Method for dynamically determining a lane and adjacent lanes for a vehicle approaching a road junction

Abstract

A method is provided for identifying a route for a vehicle running an in-vehicle application as it approaches a traffic light at an intersection. Traffic signal information is received from a traffic control device located at an intersection where two or more roads converge. Global positioning data, including vehicle location information, is received, and a lane is determined from the identified lanes for the vehicle based on the traffic signal information and the global positioning data. The lane is output as lane data for evaluation by the in-vehicle application to configure future vehicle operation. The traffic signal information includes map data and signal, phase, and timing control data for a traffic light associated with the traffic control device.

Description

[0001] The technical field generally concerns the dynamic determination of a lane for a vehicle and, in particular, the identification of a lane and of lanes adjacent to the lane for the vehicle.

[0002] Vehicle operation can benefit from infrastructure-related information, such as traffic light phase and timing, road and intersection geometry, etc., enhancing driver awareness as they approach a signalized intersection. Generally, traffic control devices only provide the current state of the device, which poses a challenge for determining the optimal speed for approaching an intersection. Additionally, the application of Green Light Optimal Speed ​​Advisory (GLOSA) requires lane-level map matching to calculate an optimal speed and increase driver awareness as they approach an intersection.

[0003] Other in-vehicle applications can also benefit from accurate lane-level vehicle localization to improve application performance. Similarly, some vehicle applications would also benefit from information regarding lanes adjacent to the vehicle's current lane. This disclosure addresses the aforementioned issues and more.

[0004] WO 2024 / 106953 A1 describes a method by which a first device performs wireless communication and a device for supporting the same. The method comprises the following steps: receiving status information from a second device; determining a current and predicted route of the second device based on the status information; selecting valid information relating to the current and predicted route from information that the first device can provide, based on the current and predicted route; determining a transmission-related type of valid information based on the current and predicted route; and transmitting the valid information to the second device based on the determined transmission-related type.

[0005] DE 11 2021 000 094 T5 describes systems and methods for vehicle navigation. The system for navigating a vehicle includes at least one processor configured to receive an initial image frame; to detect a representation of a traffic light in the initial image frame and to determine a color state corresponding to the lamps contained in the traffic light. The processor receives an additional image frame containing a representation of the traffic light and determines, based on a comparison of the initial and additional image frames, whether the traffic light contains a flashing lamp. If the traffic light contains a flashing lamp, the processor causes the vehicle to execute a navigation action with respect to the traffic light in accordance with the determination and also based on a color state detected for the flashing lamp.

[0006] The object of the invention can be considered to be to provide a method with map matching at lane level to calculate an optimal speed and increase driver awareness.

[0007] According to the invention, a method for identifying a route for a vehicle operating an in-vehicle application is described while the vehicle approaches a traffic light at a traffic intersection. The method includes receiving, by means of a vehicle control system, traffic signal information from a traffic control device located at the intersection connecting two or more roads. The traffic signal information includes map data relating to geographic information, intersection features, and identified lanes for each road at the intersection. The traffic signal information also includes signal, phase, and timing control data for the traffic light.The procedure further includes receiving, by the vehicle's control system, global positioning data with vehicle location data for the vehicle, and determining a lane from the identified lanes for the vehicle based on the traffic signal information and the global positioning data for output as lane data for evaluation by the vehicle's internal application in order to configure future vehicle operation for the vehicle.

[0008] In one embodiment, vehicle operation includes determining one or more future routes, engine operation, or a combination thereof for the vehicle.

[0009] In one embodiment, the method includes transmitting the lane data to the vehicle's internal application to configure future driving routes, engine operation, or a combination thereof.

[0010] In one embodiment, the method comprises determining whether one or more adjacent lanes are present to the driving lane, based on the traffic signal information; determining whether the adjacent lane is a right lane or a left lane relative to the driving lane, if the adjacent lane is present; and issuing a control operation to control future vehicle operation in response to determining the vehicle's driving lane and whether the adjacent lane is a right lane or a left lane.

[0011] In one implementation, the control operation is selected from the group consisting of: i) selecting an alternative lane for the vehicle; ii) initiating an engine start / stop feature for the vehicle when it is at or near the intersection; iii) displaying an indicator stating whether the lane adjacent to the lane is a right lane or a left lane; or iv) a combination thereof.

[0012] In one embodiment, the step of determining a lane from the identified lanes for the vehicle further comprises: iterating a list of all entry lanes based on the map data of the traffic signal information; iterating over one or more waypoints for each lane in the list of all entry lanes; converting the position of each waypoint into x, y coordinates with respect to the position of the vehicle; determining a distance between each waypoint of the one or more waypoints and a position of the vehicle; and identifying the lane based on a selected waypoint that is closest to the vehicle based on the distance between each waypoint and the vehicle.

