Abstract: A system and method for warning a driver of a host vehicle of a potential collision with other vehicles when turning at an intersection. The method includes determining if the host vehicle is likely to turn at the intersection, and if so, segmenting the intersection into a plurality of different regions, where each region has a different level of collision threat risk. The method obtains the speed, velocity and position of the host vehicle and any relevant remote vehicles in the intersection. The method determines a predicted path of the host vehicle and the predicted path of the remote vehicles. The method then determines whether the host vehicle and the remote vehicles will simultaneously occupy a collision zone in the intersection based on the predicted paths, and if so, issues a warning to the driver of the collision risk or apply vehicle controls to avoid or mitigate the collision risk.

Abstract: An aftermarket vehicle communications device that that is part of a V2X communications system. The device can be a plug-in device, a wireless device separate from the vehicle, such as a key fob, wearable or a smart phone, or a permanent retrofit device mounted to the vehicle. The device is electrically coupled to the vehicle by, for example, an OBD connection, a USB connection, a CAN bus connection, an HDMI connection or wirelessly. The device includes a radio for transmitting and/or receiving communications signals, a memory for storing security information and vehicle application data, a location processor such as a global navigation satellite system receiver, a verification processor for verifying messages, and a communications processor configured to be put in electrical communication with a CAN bus on the vehicle, where the communications processor receives vehicle location signals from the location processor, files from the memory and signals from the radio.

Abstract: A system and method for warning a vehicle driver of a potential collision when turning left or right at or near an intersection, where the system and method provide additional analysis to limit false positive and false negative warnings based on specialized circumstances. The method includes determining if the host vehicle is likely to turn at or near the intersection, and obtaining speed, velocity and position data of the host vehicle and any relevant remote vehicles. The method determines a predicted path of the host vehicle and the remote vehicles based on the speed, velocity and position data, and issues a warning to a driver of the host vehicle if the host vehicle and one of the remote vehicles may collide based on the predicted paths. If the host vehicle is in a specialized circumstance, the method provides additional collision analysis to reduce false positive warnings and/or false negative warnings.

Abstract: A system and method for warning a vehicle driver of a potential collision when turning left or right at or near an intersection, where the system and method provide additional analysis to limit false positive and false negative warnings based on specialized circumstances. The method includes determining if the host vehicle is likely to turn at or near the intersection, and obtaining speed, velocity and position data of the host vehicle and any relevant remote vehicles. The method determines a predicted path of the host vehicle and the remote vehicles based on the speed, velocity and position data, and issues a warning to a driver of the host vehicle if the host vehicle and one of the remote vehicles may collide based on the predicted paths. If the host vehicle is in a specialized circumstance, the method provides additional collision analysis to reduce false positive warnings and/or false negative warnings.

Abstract: A system and method for warning a driver of a host vehicle of a potential collision with other vehicles when turning at an intersection. The method includes determining if the host vehicle is likely to turn at the intersection, and if so, segmenting the intersection into a plurality of different regions, where each region has a different level of collision threat risk. The method obtains the speed, velocity and position of the host vehicle and any relevant remote vehicles in the intersection. The method determines a predicted path of the host vehicle and the predicted path of the remote vehicles. The method then determines whether the host vehicle and the remote vehicles will simultaneously occupy a collision zone in the intersection based on the predicted paths, and if so, issues a warning to the driver of the collision risk or apply vehicle controls to avoid or mitigate the collision risk.

Abstract: An aftermarket vehicle communications device that that is part of a V2X communications system. The device can be a plug-in device, a wireless device separate from the vehicle, such as a key fob, wearable or a smart phone, or a permanent retrofit device mounted to the vehicle. The device is electrically coupled to the vehicle by, for example, an OBD connection, a USB connection, a CAN bus connection, an HDMI connection or wirelessly. The device includes a radio for transmitting and/or receiving communications signals, a memory for storing security information and vehicle application data, a location processor such as a global navigation satellite system receiver, a verification processor for verifying messages, and a communications processor configured to be put in electrical communication with a CAN bus on the vehicle, where the communications processor receives vehicle location signals from the location processor, files from the memory and signals from the radio.

