System and method for mitigating congestion at traffic signals

Abstract

A system for mitigating traffic congestion in a vehicle includes a plurality of vehicle sensors, an automated driving system, and a controller in electrical communication with the plurality of vehicle sensors and the automated driving system. The controller is programmed to determine a traffic signal phase of a traffic signal in an environment surrounding the vehicle using the plurality of vehicle sensors. The traffic signal phase includes one of a red phase and a green phase. The controller is also programmed to, in response to determining that the traffic signal phase is a green phase, activate the automated driving system to drive the vehicle for a predetermined maximum time period. The controller is also programmed to deactivate the automatic driving system in response to determining that the predetermined maximum time period has reached.

Description

Technical Field

[0001] The present disclosure relates to an advanced driver assistance system and an automated driving system and method for a vehicle, and more particularly, to a system and method for alleviating vehicle traffic congestion. Background Art

[0002] To improve occupant awareness and convenience, vehicles may be equipped with advanced driver assistance systems (ADAS) and / or automated driving systems (ADS). ADAS systems can use a variety of sensors, such as cameras, radar, and lidar, to detect and identify objects around the vehicle, including other vehicles, pedestrians, road configurations, and traffic signs. ADAS systems can take actions based on environmental conditions around the vehicle, such as applying the brakes or alerting the vehicle's occupants. However, existing ADS systems may not take into account other factors that may affect the occupant experience. For example, traffic jams may occur at traffic signals because drivers have varying reaction times and attention spans.

[0003] Therefore, while ADAS systems and ADS systems and methods have achieved their intended purposes, a need remains for new and improved systems and methods for alleviating vehicular traffic congestion. Summary of the invention

[0004] According to several aspects, the present disclosure provides a system for alleviating vehicle traffic congestion. The system includes: a plurality of vehicle sensors, an automatic driving system, and a controller in electrical communication with the plurality of vehicle sensors and the automatic driving system. The controller is programmed to determine the traffic signal phase of a traffic signal (traffic light) in the vehicle's surrounding environment using the plurality of vehicle sensors. The traffic signal phase includes one of a red phase and a green phase. The controller is also programmed to activate the automatic driving system to drive the vehicle within a predetermined maximum time period in response to determining that the traffic signal phase is a green phase. The controller is also programmed to stop the automatic driving system in response to determining that the predetermined maximum time period has been reached.

[0005] In another aspect of the present disclosure, the plurality of vehicle sensors further comprises a camera system. To determine the phase of the traffic signal, the controller is further programmed to use the camera system to capture an image of the vehicle surroundings including the traffic signal. To determine the phase of the traffic signal, the controller is further programmed to use a computer vision algorithm to determine the phase of the traffic signal in the image.

[0006] In another aspect of the present disclosure, the plurality of vehicle sensors further comprises a vehicle communication system. To determine the traffic signal phase, the controller is further programmed to receive a signal phase and timing (SPaT) message from the traffic signal using the vehicle communication system. The SPaT message comprises the traffic signal phase.

[0007] In another aspect of the present disclosure, the plurality of vehicle sensors further comprises a vehicle communication system. To determine the traffic signal phase, the controller is further programmed to receive vehicle-to-vehicle (V2V) communications from a remote vehicle. The V2V communications include the traffic signal phase.

[0008] In another aspect of the present disclosure, in order to activate the autonomous driving system to drive the vehicle, the controller is further programmed to determine a system activation state. The system activation state includes one of a system active state and a system inactive state. In order to activate the autonomous driving system to drive the vehicle, the controller is further programmed to activate the autonomous driving system to drive the vehicle in response to determining that the system activation state is a system active state and the traffic signal phase is a green phase. In order to activate the autonomous driving system to drive the vehicle, the controller is further programmed to start a first timer in response to determining that the system activation state is a system active state and the traffic signal phase is a green phase.

[0009] In another aspect of the present disclosure, in order to determine the system activation state, the controller is also programmed to determine the drive mode of the vehicle. The drive mode includes one of a forward drive mode and a non-forward drive mode. In order to determine the system activation state, the controller is also programmed to determine the brake hold state of the vehicle. The brake hold state includes one of a brake hold active state and a brake hold inactive state. In order to determine the system activation state, the controller is also programmed to determine the accelerator pedal position of the vehicle. In order to determine the system activation state, the controller is also programmed to determine the system activation state as a system active state in response to determining that the drive mode is a forward drive mode, the brake hold state is a brake hold active state, and the accelerator pedal position is less than or equal to a predetermined accelerator pedal position threshold.

[0010] In another aspect of the present disclosure, to deactivate the automated driving system, the controller is further programmed to prompt an occupant of the vehicle to deactivate the automated driving system in response to determining that the value of the first timer is greater than or equal to a predetermined first timer threshold. To deactivate the automated driving system, the controller is further programmed to start a second timer in response to determining that the value of the first timer is greater than or equal to a predetermined first timer threshold. To deactivate the automated driving system, the controller is further programmed to deactivate the automated driving system in response to determining that the value of the second timer is greater than or equal to a predetermined second timer threshold. The predetermined maximum time period is equal to the sum of the predetermined first timer threshold and the predetermined second timer threshold.

[0011] In another aspect of the present disclosure, the plurality of vehicle sensors further include a vehicle communication system. In order to stop the autonomous driving system in response to determining that the value of the second timer is greater than or equal to a predetermined second timer threshold, the controller is also programmed to enable the vehicle's hazard warning lights. In order to stop the autonomous driving system in response to determining that the value of the second timer is greater than or equal to a predetermined second timer threshold, the controller is also programmed to send a vehicle-to-everything (V2X) message using the vehicle communication system. The V2X message indicates that the autonomous driving system has stopped working. In order to stop the autonomous driving system in response to determining that the value of the second timer is greater than or equal to a predetermined second timer threshold, the controller is also programmed to stop the autonomous driving system.

[0012] In another aspect of the present disclosure, to deactivate the automated driving system, the controller is further programmed to continuously monitor the accelerator pedal position of the vehicle. To deactivate the automated driving system, the controller is further programmed to continuously monitor the brake pedal position of the vehicle. To deactivate the automated driving system, the controller is further programmed to deactivate the automated driving system in response to determining that the accelerator pedal position is greater than or equal to a predetermined accelerator pedal position threshold. To deactivate the automated driving system, the controller is further programmed to deactivate the automated driving system in response to determining that the brake pedal position is greater than or equal to a predetermined brake pedal position threshold.