[0013] In one embodiment, the step of identifying the lane based on the waypoint nearest to the vehicle further comprises: a) selecting a first point of the lane near or around the intersection; b) iterating step a) for each remaining lane from the identified lanes based on the map data; c) calculating a difference in coordinates between the first point of the lane and a first point of each of the remaining lanes; d) determining whether each of the remaining lanes is an adjacent lane to the lane based on a longitudinal distance between each of the first points of the lane and the first point of each of the remaining lanes; and e) identifying whether each lane determined to be an adjacent lane to the lane is a right lane or a left lane.

[0014] In one embodiment, the step of identifying whether each lane is determined to be an adjacent lane is further configured to select a first point and a second point of the lane closest to the traffic intersection; to calculate a first position vector between the first point and the second point of the lane closest to the intersection; to calculate a second position vector between the second point of the lane closest to the intersection and the first point of each adjacent lane to that lane; to calculate a sign of a cross product of the first position vector and the second position vector; and to identify each adjacent lane as a right lane or a left lane of the vehicle's lane based on the sign of the cross product.

[0015] In one embodiment, the method is further configured to detect whether another vehicle is ahead of the vehicle in the same lane as the current lane, any adjacent lane to the current lane, or a combination thereof; to determine whether to cross from the current lane to an adjacent lane based on at least one of the following: determining whether another vehicle is ahead of the vehicle, the vehicle speed of any vehicle ahead, a recommended vehicle speed, or a combination thereof. The traffic signal information further includes the recommended vehicle speed, which is the vehicle speed for the vehicle to approach the intersection in order to reach a green light associated with the traffic signal located at the intersection.The procedure is further configured to compile an alternative route with the adjacent lane as a future lane for the vehicle based on determining whether to cross from the lane to the adjacent lane.

[0016] In one embodiment, the traffic signal information includes permissible lane maneuvers for each of the identified lanes; and the output step of the control operation includes calculating a recommended vehicle speed, which is a desired vehicle speed for the vehicle to approach the traffic intersection in order to meet a green light associated with the traffic signal located at the traffic intersection, based on the traffic signal information; displaying the recommended vehicle speed via a vehicle display device; and displaying the permissible lane maneuvers for the lane and the adjacent lane.

[0017] In one application, the method according to the invention can be used in a vehicle. In another application, the vehicle comprises a processor and a non-volatile storage medium containing program instructions that are executed by the processor to perform the steps of the method.

[0018] The exemplary embodiments are described below in conjunction with the following drawing figures, where the same reference numerals denote the same elements and where: Fig. 1 a schematic view of an exemplary driving environment for carrying out a procedure to identify a lane and lanes next to the lane for carrying out driving-related operations of the vehicle when a vehicle is approaching a traffic light located at a traffic intersection; Fig. 2. A flowchart providing an overview of the process of Fig. 1 is; Fig. 3. A flowchart of a routine for identifying a lane for the vehicle is the driving-related operations of the vehicle of the in Fig. operates the 2 provided procedures; Fig. 4. A flowchart of a routine for determining one or more lanes next to the lane for the vehicle of the Fig. 2 provided procedure is; Fig. 5. A flowchart of the routine for determining the lane for the vehicle of Fig. 3 in further detail; Fig. 6. A flowchart of the routine for identifying lanes next to a lane for the vehicle of Fig. 4 in further detail; Fig. 7. A flowchart of a routine for determining whether a lane next to a lane is a right lane or a left lane for the vehicle, which provides further details on the procedure of Fig. 2 provides; Fig. 8 is a flowchart of a routine for determining a route using a future lane for the vehicle, which is the procedure of Fig. 2 further defined; Fig. 9. A flowchart of a routine for determining whether an engine stop / start feature should be used in a vehicle that uses the procedure of Fig. 2 further defined; and Fig. 10 is a block diagram of an exemplary system that illustrates the procedure and routines of Fig. 2-9 implemented.

[0019] The present disclosure relates to a method for identifying a route for a vehicle that performs driving-related operations. The method disclosed herein includes several utilities, advantages, and improvements over current in-vehicle traffic-related applications. In one example, the method and system of the present disclosure improve driver awareness while approaching a signal-controlled intersection. In another aspect, the method informs a driver of one or more possible actions specific to the vehicle's location and speed, based on the signal phase and timing of the traffic light. The method improves the performance of various other in-vehicle applications by utilizing the vehicle's lane and identified adjacent lanes.