Abstract: A system and method for identifying the position and orientation of a vehicle. The method includes obtaining an environmental model of a particular location from, for example, a map database on the vehicle or a roadside unit. The method further includes detecting the position of the vehicle using GPS signals, determining range measurements from the vehicle to stationary objects at the location using radar sensors and detecting visual cues around the vehicle using cameras. The method includes registering the stationary objects and detected visual cues with stationary objects and visual cues in the environmental model, and using those range measurements to the stationary objects and visual cues that are matched in the environmental model to determine the position and orientation of the vehicle. The vehicle can update the environmental model based on the detected stationary objects and visual cues.

Abstract: A method for automated lane centering and/or lane changing purposes for a vehicle traveling on a roadway that employs roadway points from a map database to determine a reference vehicle path and sensors on the vehicle for detecting static and moving objects to adjust the reference path. The method includes reducing the curvature of the reference path to generate a reduced curvature reference path that reduces the turning requirements of the vehicle and setting the speed of the vehicle from posted roadway speeds from the map database. The method also includes providing multiple candidate vehicle paths and vehicle speeds to avoid the static and moving objects in front of the vehicle.

Abstract: Techniques and methodologies for determining a relative position between a host object and a neighboring object in proximity to the host object are presented here. An exemplary embodiment of a method operates a first wireless communication module onboard the host object to wirelessly communicate packets with a second wireless communication module onboard the neighboring object. The method processes packets wirelessly received from the second wireless communication module to obtain position information related to a position of the neighboring object relative to the host object. A range sensor system onboard the host object is operated to obtain first range information related to a range of the neighboring object relative to the host object. The relative position between the host object and the neighboring object is computed using the obtained position information and the obtained first range information.

Abstract: A method for automated lane centering and/or lane changing purposes for a vehicle traveling on a roadway that employs roadway points from a map database to determine a reference vehicle path and sensors on the vehicle for detecting static and moving objects to adjust the reference path. The method includes reducing the curvature of the reference path to generate a reduced curvature reference path that reduces the turning requirements of the vehicle and setting the speed of the vehicle from posted roadway speeds from the map database. The method also includes providing multiple candidate vehicle paths and vehicle speeds to avoid the static and moving objects in front of the vehicle.

Abstract: A method of autonomously convoying vehicles traveling along a route with a leader vehicle being in communication with at least one follower vehicle. The at least one follower vehicle receives a communication relating to a target offset position and route data. Tracking data is generated and derived from on-board sensing devices of the at least one follower vehicle that includes a traveled path of the leader vehicle sensed by the at least one follower vehicle. The route data is compared to the tracking data for identifying accuracy between the route data relative to the tracking data. An adjusted target offset position and a set of trajectory points that provides a trajectory path of travel from a current position of the at least one follower vehicle to the adjusted target offset position are determined based on the accuracy between the route data and the tracking data.

Abstract: A system and method for providing lane changing maneuvers in an autonomously driven vehicle. The vehicle includes a navigation controller that provides a planned route for the vehicle to follow and a vehicle controller that receives route information from the navigation controller and provides steering, braking and throttle control for the vehicle to follow the route. Either the navigation controller or the vehicle controller may initiate a lane change maneuver to cause the vehicle to be steered from a travel lane to an adjacent lane. In response to the lane change requirement, the navigation controller provides a route segment to the vehicle controller and a lane-change zone so that the vehicle controller can steer the vehicle to the adjacent lane while in the lane-change zone.

Abstract: A method for prioritizing potential threats identified by vehicle active safety systems. The method includes providing context information including map information, vehicle position information, traffic assessment information, road condition information, weather condition information, and vehicle state information. The method calculates a system context value for each active safety system using the context information. Each active safety system provides a system threat level value, a system braking value, a system steering value, and a system throttle value. The method calculates an overall threat level value using all of the system context values and all of the system threat level values. The method then provides a braking request value to vehicle brakes based on all of the system braking values, a throttle request value to a vehicle throttle based on all of the system throttle values, and a steering request value to vehicle steering based on all of the system steering values.