[0013] In another aspect of the present disclosure, the controller is further programmed to notify an occupant of the vehicle of a state of the autonomous driving system. The state of the autonomous driving system includes one of an active state, a pending deactivated state, and an inactive state.

[0014] According to several aspects, the present disclosure provides a method for alleviating vehicle traffic congestion. The method includes determining a traffic signal phase of a traffic signal in the vehicle's surrounding environment using a plurality of vehicle sensors. The traffic signal phase includes one of a red phase and a green phase. The method also includes activating an autonomous driving system to drive the vehicle for a predetermined maximum time period in response to determining that the traffic signal phase is a green phase. The method also includes deactivating the autonomous driving system in response to determining that the predetermined maximum time period has been reached.

[0015] In another aspect of the present disclosure, determining the traffic signal phase may further include receiving a signal phase and timing (SPaT) message from the traffic signal using the vehicle communication system. The SPaT message includes the traffic signal phase.

[0016] In another aspect of the present disclosure, activating the autonomous driving system to drive the vehicle may further include determining a system activation state. The system activation state includes one of a system active state and a system inactive state. Activating the autonomous driving system to drive the vehicle may further include activating the autonomous driving system to drive the vehicle in response to determining that the system activation state is a system active state and the traffic signal phase is a green phase. Activating the autonomous driving system to drive the vehicle may further include starting a first timer in response to determining that the system activation state is a system active state and the traffic signal phase is a green phase.

[0017] In another aspect of the present disclosure, determining the system activation state may also include determining a drive mode of the vehicle. The drive mode includes one of a forward drive mode and a non-forward drive mode. Determining the system activation state may also include determining a brake hold state of the vehicle. The brake hold state includes one of a brake hold active state and a brake hold inactive state. Determining the system activation state may also include determining an accelerator pedal position of the vehicle. Determining the system activation state may also include determining the system activation state as a system active state in response to determining that the drive mode is a forward drive mode, the brake hold state is a brake hold active state, and the accelerator pedal position is less than or equal to a predetermined accelerator pedal position threshold.

[0018] In another aspect of the present disclosure, deactivating the automated driving system may further include prompting an occupant of the vehicle to deactivate the automated driving system in response to determining that the value of the first timer is greater than or equal to a predetermined first timer threshold. Deactivating the automated driving system may further include starting a second timer in response to determining that the value of the first timer is greater than or equal to a predetermined first timer threshold. Deactivating the automated driving system may further include deactivating the automated driving system in response to determining that the value of the second timer is greater than or equal to a predetermined second timer threshold. The predetermined maximum time period is equal to the sum of the predetermined first timer threshold and the predetermined second timer threshold.

[0019] In another aspect of the present disclosure, disabling the autonomous driving system in response to determining that the value of the second timer is greater than or equal to a predetermined second timer threshold may also include activating the hazard warning lights of the vehicle. Disabling the autonomous driving system in response to determining that the value of the second timer is greater than or equal to the predetermined second timer threshold may also include sending a vehicle-to-everything (V2X) message using a vehicle communication system. The V2X message indicates that the autonomous driving system is disabling. Disabling the autonomous driving system in response to determining that the value of the second timer is greater than or equal to the predetermined second timer threshold may also include disabling the autonomous driving system.

[0020] In another aspect of the present disclosure, disabling the automated driving system may further include monitoring an accelerator pedal position of the vehicle. Disabling the automated driving system may further include monitoring a brake pedal position of the vehicle. Disabling the automated driving system may further include disabling the automated driving system in response to determining that an accelerator pedal position is greater than or equal to a predetermined accelerator pedal position threshold. Disabling the automated driving system may further include disabling the automated driving system in response to determining that a brake pedal position is greater than or equal to a predetermined brake pedal position threshold.

[0021] According to several aspects, the present disclosure provides a system for alleviating vehicle traffic congestion. The system includes a vehicle communication system, an automatic driving system, a display, and a controller in electrical communication with the vehicle communication system, the automatic driving system, and the display. The controller is programmed to receive a signal phase and timing (SPaT) message using the vehicle communication system. The SPaT message includes a traffic signal phase of a traffic signal in the vehicle's surrounding environment. The traffic signal phase includes one of a red phase and a green phase. The controller is also programmed to determine a system activation state. The system activation state includes one of a system active state and a system inactive state. The controller is also programmed to activate the automatic driving system to drive the vehicle in response to determining that the system activation state is a system active state and the traffic signal phase is a green phase. The controller is also programmed to start a first timer in response to determining that the system activation state is a system active state and the traffic signal phase is a green phase. The controller is also programmed to use a display to prompt an occupant of the vehicle to stop the automatic driving system in response to determining that the value of the first timer is greater than or equal to a predetermined first timer threshold. The controller is also programmed to start a second timer in response to determining that the value of the first timer is greater than or equal to a predetermined first timer threshold. The controller is also programmed to disable the autopilot system in response to determining that the value of the second timer is greater than or equal to a predetermined second timer threshold.

[0022] In another aspect of the present disclosure, to deactivate the autonomous driving system, the controller is further programmed to activate the hazard warning lights of the vehicle. To deactivate the autonomous driving system, the controller is further programmed to send a vehicle-to-everything (V2X) message using a vehicle communication system and deactivate the autonomous driving system. The V2X message instructs the autonomous driving system to deactivate.

[0023] In another aspect of the present disclosure, to deactivate the automated driving system, the controller is further programmed to continuously monitor the accelerator pedal position of the vehicle. To deactivate the automated driving system, the controller is further programmed to continuously monitor the brake pedal position of the vehicle. To deactivate the automated driving system, the controller is further programmed to deactivate the automated driving system in response to determining that the accelerator pedal position is greater than or equal to a predetermined accelerator pedal position threshold. To deactivate the automated driving system, the controller is further programmed to deactivate the automated driving system in response to determining that the brake pedal position is greater than or equal to a predetermined brake pedal position threshold.

[0024] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.