[0020] Fig. Figure 1 illustrates an exemplary environment with a vehicle 12 performing various driving-related operations integrated into the vehicle 12, using a driving lane of the vehicle. In particular, a Fig. Method 50, as shown in Figure 2, is used by the vehicle 12 when the vehicle 12 approaches a traffic intersection 14 that has two or more converging roads 16. Each road 16 of the traffic intersection 14 comprises several lanes 18, as shown. Traffic control devices 20, such as smart traffic lights, are located at the traffic intersection 14. In the broadest sense, a traffic control device 20 is a component in an intelligent transportation infrastructure system that is capable of collecting traffic and infrastructure data from a region around the traffic control device 20, as well as processing data messages (such as traffic signal information, traffic safety messages, and the like) and communicating wirelessly with other devices, including vehicle devices near the traffic control device 20.The intelligent traffic infrastructure system can integrate sensors, routers, switches, servers and other network components to form a communication network for monitoring and communicating messages regarding vehicle or pedestrian traffic, road conditions, traffic control signal phase, etc.

[0021] In one example, the traffic control device 20 could be a traffic light with a traffic signal controller configured to communicate wirelessly with the vehicle 12. In one form, the traffic signal controller sends messages within a predetermined area surrounding the vehicle 12. The traffic signal controller can transmit or send messages (e.g., data packets containing messages or data) using a dedicated communication protocol, such as dedicated short-range communication (DSRC), a vehicle-to-vehicle (V2V) communication system, cellular vehicle-to-everything (C-V2X), vehicle-to-infrastructure (V2I), vehicle-to-people (V2P), 5G LTE cellular communication, or the like.Using this communication transmission protocol, the traffic signal controller is able to transmit with low latency to ensure that messages can be sent and received quickly. In some forms, the traffic signal controller also manages incoming and outgoing data transmissions for its respective communication network and can employ asymmetric encryption to secure broadcast messages transmitted or exchanged with the GPS system, other traffic control devices, other traffic system infrastructure devices, and vehicles.

[0022] In one form, the traffic signal controller detects an approaching vehicle 12 and, in response, sends various traffic signal information to the approaching vehicle 12. In other forms, the traffic signal controller sends various traffic signal information continuously at a predetermined time interval. In still other forms, the traffic signal controller sends various traffic signal information based on a request from the vehicle 12. In some embodiments, traffic signal information includes timing data that specifies when a traffic light will change from one phase to another, with respect to each individual traffic light. In one example, the timing data includes signal, phase, and timing control data (e.g., SPaT data).In one form, the SPaT data includes phase information about the signal-controlled intersection 14, signal location and timing information for each traffic light 20 located at intersection 14, along with associated lane maneuvers. The SPaT data enables vehicle-internal applications of the vehicle 12 to know the current and future phase of a traffic light 20 as the vehicle 12 approaches intersection 14. For example, the SPaT data includes data relating to signal group state, signal group timing, future intervals, link-up maneuver support, and permissible lane maneuvers. The signal group state includes data relating to each traffic light 20 and provides a current phase (e.g., a current interval for the phase), a remaining time in the phase, and a future phase for each traffic light 20. The phase includes, for example, a stop-and-stay phase (e.g., a red light), a phase permissible for protected movement (e.g.,a green light) and a deceleration phase to stop (e.g., a yellow light). The signal group timing includes a point in time (e.g., a timestamp) to indicate when an interval will change. The associated lane maneuvers include data relating to linking maneuver assistance and / or permissible lane maneuvers. The linking maneuver assistance data includes, but is not limited to, data relating to a request for a walk indicator associated with one or more pedestrian push buttons and detection of a pedestrian in a pedestrian crossing (not shown) of intersection 14. The lane maneuver data may include information relating to one or more traffic requests that the vehicle 12 considers when determining an action to change from its current lane to another lane.For example, lane maneuvers can include data for a speed limit, open / closed lanes, no right / left turn, turn lane closed, one-way street, active school zone, a cooperative merging maneuver, through-traffic streets, organizing vehicle 12 into a virtual group to cross intersection 14, etc.

[0023] The traffic signal information can also include intersection map data, which is geographic data relating to features of the intersection along with identified lanes for each road junction at the intersection. The map data enables vehicle-internal applications (V12) to understand lane and lane maneuvers to determine which traffic light (V20) controls the lane for V12. For example, the map data includes information about the number of lanes for each road (V16), available directions of travel for each lane (V18), the current phase of an associated traffic light for each lane, and the time remaining until the next traffic signal phase. For instance, each lane (V18) of one of the roads (V16) includes a variety of waypoints. Each waypoint is a stored location and represents latitude and longitude coordinates on a geographic map used for navigation, route planning, and location marking.

