bluetooth module 503 for communicating with on-board devices and Wi-Fi module 504 for communicating with a wireless access point or gateway over a communication link.
  • the road side unit 500 may alternatively include Wi-Fi, DSRC or other radio frequency communication protocols, visible light communication technologies like Li-Fi or infrared communication technologies like UV for communicating with on-board devices over a communication link.
  • orientation information of the intersection where the road-side unit 500 is placed and other connected vehicle information is stored in the memory (502) of the road-side unit 500 and transmitted to on board devices after initiating a connection.
  • intersection situation map is generated by the road-side unit 500 with the software and algorithm it possesses.
  • vehicle information e.g. heading
  • intersection situation map is generated by the road-side unit 500 according to the orientation of the intersection stored in the memory 502 and heading of the connected vehicles, determining the direction each vehicle is approaching the intersection.
  • Figure 6 is a signal flowchart illustrating a procedure of providing situation awareness information of another vehicle to a host vehicle when one or more vehicles are registered at an on-board device of a host vehicle according to an embodiment of the present disclosure.
  • a description will be made based on an assumption that vehicles moving from different directions enter an intersection where a road side unit 600 exists. The description will be made in a case where on-board devices associated with the vehicles are moving from different directions and are referred to as a first on-board device 501 and a second on-board device 502. It must be understood that procedure described here can be extended to cover a third, a fourth etc. on-board device associated with a vehicle that can be entering an intersection.
  • a connection is initiated in operation 603 between the first on-board device 601 and the road-side unit 600 when the first on-board device 601 enters communication range of the road-side unit 600. Soon after the connection is initiated, the first on-board device 601 transmits vehicle information to the road-side unit 600 in operation 604.
  • Another connection is initiated in operation 605 between the second on-board device 602 and the road-side unit 600 when the second on-board device 602 enters communication range of the road-side unit 600.
  • the second on-board device 602 transmits vehicle information to the road-side unit 600 in operation 606. Then, the orientation information of the intersection and the second connected vehicle information is transmitted to the first on-board device 601 in operation 607.
  • the first on-board device 601 registers the second vehicle in operation 608 in a vehicle database, for example the heading, speed, received signal strength indication, MAC address etc. and generates an intersection situation map in operation 611.
  • the orientation information of the intersection and the first connected vehicle information is transmitted to the second on-board device 602 in operation 609.
  • the second on-board device 602 registers the first vehicle in operation 610 in a vehicle database, for example the heading, speed, received signal strength indication, MAC address etc. and generates an intersection situation map in operation 612.
  • the first on-board device 601 generates a notification to alert driver about the second vehicle ' s approach direction to the intersection in operation 613.
  • the second on-board device 602 generates a notification to alert driver about the first vehicle ' s approach direction to the intersection in operation 614. After notifications 613 and 614, the intersection situation map is deleted from the first on board device 601 in operation 615 and the second on-board device 602 in operation 616.
  • Figure 7 is a signal flowchart illustrating a procedure of providing situation awareness information of another registered vehicle to at least one registered vehicle when two or more vehicles are registered at a road-side unit 700 according to an embodiment of the present disclosure.
  • a description will be made based on an assumption that vehicles moving from different directions enter an intersection where a road side unit 700 exists.
  • the description will be made in the case where the on-board devices associated with the vehicles are moving from different directions and are referred to as a first on-board device 701 and a second on board device 702. It must be understood that procedure described here can be extended to cover a third, a fourth or more on-board devices associated with a vehicle that can be entering an intersection.
  • a connection is initiated in operation 703 between the first on-board device 701 and the road-side unit 700 when the first on-board device 701 enters communication range of the road-side unit 700.
  • the first on-board device 701 transmits vehicle information to the road-side unit 700 in operation 704.
  • the road-side unit 700 registers the first vehicle in operation 705 in a vehicle database, for example the heading, speed, received signal strength indication, MAC address etc.