[0026] Figure 1 is a schematic diagram of a system for alleviating vehicle traffic congestion according to an exemplary embodiment;

[0027] Figure 2 is a flow chart of a method for alleviating vehicle traffic congestion according to an exemplary embodiment; and

[0028] Figure 3 is a flow chart of a method for deactivating an autonomous driving system according to an exemplary embodiment. DETAILED DESCRIPTION

[0029] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses.

[0030] When a convoy of vehicles is stopped at an intersection controlled by a traffic signal, and the traffic signal switches phase to the green (i.e., go) phase, delays in human reaction time and variations in driver attention may cause vehicles to accelerate at different times / speeds. Because these variations propagate back through the vehicle queue, these variations in acceleration may result in a reduction in intersection throughput, and their magnitude may generally increase. Thus, the present disclosure provides a new and improved system and method for alleviating vehicle traffic congestion, thereby allowing vehicles to accelerate synchronously at an intersection.

[0031] refer to Figure 1, a system for alleviating vehicle traffic congestion is illustrated, generally indicated by reference numeral 10. The system 10 is shown with an exemplary vehicle 12. Although a passenger vehicle is illustrated, it should be understood that the vehicle 12 may be any type of vehicle without departing from the scope of the present disclosure. The system 10 generally includes a controller 14, a plurality of vehicle sensors 16, an autonomous driving system 18, and a display 20.

[0032] The controller 14 is used to implement the method 100 for alleviating vehicle traffic congestion, as described below. The controller 14 includes at least one processor 22 and a non-transitory computer-readable storage device or medium 24. The processor 22 can be a custom or commercially available processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor in several processors associated with the controller 14, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, a combination thereof, or generally a device for executing instructions. The computer-readable storage device or medium 24 may include, for example, volatile and non-volatile memory in a read-only memory (ROM), a random access memory (RAM), and a keep-alive memory (KAM). KAM is a persistent or non-volatile memory that can be used to store various operating variables when the processor 22 is powered off. The computer readable storage device or medium 24 may be implemented using a number of storage devices, such as a PROM (Programmable Read Only Memory), an EPROM (Electrical PROM), an EEPROM (Electrically Erasable PROM), a flash memory, or other electrical, magnetic, optical, or combination storage device capable of storing data, some of which represents executable instructions used by the controller 14 to control the various systems of the vehicle 12. The controller 14 may also be comprised of multiple controllers that are in electrical communication with each other. The controller 14 may be interconnected with additional systems and / or controllers of the vehicle 12, thereby allowing the controller 14 to access data, such as the speed, acceleration, braking, and steering angle of the vehicle 12.

[0033] The controller 14 is in electrical communication with a plurality of vehicle sensors 16, an autonomous driving system 18, and a display 20. In an exemplary embodiment, the electrical communication is established using, for example, a CAN network, a FLEXRAY network, a local area network (e.g., WiFi, Ethernet, etc.), a serial peripheral interface (SPI) network, etc. It should be understood that various additional wired and wireless technologies and communication protocols for communicating with the controller 14 are within the scope of the present disclosure.

[0034] The plurality of vehicle sensors 16 are used to acquire information about the environment surrounding the vehicle 12 . In an exemplary embodiment, the plurality of vehicle sensors 16 include at least a camera system 26 and a vehicle communication system 28 .

[0035] In another exemplary embodiment, the plurality of vehicle sensors 16 further include sensors for determining performance data regarding the vehicle 12. In one non-limiting example, the plurality of vehicle sensors 16 further include at least one of a motor speed sensor, a motor torque sensor, an electric drive motor voltage and / or current sensor, an accelerator pedal position sensor, a brake position sensor, a coolant temperature sensor, a cooling fan speed sensor, and a transmission oil temperature sensor.

[0036] In another exemplary embodiment, the plurality of vehicle sensors 16 further include sensors for determining information about the environment within the vehicle 12. In one non-limiting example, the plurality of vehicle sensors 16 further include at least one of a seat occupancy sensor, a cabin air temperature sensor, a cabin motion detection sensor, a cabin camera, a cabin microphone, and the like.

[0037] In another exemplary embodiment, the plurality of vehicle sensors 16 also include sensors for determining information about the environment surrounding the vehicle 12. In one non-limiting example, the plurality of vehicle sensors 16 also include at least one of an ambient air temperature sensor, an air pressure sensor, a global navigation satellite system (GNSS), and / or a photo and / or video camera positioned to observe the environment in front of the vehicle 12.

[0038] In another exemplary embodiment, at least one of the plurality of vehicle sensors 16 is capable of measuring distances in the environment surrounding the vehicle 12. In one non-limiting example, the plurality of vehicle sensors 16 include a stereo camera with distance measurement capabilities. In one example, at least one of the plurality of vehicle sensors 16 is fixed inside the vehicle 12, such as in the roof lining of the vehicle 12, and can be viewed through the windshield of the vehicle 12. In another example, at least one of the plurality of vehicle sensors 16 is fixed outside the vehicle 12, such as on the roof of the vehicle 12, and can observe the environment surrounding the vehicle 12. It should be understood that various additional types of vehicle sensors, such as LiDAR sensors, ultrasonic ranging sensors, radar sensors, and / or time-of-flight sensors are within the scope of the present disclosure. The plurality of vehicle sensors 16 are in electrical communication with the controller 14, as described above.

[0039] The camera system 26 is used to capture images and / or video of the environment surrounding the vehicle 12. In one exemplary embodiment, the camera system 26 includes a photo and / or video camera positioned to view the environment surrounding the vehicle 12. In one non-limiting example, the camera system 26 includes a camera fixed to the interior of the vehicle 12 (e.g., in the headliner of the vehicle 12) and capable of viewing through the windshield. In another non-limiting example, the camera system 26 includes a camera fixed to the exterior of the vehicle 12 (e.g., fixed to the roof of the vehicle 12) and capable of viewing the environment in front of the vehicle 12.

[0040] In another exemplary embodiment, the camera system 26 is a surround view camera system that includes multiple cameras (also referred to as satellite cameras) arranged to provide views of the environment adjacent to all sides of the vehicle 12. In one non-limiting example, the camera system 26 includes a front camera (e.g., mounted in the front grille of the vehicle 12), a rear camera (e.g., mounted on the rear tailgate of the vehicle 12), and two side cameras (e.g., mounted below each of the two side view mirrors of the vehicle 12). In another non-limiting example, the camera system 26 also includes an additional rear view camera mounted near the center high mounted brake light of the vehicle 12.