[0024] Vehicle 12 communicates with and receives traffic signal information from the traffic signal controller as it approaches intersection 14. While in this example the traffic control device 20 is a traffic light, the traffic control device 20 (e.g., a roadside traffic infrastructure device) could include any traffic control device associated with a traffic light and capable of transmitting traffic signal information, as provided herein, such as a standalone traffic signal controller located at or near intersection 14. Vehicle 12 also communicates with a satellite device (not shown) or a second vehicle (not shown) to receive global positioning data from a global positioning system (hereafter referred to as the GPS system) that has vehicle location data relative to vehicle 12.Vehicle 12 will be discussed further below.

[0025] Fig. Section 2 provides an overview of procedure 50 for identifying a lane and any adjacent lanes for performing vehicle-related operations when the vehicle 12 approaches a traffic light located at a traffic intersection. The vehicle 12 initiates procedure 50 at start 52 and executes routine 100 to identify a lane for the vehicle 12. After identifying a lane for the vehicle 12, procedure 50 executes routine 200 to determine if one or more adjacent lanes exist to the vehicle 12's lane and continues with routine 200 to execute routine 500. In routine 500, the vehicle 12 determines whether any existing adjacent lane to the vehicle's lane is a right lane or a left lane and continues with routine 550.Procedure 50 sends a control operation to control one or more vehicle operations of vehicle 12 from routine 550 and returns to the start 52 of procedure 50. In an example, the control operation of routine 550 executes at least one operation from routine 600 (e.g., ...). Fig. 8), the routine 700 (e.g. Fig. 9) or a combination thereof.

[0026] With reference to Fig. Section 3 provides further details of Routine 100 for identifying a lane for the vehicle performing driving-related operations of the vehicle of Procedure 50. Routine 100 begins at step 102 and proceeds to step 104. At step 104, vehicle 12 receives traffic signal information from a traffic control device located around a traffic intersection with two or more converging roads. Upon receiving the traffic signal information, Routine 100 proceeds from step 104 to step 106. At step 106, vehicle 12 receives global positioning data associated with vehicle 12. The global positioning data includes vehicle location data for vehicle 12. Routine 100 then proceeds from step 106 to step 108.Using traffic signal information and global positioning data, vehicle 12 determines a lane from the identified lanes for itself based on the traffic signal information and global positioning data. This data is then output as lane data for evaluation by an in-vehicle application of vehicle 12 to configure future vehicle operation. In one form, future vehicle operation includes determining one or more future routes, such as selecting an alternative lane for vehicle 12. In another form, future vehicle operation includes engine operation, such as initiating an engine start / stop feature for vehicle 12 when it is at or near the traffic intersection.In some embodiments, the vehicle 12 transmits the lane data to the vehicle 12's in-vehicle application to configure future routes, engine operation, or a combination thereof. After determining the lane for the vehicle 12, the procedure 50 proceeds from step 108 to routine 200.

[0027] With reference to Fig. In step 4, routine 200 determines one or more lanes adjacent to a traffic lane for vehicle 12 of procedure 50. Vehicle 12 engages routine 200, starting at step 202. At step 202, routine 200 determines a lane for vehicle 12 as it approaches the intersection. In a sense, routine 200 uses the information from step 108 of routine 100 to determine vehicle 12's lane as it approaches the traffic signal at the intersection. After determining the lane at step 202, routine 200 proceeds to step 204. At step 204, vehicle 12 determines whether one or more adjacent lanes exist to the traffic lane, based on the traffic signal information. If one or more adjacent lanes exist, routine 200 proceeds from step 204 to step 206.At step 206, vehicle 12 determines whether each adjacent lane is a right lane or a left lane to the journey, if the adjacent lane exists, and proceeds to step 208. After determining whether each adjacent lane is the right lane or the left lane, routine 200 issues a control operation to control the future vehicle operation of vehicle 12 in response to the determination of vehicle 12's lane and the determination of whether the adjacent lane to vehicle 12's journey is a right lane or a left lane at step 208. In one form, the future vehicle operation includes displaying a graphical interface on a display of vehicle 12 indicating whether the adjacent lane to the journey is a right lane or a left lane. After issuing the control operation, routine 200 proceeds from step 208 to routine 600.

