Intelligent turn signal system

Abstract

A method includes controlling an exterior turn signal indicator to provide a turn signal for a predetermined duration in response to a tap of a turn signal by an operator of a vehicle, the turn signal being visible to operators of other vehicles, determining an intended driving maneuver of the vehicle by the operator, and determining a position of the vehicle relative to the intended driving maneuver. The method also includes determining, based on the intended driving maneuver and the position, a turn indication score representing whether the intended driving maneuver is complete, controlling the exterior turn signal indicator to continue the turn signal beyond the predetermined duration based on the turn indication score meeting a criterion, and controlling the exterior turn signal indicator to discontinue the turn signal based on the turn indication score not meeting the criterion.

Description

[0001] The information provided in this section is for the purpose of presenting the general context of this disclosure. The work of the currently named inventors, to the extent described in this section, and in respect of aspects that may not otherwise qualify as prior art at the time of filing, is neither expressly nor implicitly acknowledged as prior art to this disclosure. Technical Field

[0002] This disclosure relates generally to turn signals, and more specifically to intelligent turn signal systems. Background Technology

[0003] Turn signals are a key safety feature of a vehicle, used to convey the operator's intention to turn or change lanes. Turn signals include flashing lights, typically amber, located at the front and rear corners of the vehicle. When the turn signal stalk is activated by the operator, the external turn signal indicator emits a rhythmic flashing pattern to warn other road users of the anticipated maneuver. This helps prevent accidents by providing clear and timely warnings to surrounding traffic. A turn signal tap is a brief or partial activation of the turn signal stalk, typically used to indicate a lane change or rapid maneuver. A turn signal tap causes the external turn signal indicator to flash for a predetermined duration (e.g., several flashes or a few seconds) to warn other drivers of the anticipated direction. Here, unlike a fully activated turn signal (which remains on until manually deactivated or the steering wheel is straightened), the turn signal is momentary and cancels itself after the predetermined duration. This feature enhances road safety by providing clear and concise communication of the driver's intentions. Summary of the Invention

[0004] One aspect of this disclosure provides a vehicle including a turn signal stalk, an external turn signal indicator, data processing hardware, and memory hardware. The turn signal stalk is configured to detect a turn signal tap by a vehicle operator, the tap activating a turn signal for a predetermined duration. The external turn signal indicator is configured to provide a turn signal visible to operators of other vehicles in response to the detected turn signal tap. The memory hardware communicates with the data processing hardware and stores instructions that, when executed by the data processing hardware, cause the data processing hardware to perform an operation in response to the turn signal tap. The operation includes determining an expected driving maneuver by the operator and determining the position of the vehicle relative to the expected driving maneuver. The operation also includes determining a turn signal score, indicating whether the expected driving maneuver has been completed, based on the expected driving maneuver and position; controlling the external turn signal indicator to continue the turn signal for more than the predetermined duration based on the turn signal score meeting a criterion; and controlling the external turn signal indicator to deactivate the turn signal based on the turn signal score not meeting the criterion.

[0005] Implementations of this disclosure may include one or more of the following optional features. In some implementations, determining the expected driving maneuver is based on at least one of: predicted driver intent, measured vehicle dynamics, predicted vehicle dynamics, object detection, lane detection, navigation route, vehicle position, traffic control input, map, traffic signs, traffic lights, lane merging, lane divergence, or destination lane. In some examples, determining the position of the vehicle relative to the expected driving maneuver includes determining at least one of determining the position of a trailer towed by the vehicle relative to the expected driving maneuver or determining the position of an object transported by the vehicle relative to the expected driving maneuver. Controlling the external turn signal indicator to continue the turn signal for a predetermined duration may include continuing the external turn signal indicator until the turn signal score does not meet the criteria and all boundary points of the trailer are in the destination lane.

[0006] In some examples, the steering indication score includes a weighted sum of at least two of the following: navigation route, vehicle position, position of trailer towed by the vehicle, position of object transported by the vehicle, vehicle kinematics, trailer kinematics, operator input for performing the intended driving maneuver, and topology or trailer information. In some implementations, the steering indication score is repeatedly determined over time as the operator manipulates the vehicle to perform the intended driving maneuver to determine when to deactivate the steering signal. In some examples, the vehicle also includes an Advanced Driver Assistance System (ADAS) controller and a body controller, the ADAS controller including data processing hardware and memory hardware. The body controller is configured to detect the steering signal tap, provide an indication of the steering signal tap to the ADAS controller, and control the activation and deactivation of the steering signal in response to input from the ADAS controller.