[0041] It should be understood that camera systems with additional cameras and / or additional mounting locations are within the scope of the present disclosure. It should also be understood that cameras with various sensor types, including, for example, charge coupled device (CCD) sensors, complementary metal oxide semiconductor (CMOS) sensors, and / or high dynamic range (HDR) sensors, are within the scope of the present disclosure. In addition, cameras with various lens types, including, for example, wide angle lenses and / or narrow angle lenses, are also within the scope of the present disclosure.

[0042] The vehicle communication system 28 is used by the controller 14 to communicate with other systems external to the vehicle 12. For example, the vehicle communication system 28 includes the ability to communicate with vehicles ("V2V" communication), infrastructure ("V2I" communication), remote systems at remote call centers (e.g., General Motors' ON-STAR), and / or personal devices. In general, the term vehicle-to-everything communication ("V2X" communication) refers to communication between the vehicle 12 and any remote system (e.g., vehicle, infrastructure, and / or remote system). In some embodiments, the vehicle communication system 28 is a wireless communication system that is configured to communicate via a wireless local area network (WLAN) using the IEEE 802.11 standard or by using cellular data communication (e.g., using GSMA standards such as SGP.02, SGP.22, SGP.32, etc.). Therefore, the vehicle communication system 28 may also include an embedded universal integrated circuit card (eUICC) that is configured to store at least one cellular connection profile, such as an embedded subscriber identity module (eSIM) profile. The vehicle communication system 28 is also configured to communicate via a personal area network (e.g., Bluetooth) and / or near field communication (NFC). However, additional or alternative communication methods such as dedicated short-range communication (DSRC) channels and / or mobile telecommunication protocols based on the third generation partnership project (3GPP) standard are also considered to be within the scope of the present disclosure. DSRC channels refer to unidirectional or bidirectional short-range to medium-range wireless communication channels designed specifically for automotive use and a set of corresponding protocols and standards. 3GPP refers to a partnership between multiple standard organizations that develop mobile telecommunication protocols and standards. 3GPP standards are built into "releases". Therefore, communication methods based on 3GPP releases 14, 15, 16 and / or future 3GPP releases are considered to be within the scope of the present disclosure. Therefore, the vehicle communication system 28 may include one or more antennas and / or communication transceivers for receiving and / or transmitting signals, such as collaborative sensing messages (CSM). The vehicle communication system 28 is configured to wirelessly transmit information between the vehicle 12 and another vehicle. In addition, the vehicle communication system 28 is configured to wirelessly transmit information between the vehicle 12 and infrastructure or other vehicles. It should be appreciated that the vehicle communication system 28 may be integrated with the controller 14 (eg, on the same circuit board as the controller 14 or otherwise as a part of the controller 14 ) without departing from the scope of the present disclosure.

[0043] The automated driving system 18 is used to provide assistance to the occupants to enhance the occupants' attention and / or control the behavior of the vehicle 12. Within the scope of the present disclosure, the occupants include the driver and / or passengers of the vehicle 12. Within the scope of the present disclosure, the automated driving system 18 encompasses systems that provide any level of assistance to the occupants (e.g., blind spot warnings, lane departure warnings, etc.) as well as systems that are capable of autonomously driving the vehicle 12 under some or all conditions. It should be understood that all levels of driving automation (i.e., SAE LEVEL 0, SAE LEVEL 1, SAE LEVEL 2, SAE LEVEL 3, SAE LEVEL 4, and SAE LEVEL 5), for example, as defined by SAE J3016, are within the scope of the present disclosure.

[0044] In an exemplary embodiment, the autonomous driving system 18 is configured to detect and / or receive information about the environment surrounding the vehicle 12 and process the information to provide assistance to the occupants. In some embodiments, the autonomous driving system 18 is a software module executed on the controller 14. In other embodiments, the autonomous driving system 18 includes a separate autonomous driving system controller similar to the controller 14 that is capable of processing information about the environment surrounding the vehicle 12. In an exemplary embodiment, the autonomous driving system 18 can operate in a manual operating mode, a partially automated operating mode, and / or a fully automated operating mode.

[0045] Within the scope of the present disclosure, a manual operating mode refers to an autopilot system 18 providing warnings or notifications to the occupants, but not directly intervening or controlling the vehicle 12. In one non-limiting example, the autopilot system 18 receives information from a plurality of vehicle sensors 16. Using techniques such as computer vision, the autopilot system 18 understands the environment around the vehicle 12 and provides assistance to the occupants. For example, if the autopilot system 18 identifies that the vehicle 12 may collide with a remote vehicle based on data from the plurality of vehicle sensors 16, the autopilot system 18 may use the display 20 to provide a warning to the occupants.

[0046] Within the scope of the present disclosure, a partially automated mode of operation means that the automated driving system 18 provides warnings or notifications to the occupants and can directly intervene or control the vehicle 12 in certain circumstances. In one non-limiting example, the automated driving system 18 is in additional electrical communication with components of the vehicle 12, such as the braking system, propulsion system, and / or steering system of the vehicle 12, so that the automated driving system 18 can control the behavior of the vehicle 12. In one non-limiting example, the automated driving system 18 can control the behavior of the vehicle 12 by applying the brakes of the vehicle 12 to avoid an imminent collision. In another non-limiting example, the automated driving system 18 can control the braking system, propulsion system, and steering system of the vehicle 12 to temporarily drive the vehicle 12 to a predetermined destination. However, occupant intervention may be required at any time. In an exemplary embodiment, the automated driving system 18 may include additional components, such as an eye tracking device configured to monitor the occupant's attention level and ensure that the occupant is ready to take over control of the vehicle 12.

[0047] Within the scope of this disclosure, a fully automated mode of operation refers to the automated driving system 18 using data from the plurality of vehicle sensors 16 to understand the environment and control the vehicle 12 to drive the vehicle 12 to a predetermined destination without control or intervention by an occupant.