[0028] With reference to Fig. Section 5 provides further details on Routine 300 for determining the lane for Vehicle 12 of Procedure 50. Vehicle 12 begins Routine 300 at step 302 and proceeds to step 304. At step 304, Routine 300 iterates through a list of all entrances found in the map data of the traffic signal information and proceeds to step 306. During this process, Vehicle 12 performs a lane-level map search to locate Vehicle 12's lane. Using the list of all entrances, Routine 300 proceeds from step 306 to step 308. At step 308, Vehicle 12 repeats (iterates) one or more waypoints for each specific lane. In one example, Vehicle 12 iterates through all waypoints for each lane at step 306 and proceeds to step 308.In step 308, vehicle 12 converts the location of each waypoint into a two-dimensional local coordinate relative to the location of vehicle 12 using the global positioning data. More precisely, vehicle 12 determines global positioning coordinates that specify the location of the waypoint based on the global positioning data. For example, the global positioning coordinates include latitude and longitude coordinates. The two-dimensional local coordinates can include x and y coordinates. The vehicle converts the latitude and longitude coordinates into x and y coordinates (such as an x ​​and y offset) relative to the location of vehicle 12. Once the location of vehicle 12 is in x and y coordinates (e.g., the x and y offset), routine 300 proceeds from step 308 to step 310. At step 310, vehicle 12 determines a distance for each waypoint and continues to step 312.Vehicle 12 executes step 312 and determines whether the nearest waypoint is farther than a predetermined lane width or threshold. If the nearest waypoint is farther than the predetermined lane width, routine 300 returns to step 304. Otherwise, routine 300 proceeds from step 312 to step 314. At step 314, vehicle 12 designates the lane associated with the respective waypoint as the lane for vehicle 12 and proceeds to routine 400.

[0029] As in Fig. Figure 6 shows that routine 400 for identifying lanes adjacent to the lane of procedure 50 is provided in further detail. Vehicle 12 executes routine 400, starting at step 402. From step 402, routine 400 proceeds to step 404. At step 404, vehicle 12 selects a first point of the lane using the map data. The first point of the lane is the point closest to the intersection. Routine 400 proceeds from step 404 to step 406. Vehicle 12 then iterates on any remaining lanes identified in the map data, proceeding from step 406 to step 408. At step 408, vehicle 12 calculates a difference in coordinates between the first point of the lane and a first point of each of the remaining lanes, and proceeds from step 408 to step 410.Using the difference in the coordinates, vehicle 12 determines whether each of the remaining lanes is an adjacent lane, based on a longitudinal distance between each of the first points of the original lane and the first point of each of the remaining lanes, and a distance threshold, at step 410. If the distance between the first point of the original lane and the first point of a remaining lane is greater than a difference between the predetermined threshold and the longitudinal distance, the vehicle executes step 410 of step 408. Otherwise, routine 400 returns to step 408. At step 414, vehicle 12 designates each lane as an adjacent lane and proceeds to routine 500.

[0030] With reference to Fig. Section 7 now provides further details of routine 500 for determining whether a lane adjacent to a lane for a vehicle 12 is a right lane or a left lane of procedure 50. Routine 500 begins at step 502 and proceeds to step 504. At step 504, the vehicle 12 selects the first two points of the lane closest to the intersection, such as a first point and a second point. After selecting the first two points, routine 500 proceeds from step 504 to step 506. Using the two points, the vehicle 12 calculates a first position vector between the first point and the second point of the lane closest to the intersection at step 506 and then proceeds to step 508.At step 508, vehicle 12 calculates a second position vector between the second point of the lane closest to the intersection and the first point of each adjacent lane to that lane and proceeds to step 510. Vehicle 12 calculates the sign of a cross product of the first position vector and the second position vector and proceeds from step 510 to step 512. At step 512, vehicle 12 identifies each adjacent lane as a right lane or a left lane of vehicle 12's lane based on the sign of the cross product and proceeds to routine 600.

[0031] In another embodiment, routine 600 for determining a route using a future lane for vehicle 12 of procedure 50 is described in further detail in Fig. 8. In one form, vehicle 12 implements routine 600, which begins at step 602 and proceeds to step 604. At step 604, vehicle 12 finds adjacent lanes with the same permissible maneuvers as the lane assigned to vehicle 12 and proceeds to step 606. Vehicle 12 then determines whether another vehicle is ahead of vehicle 12 in the same lane as the lane, an adjacent lane to the lane, or a combination thereof. In one form, vehicle 12 receives captured data from a variety of vehicle sensors indicating that another vehicle is ahead of vehicle 12 in the same lane as the lane, an adjacent lane to the lane, or a combination thereof.In another form, vehicle 12 determines whether another vehicle is ahead of vehicle 12 in the same lane as the lane, an adjacent lane to the lane, based on a vehicle-to-vehicle message. In one form, the vehicle-to-vehicle message includes vehicle location data and vehicle speed data associated with that vehicle. In another form, vehicle 12 detects whether another vehicle is ahead of vehicle 12 in the same lane as the lane, an adjacent lane to the lane, or a combination thereof, based on the lane and one or more adjacent lanes for vehicle 12 and at least one of the acquired data, the vehicle-to-vehicle message, or a combination thereof. After determining whether another vehicle is ahead of vehicle 12, routine 600 proceeds from step 606 to step 608.In step 608, vehicle 12 determines whether to cross from its lane to an adjacent lane based on at least one of the following: determining whether another vehicle is ahead of vehicle 12, the vehicle speed of any vehicle ahead of vehicle 12, a recommended speed, or a combination thereof. In one form, vehicle 12 calculates the recommended vehicle speed, which is the speed for vehicle 12 to approach the intersection in order to meet a green light associated with the traffic signal located at the intersection, based on the traffic signal information. In another form, it calculates the recommended vehicle speed for vehicle 12, which identifies an optimal vehicle speed to approach the intersection in order to reach a green light associated with the traffic signal.

