System and method for mitigating intersection for vehicle

Abstract

To provide a method of providing mitigation of an intersection for a vehicle.SOLUTION: According to one embodiment, a method of providing mitigation of an intersection for a vehicle includes steps of: receiving vehicle location data; comparing the vehicle location data to map data, the map data including a plurality of intersection zones and each intersection zone including an intersection between two or more roads; disabling a mitigation function of the one or more intersections when the vehicle location data indicates that the vehicle is outside of the intersection zone of the plurality of intersection zones; and enabling the mitigation function of the one or more intersections when the vehicle location data indicates that the vehicle is within the intersection zone of the plurality of intersection zones.SELECTED DRAWING: Figure 1

Description

[Background technology]

[0001] Vehicles may include advanced features such as cross-traffic collision avoidance and traffic light warning systems. These features assist drivers in successfully navigating environments, such as through intersections. For example, a cross-traffic collision avoidance feature may alert a driver to the risk of a cross-traffic collision at an intersection so that the driver can take appropriate action. A traffic light warning system may provide a notification to the driver regarding the status (e.g., red, yellow, or green) of an upcoming traffic light.

[0002] These advanced features use sensor data, such as image sensor data. However, in some cases, the advanced features may generate warnings or other outputs that are false positives. For example, the image sensor data may detect something in the environment that looks like a traffic light but is not a traffic light when the vehicle is not near an intersection. A traffic light warning system may generate a notification about a non-existent traffic light. Such false warnings or messages may cause the driver to lose confidence in the driving system.

[0003] Therefore, alternative advanced vehicle features that reduce false positives may be desirable. Summary of the Invention

[0004] In one embodiment, a method for providing intersection mitigation for a vehicle includes receiving vehicle location data; comparing the vehicle location data with map data, the map data including a plurality of intersection zones, each intersection zone including an intersection between two or more roads; disabling one or more intersection mitigation functions when the vehicle location data indicates the vehicle is outside an intersection zone of the plurality of intersection zones; and enabling one or more intersection mitigation functions when the vehicle location data indicates the vehicle is within an intersection zone of the plurality of intersection zones.

[0005] In one embodiment, a vehicle includes a location sensor, one or more processors, and a non-transitory memory storing instructions that, when executed by the one or more processors, cause the one or more processors to receive vehicle location data from the location sensor; compare the vehicle location data with map data, the map data including a plurality of intersection zones, each intersection zone including an intersection between two or more roads; disable a mitigation function for the one or more intersections when the vehicle location data indicates that the vehicle is outside an intersection zone of the plurality of intersection zones; and enable a mitigation function for the one or more intersections when the vehicle location data indicates that the vehicle is within an intersection zone of the plurality of intersection zones. [Brief explanation of the drawings]

[0006] To easily identify the description of any particular element or act, the most significant digit or digits in a reference number refer to the figure number in which that element is first introduced.

[0007] [Figure 1] FIG. 1 illustrates an exemplary environment for operation of a vehicle according to one or more embodiments described and illustrated herein. [Figure 2] FIG. 1 illustrates an exemplary vehicle cabin of a vehicle according to one or more embodiments described and illustrated herein. [Figure 3] FIG. 1 illustrates example logic for generating a traffic light message according to one or more embodiments described and illustrated herein. [Figure 4] FIG. 1 illustrates example logic for generating a traffic light warning according to one or more embodiments described and illustrated herein. [Figure 5] FIG. 10 illustrates an exemplary plot showing the calculation of violation confidence values according to one or more embodiments described and illustrated herein. [Figure 6] FIG. 5 illustrates an exemplary table summarizing the logic of FIG. 4 according to one or more embodiments described and illustrated herein. [Figure 7] FIG. 1 illustrates example logic for generating a traffic light intervention according to one or more embodiments described and illustrated herein. [Figure 8] FIG. 8 illustrates an exemplary table summarizing the logic of FIG. 7 according to one or more embodiments described and illustrated herein. [Figure 9] FIG. 1 illustrates an example environment for a cross-traffic collision scenario according to one or more embodiments described and illustrated herein. [Figure 10] 1 illustrates an exemplary plot showing the calculation of a collision reliability value and an ego vehicle approaching a cross-traffic vehicle according to one or more embodiments described and illustrated herein. [Figure 11] FIG. 1 illustrates an exemplary computing system for providing intersection mitigation for vehicles according to one or more embodiments described and illustrated herein. DETAILED DESCRIPTION OF THE INVENTION

[0008] Embodiments of the present disclosure are directed to systems and methods for providing advanced vehicle functions, such as functions that provide intersection intermediation. Non-limiting examples include traffic light mitigation and cross-traffic mitigation functions that issue messages, warnings, and / or interventions based on sensor data. The intersection intermediation functions of the present disclosure eliminate or substantially minimize false positives by enabling such functions only when the vehicle is within a proximate range of an intersection. Thus, when the vehicle is neither approaching nor within an intersection, the vehicle does not issue a message, warning, and / or intervention. False positives can undermine a driver's confidence in the vehicle system. Furthermore, such false positives can be discouraging to a driver, for example, when a traffic light message appears on the vehicle's electronic display and the vehicle sends an audible and / or visual warning that a risk of a cross-traffic collision exists when no intersection or traffic lights are present around the vehicle or the vehicle is not approaching an intersection. These false positives may be generated by erroneous sensor data, edge cases not encountered by the trained model, or any other reason.