Abstract: Methods and systems for dynamically prioritizing target areas to monitor around a vehicle are provided. The system, for example, may include, but is not limited to a sensor, a global positioning system receiver, and a processor communicatively coupled to the sensor and the global positioning system receiver. The processor is configured to determine a location of the vehicle and based upon data from the global positioning system receiver, determine a projected path the vehicle is traveling upon, prioritize target areas based upon the determined location, heading and the projected path, and analyze data from the sensor based upon the prioritized target areas.

Abstract: 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.

Abstract: A method for prioritizing potential threats identified by vehicle active safety systems. The method includes providing context information including map information, vehicle position information, traffic assessment information, road condition information, weather condition information, and vehicle state information. The method calculates a system context value for each active safety system using the context information. Each active safety system provides a system threat level value, a system braking value, a system steering value, and a system throttle value. The method calculates an overall threat level value using all of the system context values and all of the system threat level values. The method then provides a braking request value to vehicle brakes based on all of the system braking values, a throttle request value to a vehicle throttle based on all of the system throttle values, and a steering request value to vehicle steering based on all of the system steering values.

Abstract: An aftermarket plug-in safety device that allows a vehicle to communicate with other vehicles or infrastructures in a V2X communications system. The device includes a radio for transmitting and receiving signals and a GPS receiver for receiving GPS signals and providing vehicle position data. The device also includes a memory for storing digital security certificates and vehicle application data and a processor configured to be put in electrical communication with a vehicle CAN bus. The processor receives vehicle location signals from the GPS receiver, files from the memory and signals from the radio and providing signals for transmission to the radio. The processor identifies the vehicle that the plug-in device is coupled to and provides data on the CAN bus identifying the device. The processor also performs self-configuring operations based on type of vehicle, access to vehicle systems and location of the vehicle.

Abstract: An aftermarket plug-in safety device that allows a vehicle to communicate with other vehicles or infrastructures in a V2X communications system. The device includes a radio for transmitting and receiving signals and a GPS receiver for receiving GPS signals and providing vehicle position data. The device also includes a memory for storing digital security certificates and vehicle application data and a processor configured to be put in electrical communication with a vehicle CAN bus. The processor receives vehicle location signals from the GPS receiver, files from the memory and signals from the radio and providing signals for transmission to the radio. The processor identifies the vehicle that the plug-in device is coupled to and provides data on the CAN bus identifying the device. The processor also performs self-configuring operations based on type of vehicle, access to vehicle systems and location of the vehicle.

Abstract: A vehicle merge control system includes a host communication system in a host vehicle for exchanging vehicle position and kinematics data with a remote communication system in at least one remote vehicle. A vehicle host processor determines respective positions and paths of travel of the at least one remote vehicle and the host vehicle. The host processor determines a time to intersect based on the positions and predicted paths of travel between the host vehicle and remote vehicle during a merging maneuver. A host vehicle is configured to transmit a host vehicle intention message from the host communication system to the remote communication system for negotiating a merging position between the host vehicle and the at least one remote vehicle. The host vehicle executes the merging maneuver using the negotiated merging position.

Abstract: A system and method for providing lane changing maneuvers in an autonomously driven vehicle. The vehicle includes a navigation controller that provides a planned route for the vehicle to follow and a vehicle controller that receives route information from the navigation controller and provides steering, braking and throttle control for the vehicle to follow the route. Either the navigation controller or the vehicle controller may initiate a lane change maneuver to cause the vehicle to be steered from a travel lane to an adjacent lane. In response to the lane change requirement, the navigation controller provides a route segment to the vehicle controller and a lane-change zone so that the vehicle controller can steer the vehicle to the adjacent lane while in the lane-change zone.