[0007] Another aspect of this disclosure provides a computer-implemented method executed by data processing hardware, which causes the data processing hardware to perform an operation in response to a steering signal tapped by a vehicle operator. The operation includes determining the operator's intended driving maneuver on the vehicle and determining the vehicle's position relative to the intended driving maneuver. The operation further includes determining a steering indication score, based on the intended driving maneuver and position, indicating whether the intended driving maneuver has been completed; controlling an external steering signal indicator to continue the steering signal for a predetermined duration based on the steering indication score meeting a criterion; and controlling the external steering signal indicator to deactivate (deactivate) the steering signal based on the steering indication score not meeting the criterion.

[0008] Implementations of this disclosure may include one or more of the following optional features. In some implementations, determining the expected driving maneuver is based on at least one of predicted driver intent, measured vehicle dynamics, predicted vehicle dynamics, object detection, lane detection, navigation route, vehicle position, traffic control input, map, traffic signs, road markings, traffic lights, lane merging, lane divergence, or lane termination. In some examples, determining the position of the vehicle relative to the expected driving maneuver includes determining at least one of determining the position of a trailer towed by the vehicle relative to the expected driving maneuver or determining the position of an object transported by the vehicle relative to the expected driving maneuver. Controlling the external turn signal indicator to continue the turn signal for a predetermined duration may include continuing the external turn signal indicator until the turn signal score does not meet the criteria and all boundary points of the trailer are in the destination lane.

[0009] In some examples, the steering indication score includes a weighted sum of at least two of the following: navigation route, vehicle position, position of trailer towed by the vehicle, position of object transported by the vehicle, vehicle kinematics, trailer kinematics, operator input for performing the intended driving maneuver, and topology or trailer information. In some implementations, the steering indication score is determined repeatedly over time as the operator maneuvers the vehicle to perform the intended driving maneuver to determine when to deactivate the steering signal.

[0010] Another aspect of this disclosure provides data processing hardware and memory hardware that communicates with and stores instructions to the data processing hardware, the instructions causing the data processing hardware to perform an operation in response to a steering signal tapped by a vehicle operator when executed by the data processing hardware. The operation includes determining the operator's intended driving maneuver on the vehicle and determining the vehicle's position relative to the intended driving maneuver. The operation also includes determining a steering indication score, based on the intended driving maneuver and position, indicating whether the intended driving maneuver has been completed; controlling an external steering signal indicator to continue the steering signal for a predetermined duration based on the steering indication score meeting a criterion; and controlling the external steering signal indicator to deactivate the steering signal based on the steering indication score not meeting the criterion.

[0011] Implementations of this disclosure may include one or more of the following optional features. In some implementations, determining the expected driving maneuver is based on at least one of predicted driver intent, measured vehicle dynamics, predicted vehicle dynamics, object detection, lane detection, navigation route, vehicle position, traffic control input, map, traffic signs, road markings, traffic lights, lane merging, lane divergence, or lane termination. In some examples, determining the position of the vehicle relative to the expected driving maneuver includes determining at least one of determining the position of a trailer towed by the vehicle relative to the expected driving maneuver or determining the position of an object transported by the vehicle relative to the expected driving maneuver. Controlling the external turn signal indicator to continue the turn signal for a predetermined duration may include continuing the external turn signal indicator until the turn signal score does not meet the criteria and all boundary points of the trailer are in the destination lane.

[0012] In some examples, the steering indication score includes a weighted sum of at least two of the following: navigation route, vehicle position, position of trailer towed by the vehicle, position of object transported by the vehicle, vehicle kinematics, trailer kinematics, operator input for performing the intended driving maneuver, and topology or trailer information. In some implementations, the steering indication score is determined repeatedly over time as the operator maneuvers the vehicle to perform the intended driving maneuver to determine when to deactivate the steering signal. Attached Figure Description

[0013] The accompanying drawings described herein are for illustrative purposes only for the selected configurations and are not intended to limit the scope of this disclosure.

[0014] Figure 1 This is a side view of an example vehicle incorporating an intelligent turn signal system, based on the principles of this disclosure.

[0015] Figure 2 yes Figure 1 A schematic diagram of the intelligent steering signal system.

[0016] Figures 3A-3D This is a diagram illustrating example driving controls.

[0017] Figure 4 This is a flowchart illustrating an example arrangement of a method for automatically determining the duration of an instantaneous turn signal in response to a tap of a turn signal.

[0018] Figure 5 This is a flowchart of another example arrangement of the operation of a method for automatically determining the duration of an instantaneous turn signal in response to a tap of a turn signal.