[0032] For example, vehicle 12 might include an application of the Green Light Optimal Speed ​​Advisory (GLOSA) that calculates the recommended speed to approach intersection 14. In another example, routine 600 calculates the recommended vehicle speed based on MAP data and the vehicle's location. In yet another form, the traffic signal information also includes the recommended vehicle speed. In one form, vehicle 12 determines to cross from its lane to the adjacent lane if its speed is less than the recommended speed for vehicle 12 within a predetermined threshold. In another form, vehicle 12 determines to remain in its lane if its speed is greater than the recommended speed for vehicle 12 within a predetermined threshold.Routine 600 continues from step 608 to step 610. Vehicle 12 constructs an alternative route with the adjacent lane as a future lane for vehicle 12, based on the determination to cross from the lane to the adjacent lane at step 610, and continues with routine 700.

[0033] With reference to Fig. Step 9 of routine 700 determines whether an engine stop / start feature should be used in vehicle 12. Vehicle 12 applies routine 700 and begins at step 702. The engine start / stop feature includes control to automatically shut off the vehicle engine of vehicle 12 when vehicle 12 is stopped, with its engine idling for a predetermined time and a vehicle brake applied, and then restart the vehicle engine when the vehicle brake is released. Routine 700 proceeds from step 702 to step 704. At step 704, vehicle 12 determines whether it is stopped and whether its engine is running. In a form, vehicle 12 receives a brake signal via a brake pad sensor (not shown) indicating that vehicle 12 has stopped. When vehicle 12 is stopped and the vehicle engine is running, routine 700 continues from step 704 to step 706.Otherwise, routine 700 continues from 704 to return. At step 706, vehicle 12 determines if the traffic light phase is RED. In one form, vehicle 12 determines that the traffic light phase is RED and continues from step 706 to step 708. Otherwise, vehicle 12 continues from 706 to return. In addition to determining the traffic light phase, vehicle 12 determines a total release time within which a queue in front of vehicle 12 must be cleared and continues from step 708 to step 710. Based on the traffic light phase and the total release time, vehicle 12 determines whether to activate the engine stop / start feature to stop the vehicle engine at step 710. In one example, vehicle 12 issues a control operation to activate the engine stop feature to stop the vehicle engine if the total release time is greater than a stop threshold time.In another example, vehicle 12 issues a control operation to release the engine stop / start feature, allowing the vehicle engine to run if the total release time is less than the stop threshold time. Routine 700 then proceeds from step 710 to RETURN.

[0034] With reference to Fig. 10. An exemplary vehicle 12 is now provided, which has a system 800 to carry out the procedure 50, as above in Fig.2-9 provided, to implement. For example, the following description of the system 800 is provided using the procedure 50, as provided above. In one form, the vehicle 12 is a transport vehicle, such as a passenger car. In another form, the transport vehicle may include a bus, a motorcycle, a commercial vehicle, and the like. The transport vehicle may include a semi-autonomous vehicle or an autonomous vehicle. The transport vehicle comprises a vehicle system 800, which has a communication module 802, a controller 804, an in-vehicle application module 806, and a variety of vehicle sensors 808.

[0035] The 802 Communication Module is capable of receiving broadcast messages within a predetermined area surrounding the vehicle. The 802 Communication Module can transmit or receive broadcast messages or other vehicle-related data messages (e.g., data packets containing messages or data) using a dedicated communication protocol, such as dedicated short-range communication (DSRC), vehicle-to-vehicle (V2V) communication, cellular vehicle-to-everything (C-V2X), vehicle-to-infrastructure (V2I), vehicle-to-people (V2P), 5G LTE cellular communication, or the like. Using this communication transmission protocol, the 802 Communication Module is capable of receiving with low latency to ensure that messages can be sent and received quickly.The Communications Module 802 also manages incoming and outgoing data transmissions for its respective communications network and can employ asymmetric encryption to secure broadcast messages sent or exchanged with the GPS system, the traffic control device, other traffic system infrastructure devices, and other vehicles. The Communications Module 802 uses steps 104 and 106 of Procedure 100 and receives traffic signal information from the traffic light 20 located at the intersection. Upon receiving the traffic signal information, the Communications Module 802 also receives global positioning data associated with Vehicle 12. The global positioning data includes vehicle location data for Vehicle 12.