[0048] In one exemplary embodiment, the autonomous driving system 18 operates using a machine learning algorithm that is trained to output control signals for the vehicle 12 based on input data collected from the plurality of vehicle sensors 16. In another exemplary embodiment, the autonomous driving system 18 operates using a deterministic algorithm that has been programmed to output control signals for the vehicle 12 based on data collected from the plurality of vehicle sensors 16. It should be understood that the autonomous driving system 18 may be any software and / or hardware module configured to operate in a manual operating mode, a partially automated operating mode, or a fully automated operating mode as described above.

[0049] The display 20 is used to provide information to the occupants of the vehicle 12. Figure 1In the exemplary embodiment shown, the display 20 is a human-machine interface (HMI) located within the occupant's field of view and is capable of displaying text, graphics, and / or images. It should be understood that HMI display systems including LCD displays, LED displays, and the like are within the scope of the present disclosure. Other exemplary embodiments in which the display 20 is disposed in a rearview mirror are also within the scope of the present disclosure. In another exemplary embodiment, the display 20 includes a head-up display (HUD) configured to provide information to the occupant by projecting text, graphics, and / or images on the windshield of the vehicle 12. The text, graphics, and / or images are reflected by the windshield of the vehicle 12 and are visible to the occupant without removing the line of sight from the road in front of the vehicle 12. In another exemplary embodiment, the display 20 includes an augmented reality head-up display (AR-HUD). AR-HUD is a HUD that is configured to enhance the occupant's vision of the road ahead of the vehicle 12 by overlaying text, graphics, and / or images on physical objects in the surrounding environment of the vehicle 12 within the occupant's field of view. In an exemplary embodiment, the occupant may interact with the display 20 using a human interface device (HID) including, for example, a touch screen, electromechanical switches, capacitive switches, knobs, etc. It should be appreciated that other systems for displaying information to the occupants of the vehicle 12 are within the scope of the present disclosure.

[0050] refer to Figure 2 , a flow chart of a method 100 for alleviating vehicle traffic congestion is shown. The method 100 starts at box 102 and proceeds to box 104. At box 104, the controller 14 determines the traffic signal phase of a traffic signal in the environment surrounding the vehicle 12 using multiple vehicle sensors 16. Within the scope of the present disclosure, a traffic signal is a traffic control device that controls traffic through an intersection in the path of the vehicle 12. A traffic signal can have a variety of possible states (i.e., phases) that provide information to occupants of vehicles near the traffic signal. Traffic signal phases can include, for example, a red phase (i.e., a stop phase), a green phase (i.e., a go phase), and a yellow phase (i.e., a warning phase, warning that a switch to a red phase is imminent).

[0051] In a first exemplary embodiment of box 104, to determine the traffic signal phase, the controller 14 uses the camera system 26 to capture an image of the environment around the vehicle 12, including the traffic signal. The controller 14 then uses a computer vision algorithm to analyze the image to identify the traffic signal in the image and determine the traffic signal phase. In an exemplary embodiment, the computer vision algorithm uses machine learning techniques to analyze pixel-level information of the input image to detect and classify objects or patterns of interest. In a non-limiting example, the computer vision algorithm first pre-processes the input image to reduce noise through techniques such as image resizing, normalization, and / or filtering. Subsequently, the computer vision algorithm extracts relevant features from the input image using methods such as edge detection, corner detection, texture analysis, and the like. The computer vision algorithm can then use a machine learning model (e.g., a convolutional neural network (CNN)) to classify and label relevant features of the input image based on the learned patterns and associations.

[0052] In a second exemplary embodiment of block 104, to determine the traffic signal phase, the controller 14 receives a signal phase and timing (SPaT) message from the traffic signal using the vehicle communication system 28. In a non-limiting example, the SPaT message contains information about the traffic signal, such as the current signal phase (i.e., the traffic signal phase), the remaining time to the next phase (i.e., the time remaining until the next signal phase change), the future signal phase timing (i.e., the timing and duration of the upcoming signal phase), the pedestrian crossing signal phase, etc. The SPaT message is a V2I message that can be sent by a traffic control infrastructure. For example, the traffic control infrastructure that sends the SPaT message can include a traffic management center (i.e., a centralized facility that monitors and manages traffic flow), a roadside unit (i.e., a device installed near a traffic signal that is configured to send SPaT messages about the traffic signal), and / or a traffic signal controller (i.e., a device installed near a traffic signal that is primarily configured to control the timing and sequencing of the traffic signal and can also be configured to send SPaT messages about the traffic signal).

[0053] In a third exemplary embodiment of block 104, to determine a traffic signal phase, the controller 14 receives vehicle-to-vehicle (V2V) communications from a remote vehicle in the environment surrounding the vehicle 12. The V2V communications include the traffic signal phase. In one non-limiting example, the remote vehicle may have a better position relative to the traffic signal to determine the traffic signal phase using a camera system. Thus, the remote vehicle may determine the traffic signal phase using a camera system and transmit the traffic signal phase to the vehicle 12 using V2V communications. After block 104, the method 100 proceeds to block 106.

[0054] At box 106, if the traffic signal phase is the red phase, the method 100 continues to enter the standby state at box 108. If the traffic signal phase is the green phase, the method 100 proceeds to boxes 110, 112 and 114.

[0055] At box 110, the controller 14 determines the drive mode of the vehicle 12. Within the scope of the present disclosure, the drive mode of the vehicle 12 describes the configuration of the propulsion system of the vehicle 12 (e.g., internal combustion engine and transmission, electric motor drive system, etc.). The drive mode can be a forward drive mode (i.e., a mode that allows the vehicle 12 to move forward) or a non-forward drive mode (i.e., a mode that does not allow the vehicle 12 to move forward). Forward drive modes include, for example, automatic forward drive mode ("D" mode), manual forward drive mode ("M" mode), low-range forward drive mode ("L" mode), sports forward drive mode ("S" mode), etc. Non-forward drive modes include, for example, reverse drive mode ("R" mode), parking mode ("P" mode), etc. In an exemplary embodiment, the occupants of the vehicle 12 can select and / or control the drive mode using, for example, a shift knob and / or a control lever in the vehicle 12. In order to determine the drive mode of the vehicle 12, the controller 14 can communicate with a sensor located on the shift knob and / or retrieve drive mode status information from the medium 24 of the controller 14. Following block 110 , the method 100 proceeds to block 116 , which will be discussed in greater detail below.