[0019] Throughout the accompanying drawings, corresponding reference numerals indicate the relevant parts. Detailed Implementation

[0020] The exemplary configuration will now be described more fully with reference to the accompanying drawings. Exemplary configurations are provided so that this disclosure will be thorough and will fully communicate the scope of this disclosure to those skilled in the art. Specific details, such as examples of specific components, apparatus, and methods, are set forth to provide a thorough understanding of the configurations of this disclosure. It will be apparent to those skilled in the art that specific details are not required, that the exemplary configurations may be implemented in many different forms, and that the specific details and exemplary configurations should not be construed as limiting the scope of this disclosure.

[0021] The terminology used herein is for the purpose of describing particular exemplary configurations only and is not intended to be restrictive. As used herein, the singular articles “a,” “an,” and “the” may be intended to include plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “comprising,” “including,” and “having” are inclusive and therefore specify the presence of features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. Unless specifically identified as an order of execution, the method steps, processes, and operations described herein should not be construed as requiring them to be performed in the particular order discussed or shown. Additional or alternative steps may be employed.

[0022] When an element or layer is referred to as being “on,” “joined to,” “connected to,” “attached to,” or “linked to” another element or layer, it may be directly on, joined to, connected to, attached to, or linked to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as being “directly on,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly linked to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” vs. “directly between,” “adjacent” vs. “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items.

[0023] The terms “first,” “second,” “third,” etc., may be used herein to describe various elements, components, regions, layers, and / or sections. These elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly indicates otherwise, terms such as “first,” “second,” and other numerical terms do not imply order or sequence. Therefore, without departing from the teachings of the example configuration, the first element, component, region, layer, or section discussed below may be referred to as the second element, component, region, layer, or section.

[0024] In this application, including the following definitions, the term "module" may be replaced by the term "circuit". The term "module" may refer to, be part of, or include: application-specific integrated circuits (ASICs); digital, analog, or mixed-signal analog / digital discrete circuits; digital, analog, or mixed-signal analog / digital integrated circuits; combinational logic circuits; field-programmable gate arrays (FPGAs); processors (shared, dedicated, or grouped) that execute code; memory (shared, dedicated, or grouped) that stores code executed by the processor; other suitable hardware components that provide the described functionality; or combinations of some or all of the foregoing, such as in a system-on-a-chip.

[0025] The term "code" as used above can include software, firmware, and / or microcode, and can refer to programs, routines, functions, classes, and / or objects. The term "shared processor" covers a single processor that executes some or all of the code from multiple modules. The term "group processor" covers a processor that, in combination with additional processors, executes some or all of the code from one or more modules. The term "shared memory" covers a single memory that stores some or all of the code from multiple modules. The term "group memory" covers memory that, in combination with additional memory, stores some or all of the code from one or more modules. The term "memory" can be a subset of the term "computer-readable medium." The term "computer-readable medium" does not include transient electrical and electromagnetic signals propagating through the medium, and therefore can be considered tangible and non-transitory memory. Non-limiting examples of non-transitory memory include tangible computer-readable media, which include non-volatile memory, magnetic memory, and optical memory.

[0026] The apparatus and methods described in this application can be implemented, in part or in whole, by one or more computer programs executed by one or more processors. The computer program includes processor-executable instructions stored on at least one non-transitory tangible computer-readable medium. The computer program may also include and / or depend on stored data.

[0027] A software application (i.e., a software resource) can refer to computer software that enables a computing device to perform tasks. In some examples, a software application may be referred to as an "application," "app," or "program." Example applications include, but are not limited to, system diagnostic applications, system management applications, system maintenance applications, word processing applications, spreadsheet applications, messaging applications, media streaming applications, social networking applications, and game applications.

[0028] Non-transitory memory can be a physical device used to temporarily or permanently store programs (e.g., instruction sequences) or data (e.g., program state information) for use by a computing device. Non-transitory memory can be volatile and / or non-volatile addressable semiconductor memory. Examples of non-volatile memory include, but are not limited to, flash memory and read-only memory (ROM) / programmable read-only memory (PROM) / erasable programmable read-only memory (EPROM) / electrically erasable programmable read-only memory (EEPROM) (e.g., commonly used in firmware, such as boot programs). Examples of volatile memory include, but are not limited to, random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), phase-change memory (PCM), and magnetic disks or magnetic tapes.

[0029] These computer programs (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and can be implemented using high-level procedural and / or object-oriented programming languages ​​and / or assembly / machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, non-transitory computer-readable medium, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) used to provide machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0030] Various implementations of the systems and techniques described herein can be implemented in digital electronic and / or optical circuits, integrated circuits, specially designed ASICs (Application-Specific Integrated Circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementations in one or more computer programs executable and / or interpretable on a programmable system, which includes at least one programmable processor, which may be dedicated or general-purpose, coupled to receive data and instructions from a storage system, at least one input device, and at least one output device, and to transmit data and instructions to the storage system, at least one input device, and at least one output device.

