Granted Patent B2

US 12,509,071 · App. 17/641,977 · Granted Dec 30, 2025

Inventors: Vesh Raj Sharma Banjade (Portland, OR); Kathiravetpillai Sivanesan (Portland, OR); Ignacio J. Alvarez (Portland, OR); Satish C. Jha (Portland, OR); Maria Soledad Elli (Hillsboro, OR); Leonardo Gomes Baltar (Munich, DE); Arvind Merwaday (Hillsboro, OR); S M Iftekharul Alam (Hillsboro, OR); Hao Feng (Hillsboro, OR)

Assignee: Intel Corporation

B60W30/0956B60W30/085B60W60/0015B60W2554/4049

Abstract

Claims (108)

1 . A first Intelligent Transport System Station (ITS-S), comprising:

memory circuitry to store instructions; and

processor circuitry connected to the memory circuitry, wherein execution of the instructions by the processor circuitry is to cause the first ITS-S to:

execute a collision risk analysis function based on detection of a perceived Vulnerable Road User (VRU) relative to a current trajectory of a second ITS-S, wherein the first ITS-S is associated with a first computer-assisted or autonomous driving (CA/AD) vehicle, and wherein the second ITS-S is associated with a second CA/AD vehicle,

wherein the collision risk analysis function is to determine each of a Lateral Distance (LaD), a Longitudinal Distance (LoD), and a Vertical Distance (VD) between the second CA/AD vehicle and the VRU based on sensor data collected with the first CA/AD vehicle, wherein the LaD is an estimated distance between the VRU and the second CA/AD vehicle that is perpendicular to a direction of a heading of the second CA/AD vehicle, the LoD is an estimated distance between the VRU and the second CA/AD vehicle along the direction of the heading of the second CA/AD vehicle, and the VD is an estimated distance in a vertical direction between the VRU and the second CA/AD vehicle; and

transmit at least one intelligent transport system (ITS) message to trigger a collision avoidance action in the second CA/AD vehicle from automated control or movement of the second CA/AD vehicle, wherein the collision avoidance action is triggered when one or more of the LaD, the LoD, and the VD are less than a minimum safe LaD (MSLaD), a minimum safe LoD (MSLoD), and a minimum safe VD (MSVD), respectively,

wherein the collision avoidance action in the second CA/AD vehicle changes the current trajectory, in response to the at least one ITS message, to cause the LaD, the LoD, and the VD to exceed the MSLaD, the MSLOD, and the MSVD, and

wherein the MSLaD is a minimum lateral separation between the VRU and the second CA/AD vehicle to be considered safe, the MSLoD is a minimum longitudinal separation between the VRU and the second CA/AD vehicle to be considered safe, and the MSVD is a minimum vertical separation between the VRU and the second CA/AD vehicle to be considered safe.

2 . The first ITS-S of claim 1 , wherein execution of the instructions is to cause the first ITS-S to:

transmit the at least one ITS message to trigger the collision avoidance action when the LaD, the LoD, and the VD are simultaneously less than the MSLaD, the MSLOD, and the MSVD, respectively.

3 . The first ITS-S of claim 1 , wherein execution of the instructions is to cause the first ITS-S to execute a motion dynamic prediction function to:

generate a motion dynamic prediction of the VRU; and

provide the motion dynamic prediction to the collision risk analysis function.

4 . The first ITS-S of claim 3 , wherein execution of the instructions is to cause the first ITS-S to execute the collision risk analysis function to:

analyze the motion dynamic prediction of the VRU;

estimate a likelihood of collision of the second CA/AD vehicle with the VRU; and

identify a time to collision (TTC) based on the analysis and the likelihood of collision of the second CA/AD vehicle with the VRU.

5 . The first ITS-S of claim 4 , wherein execution of the instructions is to cause the first ITS-S to:

generate an ITS message of the at least one ITS message based on the TTC; and

cause transmission or broadcast of the generated ITS message.

6 . The first ITS-S of claim 5 , wherein the generated ITS message includes the collision avoidance action.

7 . The first ITS-S of claim 5 , wherein execution of the instructions is to cause the first ITS-S to execute the collision risk analysis function to:

determine a trajectory interception of the VRU with the second CA/AD vehicle; and

generate a trajectory interception indicator (TII) based on the determined trajectory interception, wherein the TII indicates the likelihood that the VRU and the second CA/AD vehicle will encounter the collision, wherein the generated ITS message includes the TII, and wherein the collision avoidance action is triggered based on the TII.

8 . The first ITS-S of claim 4 , wherein execution of the instructions is to cause the first ITS-S to:

trigger the collision avoidance action when the TTC is greater than a threshold.

9 . The first ITS-S of claim 4 , wherein execution of the instructions is to cause the first ITS-S to execute a maneuver coordination function to:

select the collision avoidance action based on the TTC; and

execute the selected collision avoidance action.