[0056] At box 112, the controller 14 determines the brake hold state of the vehicle 12. In an exemplary embodiment, the controller 14 is used to implement a brake hold feature. When the vehicle 12 is stationary, the brake hold feature "holds" the brakes of the vehicle 12 so that the occupant does not have to continuously press the brake pedal of the vehicle 12 to prevent the vehicle 12 from rolling. In an exemplary embodiment, the controller 14 uses one or more of the plurality of vehicle sensors 16 and one or more components of the above-mentioned autonomous driving system 18 to implement the brake hold feature. The brake hold feature can be activated and deactivated by the occupant according to the occupant's preferences. In a non-limiting example, the brake hold feature is activated via a human interface device (HID) (e.g., a touch screen of the display 20). Therefore, if the occupant does not activate the brake hold feature, the brake hold state is referred to as a brake hold inactive state. In addition, if the occupant presses the brake pedal when the vehicle 12 is stationary, the brake hold feature is automatically deactivated because the occupant has manually controlled the braking system. Therefore, if the occupant has already stepped on the brake pedal when the vehicle 12 is stationary, the brake hold state is referred to as a brake hold inactive state. Otherwise, if the occupant has previously activated the brake hold feature and the occupant has not depressed the brake pedal while stationary, the brake hold state is referred to as the brake hold active state. Thus, the controller 14 determines the brake hold state based on the activation state of the brake hold feature (e.g., stored in the medium 24 of the controller 14) and the brake pedal position determined using the plurality of vehicle sensors 16. After frame 112, the method 100 proceeds to frame 116, which will be discussed in more detail below.

[0057] At frame 114, the controller 14 determines the accelerator pedal position using the plurality of vehicle sensors 16. In one exemplary embodiment, the controller 14 determines the accelerator pedal position using an accelerator pedal position sensor from the plurality of vehicle sensors 16. After frame 114, the method 100 proceeds to frame 116.

[0058] At box 116, the controller 14 determines the system activation state of the system 10. If the drive mode is determined to be the forward drive mode at box 110, the brake hold state determined at box 112 is the brake hold active state, and the accelerator pedal position is less than or equal to a predetermined accelerator pedal position threshold (e.g., five percent of the maximum accelerator pedal position), the system activation state is determined to be the system activation state, and the method 100 proceeds to boxes 118 and 120. Otherwise, the system activation state is determined to be the system inactive state, and the method 100 continues to enter the standby state at box 108. It should be understood that in some embodiments, the accelerator pedal position can be pre-processed, for example, the time average of the accelerator pedal position can be calculated and compared to the accelerator pedal position threshold. If the time average of the accelerator pedal position does not exceed the predetermined accelerator pedal position threshold within at least a predetermined minimum delay time (e.g., one second), the accelerator pedal position is determined to be less than or equal to the predetermined accelerator pedal position threshold.

[0059] At box 118, the controller 14 starts a first timer. Within the scope of the present disclosure, the first timer is a software timer and / or a hardware timer managed by the controller 14 that tracks the time elapsed since the first timer was started. In an exemplary embodiment, the first timer is implemented by a system timer module (STM) of the controller 14. In a non-limiting example, the STM operates by utilizing an accurate clock source (e.g., a crystal oscillator) to generate a consistent and accurate time base. Through a series of internal registers and counters, the STM tracks time intervals, thereby achieving precise timing control and event synchronization. The processor 22 can periodically query the STM to retrieve time-related information, such as the value of the first timer. The value indicates the time elapsed since the first timer was started at box 118. After box 118, the method 100 proceeds to boxes 122 and 124, which will be discussed in more detail below.

[0060] At box 120, the controller 14 activates the autonomous driving system 18 to drive the vehicle 12. In an exemplary embodiment, the autonomous driving system 18 is activated in a partially automated operating mode. Therefore, the occupant needs to monitor the operation of the autonomous driving system 18. In another exemplary embodiment, the autonomous driving system 18 is activated in a fully automated operating mode. Therefore, the occupant does not need to monitor or intervene in the operation of the autonomous driving system 18. In an exemplary embodiment, when the autonomous driving system 18 is activated, the controller 14 uses the display 20 to notify the occupant of the status of the autonomous driving system 18. In a non-limiting example, the controller 14 displays text and / or graphics indicating that the autonomous driving system 18 has been activated (i.e., the autonomous driving system 18 is active) and / or indicating the operating mode of the autonomous driving system 18 (i.e., partially automated operating mode or fully automated operating mode).

[0061] In one non-limiting example, the autonomous driving system 18 is configured to accelerate the vehicle 12 in unison with multiple remote vehicles at a traffic signal. For example, the vehicle 12 may be lined up with multiple remote vehicles at an intersection and wait at a traffic signal. When reaching box 120, the autonomous driving system 18 is used to accelerate the vehicle 12 in unison with multiple remote vehicles at the intersection, thereby reducing traffic formations caused by human reaction time limitations. For each additional remote vehicle in the multiple remote vehicles using the system 10 and method 100, the traffic formation is further alleviated. In some embodiments, at box 120, the vehicle 12 may use the vehicle communication system 28 to communicate with multiple remote vehicles (e.g., using V2V communication) to coordinate smooth and synchronized acceleration. In other embodiments, the vehicle 12 may utilize multiple vehicle sensors 16 to maintain a predetermined distance (e.g., five meters) between the vehicle 12 and the remote vehicle in front of the vehicle 12. After box 120, the method 100 proceeds to boxes 122 and 124.

[0062] At box 122, the controller 14 continuously monitors the accelerator pedal position and the brake pedal position of the vehicle 12. When the autonomous driving system 18 is activated at box 120, if the accelerator pedal position is greater than or equal to a predetermined accelerator pedal threshold or the brake pedal position is greater than or equal to a predetermined brake pedal position threshold (e.g., five percent of the maximum brake pedal position) at any time after activation, the method 100 advances to box 126. It should also be understood that the controller 14 can monitor additional control inputs of the vehicle 12, such as the transmission shift lever position, and proceed to box 126 in response to any changes in the control inputs without departing from the scope of the present disclosure. Otherwise, the method 100 returns to box 122 to continuously monitor the accelerator pedal position and the brake pedal position of the vehicle 12.