[0031] The processes and logic flows described in this specification can be executed by one or more programmable processors (also known as data processing hardware) that execute one or more computer programs to perform functions by manipulating input data and generating output. The processes and logic flows can also be executed by special-purpose logic circuitry, such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits). Processors suitable for executing computer programs include, for example, both general-purpose microprocessors and special-purpose microprocessors, as well as any one or more processors of any kind of digital computer. Typically, the processor receives instructions and data from read-only memory or random access memory, or both. The basic elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices (e.g., magnetic disks, magneto-optical disks, or optical disks) for storing data, or operatively coupled to receive data from or transfer data to one or more mass storage devices, or both. However, a computer does not need to have such devices. Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, including, for example, semiconductor memory devices such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. Processors and memory may be supplemented by or incorporated into dedicated logic circuitry.

[0032] To provide interaction with a user, one or more aspects of this disclosure can be implemented on a computer having a display device for displaying information to the user, such as a CRT (cathode ray tube), LCD (liquid crystal display) monitor, or touchscreen, and optionally a keyboard and pointing device, such as a mouse or trackball, through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback, such as visual feedback, auditory feedback, or tactile feedback; and input from the user can be received in any form, including acoustic, voice, or tactile input. Furthermore, the computer can interact with the user by sending documents to and receiving documents from the device used by the user; for example, by sending a web page to a web browser on the user's client device in response to a request received from a web browser.

[0033] Unless explicitly stated to the contrary, the phrase “at least one of A, B, or C” is intended to refer to any combination or subset of A, B, and C, such as: (1) at least one A alone; (2) at least one B alone; (3) at least one C alone; (4) at least one A and at least one B; (5) at least one A and at least one C; (6) at least one B and at least one C; and (7) at least one A and at least one B and at least one C. Furthermore, unless explicitly stated to the contrary, the phrase “at least one of A, B, and C” is intended to mean any combination or subset of A, B, and C, such as: (1) at least one A alone; (2) at least one B alone; (3) at least one C alone; (4) at least one A and at least one B; (5) at least one A and at least one C; (6) at least one B and at least one C; and (7) at least one A and at least one B and at least one C. Furthermore, unless explicitly stated to the contrary, “A or B” is intended to refer to any combination of A and B, such as: (1) at least one A alone; (2) at least one B alone; and (3) A and B.

[0034] While this document illustrates and describes configurations in conjunction with vehicles (e.g., cars, trucks, airplanes, trains, motorcycles, drones, etc.), it should be understood that the disclosed configurations can be used additionally or alternatively with any device providing turn signals. Here, the vehicle or device can be operated locally or remotely by a person, or it can be operated independently.

[0035] Turn signals are a critical safety feature of vehicles, used to convey the operator's intention to turn or change lanes. Turn signals include flashing lights, typically amber, located at the front and rear corners of the vehicle. When the turn signal stalk is activated by the operator, the external turn signal indicator emits a rhythmic flashing pattern to warn other road users of the anticipated maneuver. This helps prevent accidents by providing clear and timely warnings to surrounding traffic. A turn signal tap is a brief or partial activation of the turn signal stalk, typically used to indicate a lane change or rapid maneuver. A turn signal tap causes the external turn signal indicator to flash for a predetermined duration (e.g., several flashes) to warn other drivers of the anticipated direction. Here, unlike a fully activated turn signal (which remains on until manually deactivated or the steering wheel is returned to center), the turn signal is momentary and cancels itself after the predetermined duration. This feature enhances road safety by providing clear and concise communication of the driver's intentions. However, in some situations, the operator takes longer than the predetermined duration to complete the anticipated maneuver. In such cases, other road users may not be fully warned throughout the operator's entire anticipated maneuver. Therefore, an improved system is needed to handle turn signal taps.

[0036] This disclosure provides an intelligent steering signal system that, in response to a steering signal tap, automatically determines the duration of an instantaneous steering signal based on a detected anticipated driving maneuver. Specifically, when the intelligent steering signal system detects that the anticipated driving maneuver has not been completed, it extends the steering signal beyond a predetermined duration. Then, once the anticipated driving maneuver is completed, the intelligent steering signal system deactivates the steering signal.