10 . The first ITS-S of claim 9 , wherein execution of the instructions is to cause the first ITS-S to execute the selected collision avoidance action to:

generate a warning alert to include instructions that cause output of the warning alert;

generate a warning alert message to include the generated warning alert; and

cause transmission or broadcast of the warning alert message to one or more neighboring ITS-Ss within a communication range of the first ITS-S.

11 . The first ITS-S of claim 10 , the execution of the instructions is to cause the first ITS-S to:

execute the instructions of the warning alert to cause output of the warning alert via one or more user interfaces of the first ITS-S.

12 . The first ITS-S of claim 10 , wherein the warning alert is one or more of an audio alert, a visual alert, and a physical alert.

13 . The first ITS-S of claim 1 , wherein the first ITS-S is a vehicle ITS-S.

14 . The first ITS-S of claim 1 , wherein the first ITS-S is a roadside ITS-S and the second ITS-S is a vehicle ITS-S or another VRU ITS-S.

15 . One or more non-transitory computer readable storage media (NTCRM) comprising instructions, wherein execution of the instructions by one or more processors of a first Intelligent Transport System Station (ITS-S) is to cause the first ITS-S to:

execute a collision risk analysis function based on a perceived Vulnerable Road User (VRU) relative to a current trajectory of a second ITS-S, wherein the first ITS-S is associated with a first computer-assisted or autonomous driving (CA/AD) vehicle, and wherein the second ITS-S is associated with a second CA/AD vehicle,

wherein the collision risk analysis function is to generate a trajectory interception indicator (TII) based on a determined trajectory interception of the VRU with the second CA/AD vehicle, wherein the TII is a likelihood that the VRU and the second CA/AD vehicle will encounter a collision;

determine each of a Lateral Distance (LaD), a Longitudinal Distance (LoD), and a Vertical Distance (VD) between the second CA/AD vehicle and the VRU, wherein the LaD is an estimated distance between the VRU and the second CA/AD vehicle that is perpendicular to a direction of a heading of the second CA/AD vehicle, the LoD is an estimated distance between the VRU and the second CA/AD vehicle along the direction of the heading of the second CA/AD vehicle, and the VD is an estimated distance in a vertical direction between the VRU and the second CA/AD vehicle;

compare the LaD with a minimum safe LaD (MSLaD), wherein the MSLaD is a minimum lateral separation between the VRU and the second CA/AD vehicle to be considered safe;

compare the LoD with a minimum safe LoD (MSLoD), wherein the MSLoD is a minimum longitudinal separation between the VRU and the second CA/AD vehicle to be considered safe;

compare the VD with a minimum safe VD (MSVD), wherein the MSVD is a minimum vertical separation between the VRU and the second CA/AD vehicle to be considered safe; and

transmit at least one intelligent transport system (ITS) message to trigger a collision avoidance action in the second CA/AD vehicle from automated control or movement of the CA/AD vehicle,

wherein the collision avoidance action in the second CA/AD vehicle changes the current trajectory, in response to the at least one ITS message, to cause the LaD, the LoD, and the VD to exceed the MSLaD, the MSLOD, and the MSVD, and

wherein the collision avoidance action is triggered based on the TII and when one or more of the LaD, the LoD, and the VD are less than the MSLaD, the MSLOD, and the MSVD, respectively.

16 . The one or more NTCRM of claim 15 , wherein execution of the collision risk analysis function is to cause the first ITS-S to:

trigger the collision avoidance action when one or more of the LaD, the LoD, and the VD are less than a minimum safe LaD (MSLaD), a minimum safe LoD (MSLoD), and a minimum safe VD (MSVD), respectively.

17 . The one or more NTCRM of claim 15 , wherein execution of the instructions is to cause the first ITS-S to execute a motion dynamic prediction function to:

generate a motion dynamic prediction of the VRU based on perception data representative of the VRU; and

provide the motion dynamic prediction to the collision risk analysis function.

18 . The one or more NTCRM of claim 17 , wherein execution of the instructions is to cause the first ITS-S to execute the collision risk analysis function to:

analyze the motion dynamic prediction of the VRU;

estimate the likelihood of collision of the second ITS-S with the VRU;

identify a time to collision (TTC) based on the analysis and the likelihood of collision of the second ITS-S with the VRU; and

trigger the collision avoidance action when the TTC is greater than a threshold.

19 . The one or more NTCRM of claim 18 , wherein execution of the instructions is to cause the first ITS-S to:

generate an ITS message of the at least one ITS message based on the TTC, wherein the generated ITS message includes the collision avoidance action or the TII; and

cause transmission or broadcast of the generated ITS message.

20 . The one or more NTCRM of claim 18 , wherein execution of the instructions is to cause the first ITS-S to execute a maneuver coordination function to:

select the collision avoidance action based on the TTC or the TII; and

execute the selected collision avoidance action.