  • Another connection is initiated in operation 706 between the second on-board device 702 and the road-side unit 700 when the second on-board device 702 enters communication range of the road-side unit 700.
  • the second o-board device 702 transmits vehicle information to the road-side unit 700 in operation 707.
  • the road-side unit 700 registers the second vehicle in operation 708 in a vehicle database, for example the heading, speed, received signal strength indication, MAC address etc.
  • the road-side unit 700 generates an intersection situation map in operation 709 and transmits a notification message in operation 710 to first on-board device 701 to alert driver about the second vehicle ' s approach direction to the intersection and transmits another notification message in operation 711 to second on-board device 702 to alert driver about the first vehicle ' s approach direction to the intersection.
  • the first vehicle and the second vehicle are unregistered from the intersection situation map in operations 712 and 713 respectively.
  • the registration and un- registration of vehicles can be continuously performed for any number of vehicles and the limited sequential operations of Figure 7 are for only illustrative purposes.
  • Figure 8 is a signal flowchart illustrating a procedure of providing situation awareness information of another registered vehicle to at least one registered vehicle when two or more vehicles are registered at a remote server 800 according to an embodiment of the present disclosure.
  • a description will be made based on an assumption that vehicles moving from different directions enter an intersection where a road side unit 801 exists. The description will be made in the case where the on-board devices associated with the vehicles are moving from different directions and are referred to as a first on-board device 802 and a second on board device 803. It must be understood that procedure described here can be extended to cover a third, a fourth or more on-board devices associated with a vehicle that can be entering an intersection.
  • a connection is initiated in operation 804 between the first on-board device 802 and the road-side unit 801 when the first on-board device 802 enters communication range of the road-side unit 801 .
  • the road-side unit 801 transmits road-side unit identification number in operation 805 to the first on-board device 802.
  • Road-side unit identification number and first vehicle information is transmitted in operation 808 to a remote server 800.
  • Another connection is initiated in operation 806 between the second on-board device 803 and the road-side unit 801 when the second on-board device 803 enters communication range of the road-side unit 801.
  • the road-side unit 801 transmits road-side unit identification number in operation 807 to the second on-board device 803.
  • Road-side unit identification number and second vehicle information is transmitted in operation 810 to a remote server 800.
  • the remote server 800 registers the first vehicle in operation 809 and registers the second vehicle in operation 811 in a vehicle database, for example the heading, speed, received signal strength indication, MAC address etc. and generates an intersection situation map in operation 812 according to the stored orientation information of the intersection.
  • the remote server 800 transmits a notification message in operation 813 to first on-board device 802 to alert driver about the second vehicle ' s approach direction to the intersection and transmits another notification message in operation 814 to second on-board device 803 to alert driver about the first vehicle ' s approach direction to the intersection.
  • the first vehicle and the second vehicle are unregistered from the intersection situation map in operations 815 and 816 respectively.
  • the registration and un-registration of vehicles can be continuously performed for any number of vehicles and the limited sequential operations of Figure 8 are for illustrative purposes.
  • Figure 9 is another signal flowchart illustrating a procedure of providing situation awareness information of another registered vehicle to at least one registered vehicle when two or more vehicles are registered at a remote server 900 according to an embodiment of the present disclosure.
  • a description will be made based on an assumption that vehicles moving from different directions enter an intersection where a road side unit 901 exists. The description will be made in the case where the on-board devices associated with the vehicles are moving from different directions and are referred to as a first on-board device 902 and a second on board device 903. It must be understood that procedure described here can be extended to cover a third, a fourth or more on-board devices associated with a vehicle that can be entering an intersection.
  • a connection is initiated in operation 904 between the first on-board device 902 and the road-side unit 901 when the first on-board device 902 enters communication range of the road-side unit 901 .
  • the first on-board device 902 transmits vehicle information in operation 905 to the road-side unit 901.
  • road-side unit 901 transmits received first vehicle information and road-side unit identification number in operation 906 to a wireless access point or gateway 907.