[0037] Special Reference Figure 1 and Figure 2 The diagram illustrates a vehicle 10 (e.g., a car, truck, airplane, train, motorcycle, drone, etc.) in conjunction with an intelligent turn signal system 12. The intelligent turn signal system 12 (also referred to herein as system 12) is configured to automatically determine the duration of an instantaneous turn signal 14 displayed on one or more external turn signal indicators 15, 15a-n of the vehicle 10 in response to a tap of the turn signal lever 13 by the operator of the vehicle 10. Here, system 12 detects an anticipated driving maneuver and determines the duration of the instantaneous turn signal 14 based on the position of the vehicle 10 relative to the anticipated driving maneuver. Specifically, when system 12 detects that the anticipated driving maneuver has not been completed, system 12 controls the external turn signal indicator 15 to extend the turn signal 14 beyond a predetermined duration. Then, once the anticipated driving maneuver is completed, system 12 controls the external turn signal indicator 15 to deactivate the turn signal 14. This contrasts sharply with conventional systems, which simply display an instantaneous turn signal for a predetermined duration in response to a tap of the turn signal lever.

[0038] System 12 includes a controller 20, which may be, for example, an advanced driver assistance system (ADAS) controller or any other controller of vehicle 10. Specifically, controller 20 stores, for example, machine-readable instructions on memory hardware 22 for execution. Figure 4 and Figure 5 The operation is shown in any of the examples or described elsewhere in this disclosure. The instructions may be executed by the data processing hardware 24 of the controller 20 (e.g., a processor) to perform the operation.

[0039] In the example shown, controller 20 includes input processing module 30, which communicates with the following components: a turn signal lever 13 for receiving turn signal switch information 13a; a steering wheel 16 for receiving steering wheel angle information 16a; one or more traffic sensors 43 for receiving lane and / or traffic control data (TCD) information 43a; a navigation system 44 for receiving map, route, and / or Global Positioning System (GPS) information 44a; one or more cameras 45 for receiving front, side, rear, and / or 360-degree image data 45a; a trailer configuration module 46 for receiving trailer information 46a; and one or more vehicle sensors 47 for receiving inertial measurement unit (IMU) and / or vehicle dynamics information 47a.

[0040] The input processing module 30 includes: a module 31 for processing steering wheel angle information 16a to determine whether the vehicle 10 is turning; and a module 32 for processing lane and TCD information 43a and map, route, and / or GPS information 44a to fuse lane and map information to determine the position of the vehicle 10. The input processing module 30 also includes: a module 33 for processing lane and / or TCD information 43a and map, route, and / or GPS information 44a to determine the expected driving maneuvers or expected route of the vehicle 10 and / or to position the vehicle 10 to a specific lane or lane exit; and a module 34 for processing IMU and / or vehicle dynamics information 47a (e.g., acceleration, yaw, speed, etc.) to determine inertial data representing the motion of the vehicle 10. The input processing module 30 also includes: a module 35 for processing trailer information 46a to determine trailer and traction kinematics; and a module 36 for processing lane and / or TCD information 43a to determine traffic conditions. Here, the trailer configuration module 46 can be, for example, an application or interface presented on the human-machine interface (HMI) of the vehicle 10.

[0041] The controller 20 also includes an intelligent steering indication scoring module 50 for determining a steering indication score S. The intelligent steering indication scoring module 50 includes a module 51 for determining an extended vehicle profile based on information determined by the input processing module 30. Here, the extended vehicle profile may include, for example, driver input, driving mode, predicted vehicle dynamics, and trailer / cargo information. The intelligent steering indication scoring module 50 also includes a module 52 for determining, based on information determined by the input processing module 30, the expected driving maneuver and / or the relative position or location of vehicle 10 (which may include a trailer) relative to the lane occupied by vehicle 10 or the route of vehicle 10 relative to the expected driving maneuver. Here, module 52 may, for example, determine the scene geometry and / or real-time vehicle and / or trailer kinematics. In some examples, determining the position of vehicle 10 includes determining the position of a trailer towed by vehicle 10, or the position of an object transported by vehicle 10. In some implementations, the intended driving maneuver is determined based on some or all of the following: predicted driver intent, measured vehicle dynamics, predicted vehicle dynamics, object detection, lane detection, navigation route, vehicle position, traffic control input, map, traffic signs, road markings, traffic lights, lane merging, lane divergence, and destination lane.

[0042] Figures 3A-3C An example driving maneuver is shown. Figure 3A In the example shown, the operator of vehicle 10 performs a light turn signal tap as they approach exit ramp 302. However, here, the operator delays changing lanes to exit exit ramp 302, resulting in a lower turn signal score. Maintain a high setting (e.g., meet the standard) until vehicle 10 enters lane 304 of exit ramp 302. Figure 3B In the example shown, the operator is performing a lane change from the middle lane 306 to the left lane 308, and the steering instruction score is... Maintain a high setting (e.g., meet the standard) until vehicle 10 is stable in left lane 308. Figure 3C In the example shown, the operator is performing a U-turn between lanes 310 and 312 in a parking lot, and the steering indication score is... Maintain a high setting (e.g., meet the standard) until vehicle 10 enters the next parking lane 312.

