Efficient intersection autonomous driving protocol
View Patent ↗A system and method for efficiently and continuously allowing vehicles to travel through an intersection. The method includes broadcasting a synchronization signal to all vehicles that will be entering the intersection and broadcasting an intersection flow time to all of the vehicles that will be entering the intersection that identifies which travel lanes travel in what direction. The method also includes identifying an arrival synchronization pattern for all of the vehicles that will be entering the intersection and controlling a speed of the vehicles traveling through the intersection and a time for the vehicles entering the intersection so that vehicles traveling in perpendicular or cross directions to the intersection will simultaneously travel through the intersection without colliding with each other.
1. A method for controlling a flow of vehicles through an intersection, said method comprising:
broadcasting a synchronization signal to all vehicles that will be entering the intersection, where the vehicles that will be entering the intersection are identified as vehicles traveling in lanes approaching the intersection and within a predefined proximity of the intersection;
broadcasting an intersection flow type to all of the vehicles that will be entering the intersection, where the intersection flow type identifies a direction of travel through the intersection for each of the travel lanes;
identifying an arrival synchronization pattern for all of the vehicles that will be entering the intersection; and
controlling a speed of the vehicles traveling through the intersection and a time for the vehicles entering the intersection so that vehicles traveling in perpendicular or cross directions through the intersection will simultaneously travel through the intersection without colliding with each other, including defining a configuration of time slot cells for the intersection, where the speed of the vehicles and the time for the vehicles are controlled so that only one vehicle will be in a particular time slot cell at a particular time slot.
2. The method according to claim 1 wherein broadcasting a synchronization signal and an intersection flow type includes broadcasting from a wireless telematic unit located proximate the intersection.
3. The method according to claim 1 wherein the intersection has two travel lanes for each of four directions, and wherein the configuration of time slot cells has sixteen time slot cells.
4. The method according to claim 1 wherein the intersection has two travel lanes for each of four directions, and wherein the intersection flow type is all lanes travel straight through the intersection.
5. The method according to claim 1 wherein the intersection has two travel lanes for each of four directions, and wherein the intersection flow type is left lanes travel straight through the intersection and right lanes turn right through the intersection for all four directions.
6. The method according to claim 1 wherein the intersection has two travel lanes for each of four directions, and wherein the intersection flow type is left lanes turn left through the intersection and right lanes travel straight through the intersection for all four directions.
7. The method according to claim 1 wherein the intersection has two travel lanes for each of four directions, and wherein the intersection flow type is left lanes turn left through the intersection and right lanes turn right through the intersection.
8. The method according to claim 1 wherein the intersection has four travel lanes for each of four directions, and wherein the intersection flow type is left lanes turn left through the intersection, right lanes turn right through the intersection and two middle lanes travel straight through the intersection for all four directions.
9. The method according to claim 1 further comprising reserving one or more extra time slot cells for vehicles having a length greater than a standard vehicle length upon which a size of the time slot cells is based.
10. The method according to claim 1 wherein the vehicles are autonomously driven vehicles.
11. A system for controlling a flow of vehicles through an intersection, said system comprising:
an intersection control device located proximate to the intersection, said intersection control device being configured to broadcast an intersection flow type and a synchronization signal to all vehicles that will be entering the intersection, where the intersection flow type identifies a direction of travel through the intersection for each travel lane of the intersection and the synchronization signal identifies a speed to be used by the vehicles that will be entering the intersection, and where the vehicles that will be entering the intersection are identified as vehicles traveling in lanes approaching the intersection and within a predefined proximity of the intersection;
a wireless transceiver onboard each of the vehicles; and
a vehicle controller onboard each of the vehicles, said vehicle controller being configured to control the steering, brakes and throttle of its host vehicle based on information received from the intersection control device via the wireless transceiver,
where the intersection control device identifies an arrival synchronization pattern for all of the vehicles that will be entering the intersection, where the arrival synchronization pattern is defined and communicated to the vehicle controllers so that vehicles traveling in perpendicular or cross directions through the intersection will simultaneously travel through the intersection without colliding with each other, including defining a configuration of time slot cells for the intersection, and where the speed of the vehicles and the time for the vehicles are controlled by the vehicle controllers so that only one vehicle will be in a particular time slot cell at a particular time slot.
12. The system according to claim 11 wherein the intersection control device communicates with the wireless transceivers using vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) technology.
13. The system according to claim 11 wherein the intersection has two travel lanes for each of four directions, and wherein the configuration of time slot cells has sixteen time slot cells.
14. The system according to claim 11 wherein the intersection has two travel lanes for each of four directions, and wherein the intersection flow type is all lanes travel straight through the intersection.
15. The system according to claim 11 wherein the intersection has two travel lanes for each of four directions, and wherein the intersection flow type is left lanes travel straight through the intersection and right lanes turn right through the intersection for all four directions.
16. The system according to claim 11 wherein the intersection has two travel lanes for each of four directions, and wherein the intersection flow type is left lanes turn left through the intersection and right lanes travel straight through the intersection for all four directions.
17. The system according to claim 11 wherein the intersection has two travel lanes for each of four directions, and wherein the intersection flow type is left lanes turn left through the intersection and right lanes turn right through the intersection.
18. The system according to claim 11 wherein the intersection has four travel lanes for each of four directions, and wherein the intersection flow type is left lanes turn left through the intersection, right lanes turn right through the intersection and two middle lanes travel straight through the intersection for all four directions.