  • wireless access point or gateway 907 transmits first vehicle information and road-side unit identification number in operation 908 to the remote server 900.
  • the remote server 900 registers the first vehicle in operation 909 in a vehicle database, for example the heading, speed, received signal strength indication, MAC address etc.
  • Another connection is initiated in operation 910 between the second on-board device 903 and the road-side unit 901 when the second on-board device 903 enters communication range of the road-side unit 901.
  • the second on-board device 903 transmits vehicle information in operation 911 to the road-side unit 901.
  • road-side unit 901 transmits received second vehicle information and road-side unit identification number in operation 912 to the wireless access point or gateway 907.
  • wireless access point or gateway 907 transmits second vehicle information and road-side unit identification number in operation 913 to the remote server 900.
  • the remote server 900 registers the second vehicle in operation 914 in a vehicle database, for example the heading, speed, received signal strength indication, MAC address etc.
  • the remote server 900 then generates an intersection situation map in operation 915 according to stored orientation information of the intersection and the first and the second vehicle information.
  • the remote server 900 transmits a notification message in operation 916 to the wireless access point or gateway 907 and the wireless access point or gateway 907 transmits that notification message in operation 917 to the road-side unit 901 and the road-side unit 901 transmits that notification message in operation 918 to the first on-board device 902 to alert driver about the second vehicle ' s approach direction to the intersection.
  • the remote server 900 transmits another notification message in operation 919 to the wireless access point or gateway 907 and the wireless access point or gateway 907 transmits that notification message in operation 920 to the road-side unit 901 and the road-side unit 901 transmits that notification message in operation 921 to the second on-board device 903 to alert driver about the first vehicle ' s approach direction to the intersection.
  • the first vehicle and the second vehicle are unregistered from the intersection situation map in operations 922 and 923 respectively.
  • the registration and un-registration of vehicles can be continuously performed for any number of vehicles and the limited sequential operations of Figure 9 are for illustrative purposes.
  • Figure 10 is an exemplary scenario illustrating a possible situation that may be encountered when generating an intersection situation map.
  • a vehicle 1001 and another vehicle 1002 are approaching an intersection from different directions and connected to the road-side unit 1004.
  • Another vehicle 1003 is approaching the same intersection from behind the vehicle 1001 and about to initiate connection or just connected to the road-side unit 1004.
  • all vehicles are connected to the road side unit 1004 and vehicles 1001 and 1002 are already crossed the intersection and vehicle 1003 is about to cross the intersection.
  • vehicles 1001 and 1002 are dropped out from the intersection situation map after a predetermined time and no notification message is generated for vehicle 1003.
  • RSSI received signal strength indication
  • Figure 11 is another exemplary scenario illustrating a possible situation that may be encountered when generating an intersection situation map.
  • a vehicle 1101 and another vehicle 1102 are approaching an intersection from different directions and also a vehicle 1103 is approaching the same intersection from behind the vehicle 1101 and all vehicles are connected to the road-side unit 1104.
  • driver of the vehicle 1101 will not be notified about the vehicle 1103 approaching the intersection from the same direction but will be alerted about the vehicle 1102 approaching from a different direction.
  • Figure 12 illustrates some of the possible situation awareness messages which can be generated to notify drivers of vehicles.
  • two vehicles 1201 and 1202 are approaching an intersection from opposite directions. In this case driver of the vehicle 1201 will be notified that an oncoming vehicle is approaching the same intersection.
  • two vehicles 1203 and 1204 are approaching an intersection from traverse directions. In this case driver of the vehicle 1203 will be notified that a vehicle is approaching from left.
  • a vehicle 1205 and other two vehicles 1206 and 1207 are approaching an intersection from traverse directions. In this case driver of the vehicle 1205 will be notified that two other vehicles are approaching from right.
  • three vehicles 1208, 1209 and 1210 are approaching an intersection from different directions. In this case driver of the vehicle 1208 will be notified that vehicles are approaching from left and right.
  • Figure 13 illustrates an intersection where a stop sign 1303 indicates vehicles approaching from side street must give way to vehicles approaching from main street.