21 . The one or more NTCRM of claim 20 , wherein execution of the instructions is to cause the first ITS-S to execute to the selected collision avoidance action to:

generate a warning alert to include instructions that cause output of the warning alert;

generate a warning message to include the generated warning alert; and

cause transmission or broadcast of the warning alert message to one or more neighboring ITS-Ss within a communication range of the first ITS-S.

22 . The one or more NTCRM of claim 21 , wherein execution of the instructions is to cause the first ITS-S to:

execute the instructions of the warning alert to cause output of the warning alert via one or more user interfaces of the first ITS-S.

23 . The one or more NTCRM of claim 21 , wherein the warning alert is one or more of an audio alert, a visual alert, or a physical alert.

24 . The one or more NTCRM of claim 15 , wherein:

the first ITS-S is a vehicle ITS-S; or

the first ITS-S is a roadside ITS-S and the second ITS-S is a vehicle ITS-S or another VRU ITS-S.

25 . A method of operating a first Intelligent Transport System Station (ITS-S), the method comprising:

identifying a perceived Vulnerable Road User (VRU), wherein the VRU is moving or stationary with respect to a current trajectory of a second ITS-S, wherein the first ITS-S is associated with a first computer-assisted or autonomous driving (CA/AD) vehicle, and wherein the second ITS-S is associated with a second CA/AD vehicle;

executing a collision risk analysis function based on the perceived VRU, the collision risk analysis including:

determining a trajectory interception indicator (TII) based on a determined trajectory interception of the VRU with the second ITS-S, wherein the TII is a likelihood that the VRU and the second CA/AD vehicle will encounter a collision,

determining each of a Lateral Distance (LaD), a Longitudinal Distance (LoD), and a Vertical Distance (VD) between the second CA/AD vehicle and the VRU based on sensor data collected with the first CA/AD vehicle, wherein the LaD is an estimated distance between the VRU and the second CA/AD vehicle that is perpendicular to a direction of a heading of the second CA/AD vehicle, the LoD is an estimated distance between the VRU and the second CA/AD vehicle along the direction of the heading of the second CA/AD vehicle, and the VD is an estimated distance in a vertical direction between the VRU and the second CA/AD vehicle,

comparing the LaD with a minimum safe LaD (MSLaD), wherein the MSLaD is a minimum lateral separation between the VRU and the second CA/AD vehicle to be considered safe,

comparing the LoD with a minimum safe LoD (MSLoD), wherein the MSLoD is a minimum longitudinal separation between the VRU and the second CA/AD vehicle to be considered safe, and

comparing the VD with a minimum safe VD (MSVD), wherein the MSVD is a minimum vertical separation between the VRU and the second CA/AD vehicle to be considered safe; and

transmitting at least one intelligent transport system (ITS) message to trigger a collision avoidance action in the second CA/AD vehicle from automated control or movement of the second CA/AD vehicle,

wherein the collision avoidance action in the second CA/AD vehicle changes the current trajectory, in response to at least one ITS message, to cause the LaD, the LoD, and the VD to exceed the MSLaD, the MSLOD, and the MSVD, and

wherein the collision avoidance action is triggered based on the TII and when one or more of the LaD, the LoD, and the VD are less than the MSLaD, the MSLOD, and the MSVD, respectively.

26 . The method of claim 25 , further comprising:

executing a motion dynamic prediction function including:

generating a motion dynamic prediction of the VRU based on perception data representative of the VRU, and

providing the motion dynamic prediction to the collision risk analysis function; and

executing the collision risk analysis function including:

estimating the likelihood of collision of the second CA/AD vehicle with the VRU based on an analysis of the motion dynamic prediction of the VRU;

identifying a time to collision (TTC) based on the analysis and the likelihood of collision of the second ITS-S with the VRU; and

triggering the collision avoidance action when the TTC is greater than a threshold.

27 . The method of claim 26 , further comprising:

generating an intelligent transport system (ITS) message based on the TTC, wherein the generated ITS message includes the collision avoidance action or the TII; and

transmitting or broadcasting the generated ITS message.

28 . The method of claim 27 , further comprising:

executing-a maneuver coordination function to:

select the collision avoidance action based on the TTC or the TII; and

execute the selected collision avoidance action.

29 . The method of claim 28 , further comprising executing the selected collision avoidance action including:

generating a warning alert to include instructions that cause output of the warning alert, wherein the warning alert is one or more of an audio alert, a visual alert, or a physical alert;

generating a warning message to include the generated warning alert;

transmitting or broadcasting the warning alert message to one or more neighboring ITS-Ss within a communication range of the first ITS-S; and

executing the instructions of the warning alert to cause output of the warning alert via one or more user interfaces of the first ITS-S.

30 . The method of claim 25 , wherein:

the first ITS-S is a vehicle ITS-S; or

the first ITS-S is a roadside ITS-S and the second ITS-S is a vehicle ITS-S or another VRU ITS-S.

Continuity (3)

References Cited (50)

Cited By (1)

US 12,725,523