[0036] Using the traffic signal information and the global positioning data, the controller 804 executes steps 108 and 110 of routine 100 and determines a lane from the identified lanes for the vehicle based on the traffic signal information and the global positioning data for output as lane data for evaluation by the vehicle's internal application 806 to configure future vehicle operation. In one form, future vehicle operation includes determining one or more future routes, such as selecting an alternative lane for the vehicle. In another form, future vehicle operation includes engine operation, such as initiating an engine start / stop feature for the vehicle when it is at or near the traffic intersection.In some embodiments, the controller 804 transmits the lane data to the vehicle's in-vehicle application 806 of the vehicle 12 to configure future driving routes, engine operation, or a combination thereof.

[0037] In another example, the controller 804 implements routine 200 to determine one or more adjacent lanes along a lane for the vehicle as the vehicle 12 approaches a traffic light at an intersection. The controller 804 determines a lane for the vehicle 12 as it approaches the intersection. In one form, the controller 804 determines the lane for the vehicle 12 as it approaches the traffic light at the intersection. After determining the lane, the controller 804 determines whether one or more adjacent lanes exist for that lane, based on the traffic signal information.If one or more adjacent lanes are present, the controller 804 determines whether each adjacent lane is a right lane or a left lane to the journey, if the adjacent lane is present, and issues a control operation to control the future vehicle operation of the vehicle 12 in response to the determination of the vehicle 12's lane and the determination of whether the adjacent lane to the vehicle 12's journey is a right lane or a left lane. In one form, the future vehicle operation includes displaying a graphical interface on a display device 812 of the vehicle 12 indicating whether the adjacent lane to the journey is a right lane or a left lane.

[0038] In one form, the vehicle's in-vehicle application module 806 receives control operation from the controller 804 and activates or deactivates a vehicle operation associated with the in-vehicle application. The in-vehicle application module 806 comprises one or more applications, such as a navigation application, a lane change application, an auto-stop / start feature, and an engine stop / start feature. The navigation application determines one or more available routes for the vehicle 12 to travel from a first location (e.g., current location) to a second location (e.g., destination) of the vehicle 12 and communicates with a global navigation satellite system (not shown) to receive GPS data associated with the vehicle 12. The lane change application determines whether the vehicle 12 changes lanes from its current lane to an adjacent lane. The auto-stop / start feature automatically shuts off and restarts the vehicle's engine.The engine stop / start feature automatically switches off the vehicle's engine when the brake is applied for a period of time, and then restarts the vehicle's engine when the brake is released.

[0039] The vehicle sensors 808 can take various forms, including a LiDAR sensor, a camera sensor, and a radar sensor. The sensors 808 detect another or a second vehicle at an approximate distance from the vehicle 12 and, in response, output captured data indicating a detected vehicle near or around the vehicle 12. In one aspect, the captured signal includes image data of the detected vehicle near or around the vehicle 12. The controller 804 receives the captured signal and, in response, determines whether the detected vehicle is ahead of the vehicle 12 in the same lane as the lane of the vehicle 12, an adjacent lane to the lane of the vehicle 12, or a combination thereof, based on the captured signal. The controller 804 receives the image data and, based on the image data, determines whether another or a second vehicle is ahead of the vehicle 12.In one form, the controller uses 804 image processing to detect whether a second vehicle is in front of vehicle 12.

[0040] In some embodiments, the vehicle 12 comprises a user interface 810 with a display device 812. The display device 812 includes a graphical interface (not shown) that displays to a user of the vehicle 12 a number of lanes 18 associated with the road 16 traveled by the vehicle 12. The graphical interface may include an image displayed on the display device 812. In another embodiment, the display device 812 shows an indication that identifies the lane crossed by the vehicle 12 and one or more adjacent lanes to that lane.