  • right of way information can be given to driver of the vehicle 1301 that another vehicle 1302 is approaching from left and she must stop and give way.
  • This right of way information can be stored in the road-side unit 1304 or a remote server.
  • intersections can also be encoded on road-side unit or remote server other than orientation information or right of way information, such as location codes (latitude and longitude of intersection), speed limits of connecting roads etc.
  • location codes latitude and longitude of intersection
  • speed limits of connecting roads etc.
  • intersections include but are not limited to merges, traffic circles, drivewaysentering a roadway, alleys and intersections with less or more than four entrances.
  • the invention can be applied to maritime navigation systems, airport ground traffic, industrial environments and machinery, commercial areas, loading docks, transportation centers or other areas which are not associated with a roadway.
  • on-board devices are illustrated to be contained within automobiles. However, on-board devices could be carried by another type of vehicle such as bicycle, motorcycle, truck, bus etc.
  • the invention can be applied not only to vehicles but also to pedestrians.
  • vehicle information generated by vehicle sensors can also be transmitted such as speed, turn signal data, steering angle, brake pedal or accelerometer pedal position etc. through coupling the on-board device to a vehicle ' s electronic management system, for example via standard on board diagnostic connector or via a vehicle data bus to get vehicle sensor data.
  • Connector may interface to one or more native data-processing systems already in the vehicle either by a wired connection or via an intra-vehicle wireless communications unit.
  • Vehicle speed and acceleration or deceleration data can be used to determine the time vehicle will reach an intersection.
  • Turn signal data can be used to determine a vehicle ' s scheduled maneuver to inform other vehicles and regulate traffic at an intersection.
  • Figure 14 is a flowchart illustrating a procedure or steps of generating an intersection situation map by an on-board device according to an exemplary embodiment of the present invention.
  • on-board device scans radio frequency (RF) advertisement packets broadcasted by road-side units.
  • RF radio frequency
  • on-board device and road-side unit initiate a connection at the moment on-board device enters communication range of a road-side unit.
  • On-board device receives orientation and other connected vehicle (if any) information from the road-side unit at step 1403.
  • on-board device looks in the received information if there is any other connected vehicle information such as vehicle or on-board device identification number and/or heading information.
  • the on-board device can identify whether there are any other connected vehicles and returns to step 1403 if the answer is no to receive new information from the road-side unit or proceeds to step 1405 if the answer is yes.
  • the on-board device registers the connected vehicle or vehicles in a database. This database may include vehicle identification numbers, heading information, speed information etc.
  • the on-board device generates an intersection situation map according to the orientation information of the intersection and heading information of the vehicles to determine approach directions of the vehicles to the intersection according to the aforementioned explanations. Having generated the intersection situation map, the on-board device looks in at step 1407 if one or more registered vehicles other than the host vehicle approach the intersection from a different direction from the host vehicle.
  • step 1409 If the answer is no, it means the other vehicle or vehicles approach the intersection from the same direction to the host vehicle and the procedure proceeds to step 1409 and deletes the intersection situation map. If the answer is yes, the on-board device notifies driver at step 1408 and then deletes the intersection situation map at step 1409.
  • Figure 15 is a flowchart illustrating a procedure or steps of generating an intersection situation map by a road-side unit according to an exemplary embodiment of the present invention.
  • road-side unit broadcasts radio frequency (RF) advertisement packets.
  • road-side unit and on-board device which is scanning advertisement packets initiate a connection at the moment on-board device enters communication range of a road-side unit.
  • Road-side unit receives vehicle information from the connected on-board device at step 1503.
  • the road-side unit registers the connected vehicle in a database. This database may include vehicle identification numbers, heading information, speed information etc.
  • the road-side unit looks in the registered vehicle database if there are at least two registered vehicles.
  • step 1501 the procedure returns to step 1501 in case any other vehicle registers for predetermined time. After this predetermined time, if no other vehicle registers, the procedure proceeds to step 1509 and unregisters the connected vehicle. If the answer is yes, the procedure proceeds to step 1506 to generate an intersection situation map.