[0043] Back Figure 1 and Figure 2 The intelligent steering instruction scoring module 50 also includes a system for determining the intelligent steering score based on an extended vehicle profile and the relative position or location of the vehicle 10 relative to the intended driving maneuver. The intelligent steering score determination module 53. In some examples, the intelligent steering score... It can also be based on one or more parameters representing the characteristics of the trailer towed by vehicle 10 or the cargo carried by vehicle 10. In some implementations, intelligent steering scores... This includes a weighted sum of some or all of the following: navigation route, vehicle location, location of the trailer towed by the vehicle, location of the object being transported by the vehicle, vehicle kinematics, trailer kinematics, operator input for performing the intended driving maneuvers, topology, and trailer information. Example weighted sum. It can be represented as:

[0044] Equation (1)

[0045] in, It is the initial sample indicator when lightly tapping the turn indicator 13, and This represents the movement or sliding window used for input. Therefore, when the operator manipulates vehicle 10 to perform the intended driving maneuver to determine when to deactivate the external turn signals 14, the intelligent steering score... It can be repeatedly determined over time. Here, a vector. , , and This indicates the position of vehicle 10 relative to the intended driving maneuver.

[0046] Vehicle dynamics metrics and road topology metrics

[0047] Steering angle (δ) must be determined by the lane positioning (t) l )

[0048] Steering angular rate ( Approach lane diversion (d) s )

[0049] Yaw rate (ψ) Approaching lane merging (d) m )

[0050] lateral acceleration (a) y Lane detection confidence (c) l )

[0051] Lateral velocity (v) y Approaching the point where a turning point is necessary (d) t )

[0052] Torque applied by the driver (τ) d Approaching the end of the lane (d) e )

[0053] Lane sign type (l c )

[0054] Adjacent free space (d) f )

[0055] M v =[δ ψ a y v y τ d M R =[t l d s d m c l d t d e l c d f ]

[0056] and

[0057] Traffic signs / object measurement plan / behavior measurement

[0058] Positioning of turn signs (s) t Approaching navigation route turn (d) n )

[0059] Traffic light positioning (s) l Left / right turn detected (t) d )

[0060] Positioning stop mark (s) s Lane change detected (l) c )

[0061] Approaching emergency vehicles (d e Data-driven steering prediction (t) p )

[0062] Approaching traffic cones (d) c Rotation around the object was detected (t) s )

[0063] Approaching temporary traffic sign (d) s )

[0064] M T =[s t s l s s d e d c d s M P =[d n t d l c t p t s ]

[0065] matrix , , and It is a diagonal weighted matrix, where the diagonal of each weighted matrix includes the corresponding vector. , , and The relative weight of each component. For example,

[0066]

[0067] When available, the steering indication score can be calculated. Trailer information 46a is used. In some examples, trailer information 46a is obtained via a trailer configuration HMI presented on a display of vehicle 10. For example, the operator can specify the length of the trailer. Additionally or alternatively, camera 45 can be used to identify the length and relative position of the trailer or objects transported by vehicle 10 by, for example, detecting attention marks on objects in an image captured by camera 45. Figure 3D As shown in the example, from the trailer's perspective, a lane can be represented as

[0068] Equation (2)

[0069] It is the location of the trailer's articulation point. It is the orientation of vehicle 10 relative to the articulation point, and This is the lane view from the vehicle's perspective. The lane view from the trailer's perspective can then be used to determine the trailer's boundary points. The position. Then, if the steering indication score S of vehicle 10 is high (i.e., meets the standard), controller 20 can maintain steering signal 14 until the steering indication score S is not high (i.e., does not meet the standard) and all boundary points B of the trailer are... n They are all in the destination lane.

[0070] System 12 also includes another controller 60. Controller 60 may be, for example, a digital cockpit controller or any other controller of vehicle 10. Specifically, controller 60 stores machine-readable instructions on memory hardware for execution, for example. Figure 4 and Figure 5 The operation is as shown in any of the examples or described elsewhere in this disclosure. Instructions may be executed by the data processing hardware (e.g., a processor) of controller 60 to perform the operation. Controller 60 includes a module 61 for processing driver-customized settings, such as enabling or disabling the intelligent turn signal system 12. Controller 60 also includes a module 62 for displaying turn signal information on the HMI 48 of vehicle 10.