Claims

[1] Method (50) for identifying a route for a vehicle (12) operating an in-vehicle application while the vehicle (12) is approaching a traffic light (20) at a traffic intersection (14), the method comprising: Receiving, by a control of the vehicle (12), traffic signal information from a traffic control device (20) located at the traffic intersection (14) connecting two or more roads (16), wherein the traffic signal information includes map data relating to geographical information relating to features of the traffic intersection (14) and identified lanes for each road (16) at the traffic intersection (14), and wherein the traffic signal information includes signal, phase and timing control data for the traffic light (20); Received, by the vehicle control system (12), global positioning data with vehicle location data for the vehicle (12); and Determining a lane (18) from the identified lanes (18) for the vehicle (12) based on the traffic signal information and the global position data, in order to output it as lane data for evaluation by the vehicle's internal application to configure a future vehicle operation for the vehicle (12). [2] Method (50) according to claim 1, wherein the vehicle operation comprises determining one or more future routes, an engine operation or a combination thereof, for the vehicle (12). [3] Method (50) according to claim 2, further comprising transferring the lane data to the vehicle's internal application (12) to configure future driving routes, engine operation or a combination thereof. [4] Method (50) according to claim 1, further comprising: Determine whether one or more adjacent lanes to lane (18) are present, based on the traffic signal information; Determine whether the adjacent lane is a right lane or a left lane relative to the journey, if the adjacent lane exists; and Output of a control operation to control the future vehicle operation in response to determining the lane (18) of the vehicle (12) and determining whether the adjacent lane is a right lane or a left lane. [5] Method (50) according to claim 4, wherein the control process is selected from the group consisting of: i) Selecting an alternative lane (18) for the vehicle (12); ii) Initiating an engine start / stop feature for the vehicle (12) when it is at or near the traffic intersection (14); iii) Displaying an indicator showing whether the lane adjacent to lane (18) is a right lane or a left lane; or iv) a combination thereof. [6] Method (50) according to claim 4, wherein the step of determining a lane (18) from the identified lanes for the vehicle (12) further comprises: Iterating a list of all entry lanes based on map data and traffic signal information; Iterate one or more waypoints for each lane from the list of all entry lanes; Converting the location of each waypoint into x,y coordinates with reference to the location of the vehicle (12); Determining a distance between each waypoint of the one or more waypoints and a location of the vehicle (12); and Identifying the lane (18) based on a selected waypoint that is closest to the vehicle (12), based on the distance between each waypoint and the vehicle (12). [7] Method (50) according to claim 6, wherein the step Identifying the lane (18) based on the waypoint nearest to the vehicle (12) further comprises: a) Selecting a first point of the lane (18) near or around the intersection (14); b) Iterate from step a) for any remaining traces of the identified traces based on the map data; c) Calculating a difference in coordinates between the first point of lane (18) and a first point of each of the remaining lanes; d) Determine whether each of the remaining lanes is an adjacent lane of lane (18) based on a longitudinal distance between each of the first points of lane (18) and the first point of each of the remaining lanes; and e) Identify whether each lane identified as an adjacent lane to the driving lane (18) is a right lane or a left lane. [8] Method (50) according to claim 7, wherein the step of identifying whether each track is determined to be an adjacent track further comprises: Selecting a first point and a second point of the lane (18) that is closest to the intersection (14); Calculating a first position vector between the first point and the second point of the lane (18) that is closest to the intersection (14); Calculating a second position vector between the second point of the lane (18) that is closest to the intersection (14) and the first point of each adjacent lane to the lane (18); Calculating the sign of a cross product of the first position vector and the second position vector; and Identifying each adjacent lane as a right lane or a left lane of the vehicle's lane (18) based on the sign of the cross product. [9] Method (50) according to claim 4, further comprising: Detect whether another vehicle (12) is in front of the vehicle (12) in the same lane as the lane (18), any adjacent lane to the lane (18), or a combination thereof; Determine whether to cross from lane (18) to an adjacent lane, based on at least one of: determining whether another vehicle (12) is ahead of vehicle (12), a vehicle speed for any vehicle (12) ahead of vehicle (12), a recommended vehicle speed, or a combination thereof, wherein the traffic signal information further includes the recommended vehicle speed, which is a vehicle speed for vehicle (12) to approach the intersection (14) in order to meet a green light associated with the traffic signal (20) located at the intersection (14); and Assembling an alternative route with the adjacent lane as a future lane (18) for the vehicle (12) based on determining whether to cross from lane (18) to the adjacent lane. [10] Method (50) according to claim 4, wherein: the traffic signal information includes permissible lane maneuvers for each of the identified lanes; and The output step of the control process includes the following: Calculating a recommended vehicle speed, which is a desired vehicle speed for the vehicle (12) to approach the traffic intersection (14) in order to meet a green light associated with the traffic signal (20) located at the traffic intersection (14), based on the traffic signal information; Display of the recommended vehicle speed via a vehicle display device (12); and Display of permissible lane maneuvers for lane (18) and the adjacent lane.

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