  • the intersection situation map at step 1506 is generated according to the orientation information of the intersection which is recorded before in the memory of the road-side unit and the heading information of the registered vehicles to determine approach directions of the vehicles to the intersection according to the aforementioned explanations. Having generated the intersection situation map, the road side unit looks in at step 1507 if two or more registered vehicles approach the intersection from different directions.
  • step 1509 If the answer is no, it means the at least two vehicles approach the intersection from the same direction and the procedure proceeds to step 1509 and unregisters the connected vehicles. If the answer is yes, the road-side unit generates and transmits notification messages to the connected vehicles at step 1508 and then unregisters the connected vehicles at step 1509.
  • Figure 16 is a flowchart illustrating a procedure or steps of generating an intersection situation map by a remote server according to an exemplary embodiment of the present invention.
  • road-side unit broadcasts and on-board unit scans radio frequency (RF) advertisement packets.
  • RF radio frequency
  • road-side unit and on-board device initiate a connection at the moment on-board device enters communication range of a road-side unit.
  • On-board device receives an identification number from the road-side unit at step 1603 and transmits the received identification number and vehicle information to a remote server through a base station of a cellular network connection at step 1604.
  • the server registers the connected vehicle in a database matching the identification number of the road side unit.
  • This database may include vehicle identification numbers, heading information, speed information etc.
  • the identification number of the road side unit determines the intersection which the road-side unit is located at. Intersection orientation information are recorded in a memory of the remote server.
  • the server looks in the registered vehicle database if there are at least two registered vehicles in the database. If the answer is no, that means only one vehicle is registered and the procedure repeats the step 1606 for a predetermined time in case another vehicle(s) register in this predetermined time. If no other vehicle registers in this predetermined time, the procedure proceeds to step 1610 and unregisters the connected vehicle. If the answer is yes, the procedure proceeds to step 1607 to generate an intersection situation map.
  • Intersection situation map at step 1607 is generated according to the orientation information of the intersection which is recorded before in the memory of the server and the heading information of the registered vehicles to determine approach directions of the vehicles to the intersection according to the aforementioned explanations.
  • the server looks in at step 1608 if two or more registered vehicles approach the intersection from different directions. If the answer is no, it means the at least two vehicles approach the intersection from the same direction and the procedure proceeds to step 1610 and unregisters the connected vehicles. If the answer is yes, the server generates and transmits notification messages to the connected vehicles at step 1609 and then unregisters the connected vehicles at step 1610.
  • Figure 17 is another flowchart illustrating another procedure or steps of generating an intersection situation map by a remote server according to an exemplary embodiment of the present invention.
  • road-side unit broadcasts and on-board unit scans radio frequency (RF) advertisement packets.
  • road-side unit and on-board device initiate a connection at the moment on-board device enters communication range of a road side unit.
  • Road-side unit receives vehicle information from the on-board device at step 1703 and transmits the received vehicle information and identification number of the road side unit to a remote server through a wireless access point or gateway at step 1704.
  • the server registers the connected vehicle in a database matching the identification number of the road-side unit. This database may include vehicle identification numbers, heading information, speed information etc.
  • the identification number of the road side unit determines the intersection which the road-side unit is located at.
  • Intersection orientation information are recorded in a memory of the remote server.
  • the server looks in the registered vehicle database if there are at least two registered vehicles in the database. If the answer is no, that means only one vehicle is registered and the procedure repeats the step 1706 for a predetermined time in case another vehicle(s) register in this predetermined time. If no other vehicle registers in this predetermined time, the procedure proceeds to step 1710 and unregisters the connected vehicle. If the answer is yes, the procedure proceeds to step 1707 to generate an intersection situation map. Intersection situation map at step 1707 is generated according to the orientation information of the intersection which is recorded before in the memory of the server and the heading information of the registered vehicles to determine approach directions of the vehicles to the intersection according to the aforementioned explanations.