[0071] System 12 also includes another controller 70. Controller 70 can be, for example, a body control or any other controller of vehicle 10. Specifically, controller 70 stores machine-readable instructions on memory hardware for execution, for example. Figure 4 and Figure 5 Any of the operations shown or described elsewhere in this disclosure. Instructions may be executed by the data processing hardware (e.g., a processor) of controller 70 to perform the operations. Controller 70 includes module 71 for processing driver steering signal commands, such as detecting activation of steering signal lever 13, and providing steering signal status information to controller 20. Controller 70 also includes functions for scoring steering indications. The module 72 controls the external turn signal indicator 15 and the module 73 executes turn signal commands.

[0072] Figure 4 This is a flowchart illustrating an exemplary arrangement of the operation of a computer-implemented method 400 that automatically determines the duration of an instantaneous turn signal 14 displayed on one or more external turn signal indicators 15, 15a-n of the vehicle 10 in response to a tap of the turn signal lever 13 by an operator of the vehicle 10. The operation may be performed by data processing hardware (e.g., Figure 1 Data processing hardware 24) is based on execution stored in memory hardware (e.g., Figure 1 The instructions are executed on the memory hardware 22). Many other ways of implementing method 400 can be adopted. For example, the execution order of operations can be changed, and / or one or more operations and / or interactions can be changed, eliminated, subdivided, or combined. Additionally, Figure 4 The operations can be executed sequentially and / or in parallel by, for example, separate processing threads, processors, devices, discrete logic, circuits, etc.

[0073] At operation 402, method 400 includes detecting whether the operator of vehicle 10 has tapped turn signal lever 13. If the operator has tapped turn signal lever 13, then at operation 404, method 400 includes initiating a standard turn instruction sequence. For example, activating turn signal 14 for a predetermined duration. At operation 406, method 400 includes determining whether intelligent turn signaling is enabled. If intelligent turn signaling is enabled, then at operation 408, method 400 includes determining whether vehicle 10 is towing a trailer or transporting a large object.

[0074] If vehicle 10 is not towing a trailer or transporting a large object, then at operation 410, method 400 includes determining vehicle dynamics, road topology, traffic signs / objects, and route / behavior metrics. At operation 412, method 400 includes calculating a steering indication score. In operation 414, method 400 includes determining whether the steering indication score S is high (i.e., the criterion is met). In operation 416, method 400 includes continuing steering signal 14 when the steering indication score S is high. In operation 418, method 400 includes restoring the default steering signal sequence when the steering indication score S is not high (i.e., the criterion is not met). In operation 420, method 400 includes determining whether the exit requirement of the default steering signal sequence has been met. That is, whether the predetermined duration has expired.

[0075] Returning to operation 408, if vehicle 10 is towing a trailer or transporting a large object, then at operation 422, method 400 includes determining an extended vehicle profile containing the trailer or object, and control proceeds to operation 410.

[0076] Figure 5 This is a flowchart illustrating an exemplary arrangement of the operation of a computer-implemented method 500 that automatically determines the duration of an instantaneous turn signal 14 displayed on one or more external turn signal indicators 15, 15a-n of the vehicle 10 in response to a tap of the turn signal lever 13 by an operator of the vehicle 10. The operation may be performed by data processing hardware (e.g., Figure 1 Data processing hardware 24) is based on execution stored in memory hardware (e.g., Figure 1 The instructions on the memory hardware 22) are executed. Many other ways of implementing method 500 can be employed. For example, the execution order of operations can be changed, and / or one or more of the operations and / or interactions can be changed, eliminated, subdivided, or combined. Additionally, Figure 5 The operations can be executed sequentially and / or in parallel by, for example, separate processing threads, processors, devices, discrete logic, circuits, etc.

[0077] At operation 502, method 500 includes controlling an external turn signal indicator 15 to provide a turn signal 14 for a predetermined duration based on a tap of the turn signal, the turn signal being visible to operators of other vehicles. At operation 504, method 500 includes determining the operator's intended driving maneuver to vehicle 10. At operation 506, method 500 includes determining the position of vehicle 10 relative to the intended driving maneuver.

[0078] In operation 508, method 500 includes determining a steering indication score based on the expected driving maneuver and position, indicating whether the expected driving maneuver has been completed. In operation 510, method 500 includes scoring based on steering indication. If the standard is met, the external turn signal indicator 15 is controlled to keep the turn signal 14 in effect for a predetermined duration. In operation 512, method 500 includes a turn signal score. If the standard is not met, control the external turn signal indicator 15 to disable the turn signal 14.