[0063] It should be understood that in some embodiments, the brake pedal position may be pre-processed, for example, a time average of the brake pedal position may be calculated and compared to a brake pedal position threshold. If the time average of the brake pedal position exceeds the predetermined brake pedal position threshold for at least a predetermined minimum delay time, the brake pedal position is determined to be greater than or equal to the predetermined brake pedal position threshold.

[0064] At box 126, the controller 14 deactivates the autopilot system 18. In an exemplary embodiment, when deactivating the autopilot system 18, the controller 14 provides a notification to the occupant using the display 20. In a non-limiting example, the notification is text and / or graphics that alerts the occupant that the autopilot system 18 has been deactivated (i.e., the autopilot system 18 is inactive). In a non-limiting example, the notification may be accompanied by auditory and / or tactile feedback. After box 126, the method 100 continues to enter the standby state at box 108.

[0065] At box 124, the controller 14 determines the value of the first timer. As described above, the value of the first timer indicates the time that has elapsed since the first timer was started at box 118, and therefore indicates the time that has elapsed since the automated driving system 18 was activated at box 120. If the value of the first timer is greater than or equal to a predetermined first timer threshold (e.g., five seconds), the method 100 proceeds to boxes 128 and 130. Otherwise, the method 100 returns to box 124 to monitor the value of the first timer. In an exemplary embodiment, at box 124, the controller 14 may provide information about the value of the first timer to the occupant using the display 20. In a non-limiting example, the controller 14 displays an animated graphic, such as a countdown and / or progress bar indicating the remaining difference between the value of the first timer and the predetermined first timer threshold.

[0066] At block 128, the controller 14 starts a second timer. The second timer is similar in function and implementation to the first timer discussed above. It should be understood that in some embodiments, the hardware and / or software modules used to implement the first timer are reused for the second timer by resetting the value of the first timer to zero. In other embodiments, the second timer is implemented by a separate hardware module and / or software module of the controller 14. After block 128, the method 100 proceeds to block 132, which will be discussed in more detail below.

[0067] At box 130, the controller 14 uses the display 20 to prompt the occupant of the vehicle 12 to deactivate the automated driving system 18. In an exemplary embodiment, the controller 14 displays text and / or graphics indicating that the occupant must take over manual control of the vehicle 12 by depressing an accelerator pedal or a brake pedal of the vehicle 12. After box 130, the method 100 proceeds to box 132.

[0068] At box 132, the controller 14 determines the value of the second timer. As described above, the value of the second timer indicates the time that has elapsed since the second timer was started at box 128, and therefore indicates the time that has elapsed since the occupant was prompted to deactivate the automated driving system 18 at box 130. If the value of the second timer is greater than or equal to a predetermined second timer threshold (e.g., five seconds), the method 100 proceeds to box 134. Otherwise, the method 100 returns to box 132 to monitor the value of the second timer. In an exemplary embodiment, at box 132, the controller 14 may provide information about the value of the second timer to the occupant using the display 20. In one non-limiting example, the controller 14 displays an animated graphic, such as a countdown and / or progress bar indicating the remaining difference between the value of the second timer and the predetermined second timer threshold. In another non-limiting example, the controller 14 notifies the occupant that the automated driving system 18 is in a pending deactivation state, which means that the automated driving system 18 will deactivate when the value of the second timer exceeds the predetermined second timer threshold.

[0069] At box 134, the controller 14 deactivates the autopilot system 18 in response to the value of the second timer exceeding the predetermined second timer threshold and the occupant failing to manually deactivate the autopilot system 18, as will be discussed in more detail below. Thus, the autopilot system 18 automatically deactivates after a predetermined maximum time period has elapsed. The predetermined maximum time period is equal to the sum of the predetermined first timer threshold and the predetermined second timer threshold. After box 134, the method 100 continues to enter the standby state at box 108.

[0070] In one exemplary embodiment, the controller 14 repeatedly exits the standby state 108 and restarts the method 100 at block 102. In one non-limiting example, the controller 14 exits the standby state 108 and restarts the method 100 on a timer, such as every three hundred milliseconds.

[0071] In an exemplary embodiment of the method 100 described above, a first timer and a second timer are used to control the autopilot system 18. When the value of the first timer is greater than or equal to a predetermined first timer threshold, the controller 14 prompts an occupant of the vehicle 12 to deactivate the autopilot system 18. When the value of the second timer is greater than or equal to a predetermined second timer threshold, the controller 14 deactivates the autopilot system 18. In another exemplary embodiment, the distance traveled after the autopilot system 18 is activated at box 120 is used to control the autopilot system 18. For example, when the vehicle 12 has traveled a predetermined first distance (e.g., five hundred feet) since the autopilot system 18 was enabled, the occupant is prompted to deactivate the autopilot system 18. If the occupant fails to manually deactivate the autopilot system 18 when the vehicle has traveled a predetermined second distance (e.g., one thousand feet) since the autopilot system 18 was enabled, the autopilot system 18 may be automatically deactivated.

[0072] refer to Figure 3 , a flowchart of an exemplary embodiment 134a of box 134 is shown. Exemplary embodiment 134a is used when the value of the second timer has exceeded the predetermined second timer threshold and the occupant has not manually stopped the automatic driving system 18 (i.e., by depressing the accelerator pedal or the brake pedal). Exemplary embodiment 134a begins at box 302. At box 302, the controller 14 activates the hazard warning lights of the vehicle 12. The hazard warning lights are lights used to increase the visibility of the vehicle 12 and indicate the intention of the occupants of the vehicle 12 to the occupants of other vehicles. The hazard warning lights are lights set on the outside of the vehicle 12. In a non-limiting example, the hazard warning lights can also be used as turn signal lights and / or brake lights of the vehicle 12. In an exemplary embodiment, the hazard warning lights include a plurality of lights set at various locations on the outside of the vehicle 12. Various lamp structures, such as LED lights, incandescent lamps, and / or halogen lamps are within the scope of the present disclosure. After box 302, exemplary embodiment 134a proceeds to box 304.