  • the server looks in at step 1708 if two or more registered vehicles approach the intersection from different directions. If the answer is no, it means the at least two vehicles approach the intersection from the same direction and the procedure proceeds to step 1710 and unregisters the connected vehicles. If the answer is yes, the server generates and transmits notification messages to the connected vehicles at step 1709 and then unregisters the connected vehicles at step 1710.
  • Figure 18 is a depiction of such an exemplary arrangement illustrating an intersection with four road-side units 1801 , 1802, 1803 and 1804 placed at the connecting roadways before the intersection to facilitate earlier vehicle detection.
  • the road side-units are connected with each other communicatively with wires or wirelessly so that connected vehicle information to one road side unit is transmitted to other road side units.
  • intersection situation map is generated by on-board devices
  • connected vehicle information of one road-side unit is transmitted to other road-side units associated with the same intersection and then transmitted to other connected vehicles.
  • an intersection situation map is generated by a road-side unit
  • one of the road-side units serve as a computing device as well as a vehicle detector and the other road-side units serve as vehicle detectors.
  • Received vehicle information of detector road-side units is transmitted to the computing road-side unit which has the ability to register the connected vehicles in a database and generate an intersection situation map and then generate and transmit notification messages.
  • computing road -side unit transmits notification messages to the corresponding detector road-side units to be eventually transmitted to the corresponding on-board devices by the detector road-side units.
  • intersection situation map is generated by a remote server
  • all road-side units associated with an intersection are assigned to the same intersection in a database and the intersection a road side unit belongs to is determined according to the received road-side unit identification number and vehicles are registered and intersection situation map is generated accordingly.
  • the road side units belonging to an intersection are not required to be connected to each other communicatively because the fact that all information is transmitted to and collected in a remote server facilitating necessary associations between them.
  • Computing devices generally include instructions executable by one or more computing devices such as those identified above and for carrying out blocks or steps of processes described above.
  • Computer executable instructions may be compiled or interpreted from computer programs created using a variety of programming languages and/or technologies.
  • a processor e.g. a microprocessor
  • receives instructions e.g. from a memory, a computer-readable medium etc. and executes these instructions, thereby performing one or more processes, including one or more processes described herein.
  • Such instructions and other data may be stored and transmitted using a variety of computer-readable media.
  • a file in the computing device is generally a collection of data stored on a computer-readable medium such as a storage medium, a random-access memory etc.
  • a computer-readable medium includes any medium that participates in providing data (e.g. instructions) which may be read by a computer. Such a medium may take any forms including but not limited to non volatile media, volatile media etc.

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  • General Physics & Mathematics (AREA)
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Abstract

La présente invention concerne des systèmes et des procédés d'évitement de collision pour des intersections sans feu de circulation, l'invention se rapporte en général à des systèmes et à des procédés d'avertissement de trafic utilisés pour notifier des conducteurs de conditions de trafic arrivant en sens inverse, de manière plus spécifique, pour alerter des conducteurs concernant la possibilité d'une collision avec un autre véhicule au niveau d'une intersection, fournir des messages de perception de situation concernant des véhicules qui peuvent être occlusifs de la ligne de visée directe au véhicule en approche. Une carte de situation d'intersection est générée par un dispositif embarqué, une unité côté route ou un serveur à distance utilisant des informations d'orientation d'une intersection et d'informations de véhicule telles que le cap pour déterminer des directions d'approche de chaque véhicule vers une intersection et notifier au conducteur d'autres véhicules s'approchant d'une intersection de différentes directions.
PCT/TR2020/050790 2019-09-18 2020-09-01 Systèmes et procédés d'évitement de collision pour intersections sans feu de circulation WO2021054915A1 (fr)

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TR2019/14137A TR201914137A2 (tr) 2019-09-18 2019-09-18 Trafik kontrol sinyali olmayan kavşaklar için çarpışma önleme sistemleri ve yöntemleri
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