[0079] Many embodiments have been described. However, it should be understood that various modifications can be made without departing from the spirit and scope of this disclosure. Therefore, other embodiments are within the scope of the appended claims.

[0080] The foregoing description has been provided for purposes of illustration and description. It is not intended to be exhaustive or limiting of this disclosure. Elements or features of a particular configuration are generally not limited to that particular configuration, but are interchangeable where applicable and can be used in selected configurations, even if not specifically shown or described. They can also be varied in many ways. Such variations should not be considered as departing from this disclosure, and all such modifications are intended to be included within the scope of this disclosure.

Claims

1. A vehicle comprising: A turn signal lever is configured to detect a turn signal tap by the vehicle operator, the turn signal tap activating a turn signal for a predetermined duration; An external turn signal indicator configured to provide the turn signal in response to the detection of a turn signal tap, the turn signal being visible to the operator of another vehicle; Data processing hardware; and Memory hardware that communicates with and stores instructions for the data processing hardware, the instructions, when executed by the data processing hardware, causing the data processing hardware to perform an operation in response to a tapping turn signal, the operation including: Determine the operator's intended driving maneuvers for the vehicle; Determine the position of the vehicle relative to the intended driving maneuver; Based on the expected driving maneuver and the position, a steering indication score is determined indicating whether the expected driving maneuver was completed; Based on the steering indication score meeting the standard, the external steering signal indicator is controlled to continue the steering signal for more than the predetermined duration; and If the steering indication score does not meet the criteria, the external steering signal indicator is controlled to disable the steering signal.

2. The vehicle of claim 1, wherein, The expected driving maneuver is determined based on at least one of the following: Predicted driver intent; Measured vehicle dynamics; Predicted vehicle dynamics; Object detection; Lane detection; Navigation routes; The vehicle's location; Traffic control input; map; Traffic signs; Road markings; Traffic lights; Lane merging; Lane separation; or The final lane.

3. The vehicle of claim 1, wherein determining the position of the vehicle relative to the intended driving maneuver comprises at least one of the following: Determine the position of the trailer towed by the vehicle relative to the intended driving maneuver; or Determine the position of the object being transported by the vehicle relative to the intended driving maneuver.

4. The vehicle of claim 3, wherein, Controlling the external turn signal indicator to continue the turn signal for the predetermined duration includes: continuing the external turn signal indicator until the turn signal score does not meet the criteria and all boundary points of the trailer are in the destination lane.

5. The vehicle according to claim 1, wherein, The steering indication score is a weighted sum of at least two of the following: Navigation routes; The location of the vehicle; The position of the trailer towed by the vehicle; The location of the object transported by the vehicle; Vehicle kinematics; Trailer kinematics; Operator input used to perform the intended driving maneuvers; Topology; or Towing information.

6. The vehicle according to claim 1, wherein, As the operator manipulates the vehicle to perform the intended driving maneuvers to determine when to deactivate the steering signal, the steering indication score is repeatedly determined over time.

7. The vehicle according to claim 1, further comprising: An advanced driver assistance system (ADAS) controller, which includes the data processing hardware and the memory hardware; and Body controller, the body controller being configured to: Tap lightly to check the turn signal; Provide the ADAS controller with an indication of the steering signal tap; and In response to input from the ADAS controller, the activation and deactivation of the steering signal are controlled.

8. A computer-implemented method executed by data processing hardware, the method causing the data processing hardware to perform an operation in response to a steering signal tapped by a vehicle operator, the operation comprising: Control an external turn signal indicator to provide a turn signal for a predetermined duration, the turn signal being visible to the operator of other vehicles; Determine the operator's intended driving maneuvers for the vehicle; Determine the position of the vehicle relative to the intended driving maneuver; Based on the expected driving maneuver and the position, a steering indication score is determined indicating whether the expected driving maneuver was completed; Based on the fact that the steering indication score meets the standard, the external steering signal indicator is controlled to continue the steering signal for more than the predetermined duration; and If the steering indication score does not meet the criteria, the external steering signal indicator is controlled to disable the steering signal.

9. The computer-implemented method according to claim 8, wherein, The expected driving maneuver is determined based on at least one of the following: Predicted driver intent; Measured vehicle dynamics; Predicted vehicle dynamics; Object detection; Lane detection; Navigation routes; The vehicle's location; Traffic control input; map; Traffic signs; Road markings; Traffic lights; Lane merging; Lane separation; or The final lane.

10. The computer-implemented method of claim 8, wherein determining the position of the vehicle relative to the intended driving maneuver comprises at least one of the following: Determine the position of the trailer towed by the vehicle relative to the intended driving maneuver; or Determine the position of the object being transported by the vehicle relative to the intended driving maneuver.

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