[0073] At block 304, the controller 14 sends a V2X message and / or a V2V message using the vehicle communication system 28. In an exemplary embodiment, the V2X and / or V2V message indicates that the autonomous driving system 18 of the vehicle 12 has ceased to function. In a non-limiting example, the remote vehicle receives the V2X and / or V2V message and takes appropriate action, such as notifying an occupant, taking evasive action, etc. After block 304, the exemplary embodiment 134a proceeds to block 306.

[0074] At box 306, the controller 14 disables the autopilot system 18. In one exemplary embodiment, to disable the autopilot system 18, the autopilot system 18 allows the vehicle 12 to begin to coast (i.e., applies a slight negative acceleration to the vehicle 12). In another exemplary embodiment, the autopilot system 18 additionally steers the vehicle 12 to the shoulder of the road. In one non-limiting example, when disabling the autopilot system 18, the controller 14 uses the display 20 to provide a notification to the occupant. In one non-limiting example, the notification is text and / or graphics that warns the occupant that the autopilot system 18 has been disabled (i.e., the autopilot system 18 is inactive). The notification may be accompanied by auditory and / or tactile feedback. After box 306, the exemplary embodiment 134a ends and the method 100 continues as described above.

[0075] The system 10 and method 100 of the present disclosure provide several advantages. The use of the system 10 and method 100 can reduce speed fluctuations that may cause the so-called "accordion effect". The accordion effect refers to the tendency of speed fluctuations to propagate backward in a vehicle queue. The amplitude of speed fluctuations may further increase, resulting in reduced road traffic throughput. Using multiple vehicle sensors 16, the vehicle 12 can determine the phase of the traffic signal controlling the intersection and use the automated driving system 18 to smoothly accelerate in unison with other vehicles at the intersection. This mitigates fluctuations in speed and acceleration that may be caused by variations in reaction time and attention of other drivers.

[0076] The description of the present disclosure is merely exemplary in nature, and variations that do not depart from the gist of the present disclosure are intended to fall within the scope of the present disclosure. These variations should not be regarded as departing from the spirit and scope of the present disclosure.

Claims

1. A system for alleviating vehicle traffic congestion, the system comprising: Multiple vehicle sensors; Autonomous driving systems; as well as a controller in electrical communication with the plurality of vehicle sensors and the autonomous driving system, wherein the controller is programmed to: determining, by the plurality of vehicle sensors, a traffic signal phase of a traffic signal in the vehicle's surroundings, wherein the traffic signal phase comprises one of: a red phase and a green phase; activating the automated driving system to drive the vehicle for a predetermined maximum time period in response to determining that the traffic signal phase is the green phase; as well as The automated driving system is deactivated in response to determining that the predetermined maximum time period has been reached.

2. The system of claim 1 , wherein the plurality of vehicle sensors further comprises a camera system, and wherein to determine the traffic signal phase, the controller is further programmed to: capturing, by the camera system, an image of the vehicle's surroundings, the image including the traffic signal; and The traffic signal phase in the image is determined by a computer vision algorithm.

3. The system of claim 1 , wherein the plurality of vehicle sensors further comprises a vehicle communication system, and wherein to determine the traffic signal phase, the controller is further programmed to: A signal phase and timing (SPaT) message is received from the traffic signal via the vehicle communication system, wherein the SPaT message includes the traffic signal phase.

4. The system of claim 1 , wherein the plurality of vehicle sensors further comprises a vehicle communication system, and wherein to determine the traffic signal phase, the controller is further programmed to: A vehicle-to-vehicle (V2V) communication is received from a remote vehicle, wherein the V2V communication includes the traffic signal phase.

5. The system of claim 1 , wherein to activate the autonomous driving system to drive the vehicle, the controller is further programmed to: determining a system activation state, wherein the system activation state comprises one of: a system active state and a system inactive state; In response to determining that the system activation state is the system active state and the traffic signal phase is the green phase, activating the autonomous driving system to drive the vehicle; and In response to determining that the system activation state is the system active state and the traffic signal phase is the green phase, a first timer is started.

6. The system of claim 5, wherein to determine the system activation status, the controller is further programmed to: determining a drive mode of the vehicle, wherein the drive mode comprises one of: a forward drive mode and a non-forward drive mode; determining a brake hold state of the vehicle, wherein the brake hold state comprises one of: a brake hold active state and a brake hold inactive state; determining an accelerator pedal position of the vehicle; and The system activation state is determined to be the system active state in response to determining that the drive mode is the forward drive mode, the brake hold state is the brake hold active state, and the accelerator pedal position is less than or equal to a predetermined accelerator pedal position threshold.

7. The system of claim 5, wherein in order to deactivate the autopilot system, the controller is further programmed to: In response to determining that the value of the first timer is greater than or equal to a predetermined first timer threshold, prompting an occupant of the vehicle to deactivate the automated driving system; In response to determining that the value of the first timer is greater than or equal to the predetermined first timer threshold, starting a second timer; and The autonomous driving system is deactivated in response to determining that the value of the second timer is greater than or equal to a predetermined second timer threshold, wherein the predetermined maximum time period is equal to the sum of the predetermined first timer threshold and the predetermined second timer threshold.

8. The system of claim 7, wherein the plurality of vehicle sensors further comprises a vehicle communication system, and wherein in order to deactivate the autonomous driving system in response to determining that the value of the second timer is greater than or equal to the predetermined second timer threshold, the controller is further programmed to: activating the hazard warning lights of said vehicle; Sending a vehicle-to-everything (V2X) message through the vehicle communication system, wherein the V2X message instructs the autonomous driving system to stop working; and Deactivate the autopilot system.

9. The system of claim 1, wherein in order to deactivate the autonomous driving system, the controller is further programmed to: continuously monitoring an accelerator pedal position of said vehicle; continuously monitoring a brake pedal position of said vehicle; disabling the automated driving system in response to determining that the accelerator pedal position is greater than or equal to a predetermined accelerator pedal position threshold; and The automated driving system is deactivated in response to determining that the brake pedal position is greater than or equal to a predetermined brake pedal position threshold.

10. The system of claim 1, further comprising a display in electronic communication with the controller, and wherein the controller is further programmed to: An occupant of the vehicle is notified of a state of the automated driving system, wherein the state of the automated driving system comprises one of: an active state, a pending deactivated state, and an inactive state.

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