[0009] In addition to enabling the intersection intermediation function only when the vehicle is near an intersection, embodiments also include logic to ensure that appropriate actions are taken, such as appropriate actions regarding traffic light conditions and cross-traffic conflicts. In the embodiments described herein, each intersection intermediation function generates three types of actions ranging from least urgent to most urgent: messaging, warning, and intervention. The messaging output may present a visual warning on an electronic display, such as a head-up display (HUD), an instrument cluster display, and / or an infotainment system head unit. For example, an icon representing a yellow or red traffic light may be presented to the user on one or more of such displays.

[0010] The alert is generated in a scenario that is more urgent than a scenario appropriate for a message. The alert may also include a visual message on one or more electronic displays, supplemented by an audio alert and / or a haptic feedback alert. In some embodiments, the visual message for the alert may be more prominent than that for the message, e.g., a larger icon and / or bolder color. The audio alert may be any audible sound, e.g., a chime, beep, alarm sound, spoken word, and the like. The haptic feedback alert may be generated by one or more actuators in the vehicle, such as in the seat and / or steering wheel.

[0011] Intervention outputs include both messaging and warning outputs, and also applying physical intervention by autonomously controlling the vehicle, for example by applying the vehicle's brakes so that the vehicle can stop at an intersection for a traffic light or stop in time to avoid a collision with a cross traffic vehicle.

[0012] Various embodiments of systems and methods for providing intersection mitigation for vehicles are described in more detail below.

[0013] 1, an environment is shown in which a vehicle 112 is traveling. The environment shown comprises roads 102, 104, and 106. Both roads 104 and 106 intersect with road 102 at intersections 108 and 110, respectively. The vehicle is approaching intersection 110, which has traffic lights 114 that can be in a green, yellow, or red state. Vehicle 112 is equipped with traffic light mitigation functionality that is operable to message, warn, or intervene in the control of vehicle 112 depending on the urgency of the driving scenario.

[0014] As mentioned above, false positives for traffic lights can have adverse effects on drivers. In embodiments of the present disclosure, intersection zones are defined around each intersection in a map, such as an HD map. FIG. 1 shows intersection zone 116 surrounding intersection 108 and intersection zone 118 surrounding intersection 110. The intersection zones may be defined by circles having a particular desired radius, although embodiments are not limited thereto.

[0015] The intersection mitigation features described herein are enabled only when the vehicle is in the intersection zone. Otherwise, the intersection mitigation features are disabled. Thus, if the system of the vehicle 112 detects traffic lights based on collected image data, the system does not trigger activation of the traffic light mitigation features when the vehicle 112 is outside the intersection zone. Various intersection mitigation features, such as the traffic light mitigation features, are enabled only when the vehicle 112 is within the intersection 108.

[0016] The system may use location data from location sensors, such as Global Positioning System sensors, to understand the vehicle's location. The vehicle's location is then compared to map data, such as HD map data, in which intersection zones are stored. The intersection zones thus provide geofenced areas that enable the intersection mitigation features described herein.

[0017] When vehicle 112 is within intersection zone 118, a traffic light mitigation function may be enabled. Image sensor data (or other sensor data) is used to determine the state of traffic light 114, which may be green, yellow, or red. In some embodiments, an object recognition algorithm, classifier, or other image processing algorithm is used to determine the state of the traffic light. Depending on the state of traffic light 114, the traffic light mitigation function may take no action, issue a message, issue a warning, intervene, or some combination thereof.

[0018] 2 illustrates an exemplary vehicle cabin of a vehicle 112 according to an embodiment of the present disclosure. It should be understood that FIG. 2 is provided for illustrative purposes only and that other configurations for the vehicle cabin may be utilized. The exemplary vehicle 112 includes one or more image sensors 218, such as cameras. The image sensors 218 may be located around the entire perimeter of the vehicle 112. Other sensors, such as proximity sensors, radar sensors, LiDAR sensors, and the like, may also be utilized. The image sensors 218 capture data about the environment, such as, for example, traffic lights at an intersection or the presence and status of cross-traffic vehicles.

[0019] The exemplary vehicle cabin further includes at least one electronic display 214, such as a head unit display as shown in Figure 2. Other exemplary displays include an instrument cluster display and a HUD projected onto the windshield of the vehicle 112. As described in more detail below, the at least one electronic display 214 is configured to display message icons 216, such as, for example, icons indicating the status of traffic lights.

[0020] In some embodiments, one or more haptic actuators 202 may be provided in the vehicle's steering wheel 204 and / or seat 220. The haptic actuators 202 are used to generate vibrations to provide haptic feedback to the driver when an intersection mitigation warning is issued, as described in more detail below. One or more speakers 212, such as speakers in the vehicle's audio system, are used to generate audio warnings when the intersection mitigation system alerts the driver.

[0021] The exemplary vehicle cabin also includes one or more pedal sensors 206 for monitoring the position of the driver's feet on the brake pedal 208 and the accelerator pedal 210. The pedal sensors 206 shown in FIG. 2 are image sensors. However, other sensors may be used, such as contact sensors on the surfaces of the brake pedal 208 and the accelerator pedal 210, or encoders that measure the displacement of the brake pedal 208 and the accelerator pedal 210. Other means of determining whether the driver's feet are on the brake pedal 208 or the accelerator pedal 210 may be utilized. As described in more detail below, the state of the driver's feet relative to the brake pedal 208 and the accelerator pedal 210 is used by the intersection mitigation system in determining what type of output to generate.

[0022] To further reduce traffic light false positives, embodiments of the present disclosure employ logic that is followed to ensure appropriate action is taken. There is logic for each of the message, warning, and intervention outputs.

[0023] FIG. 3 illustrates exemplary logic for when the system generates a message output. As described above, the message output is the lowest urgency of the three outputs related to the traffic light's mitigation function. The logic of FIG. 3 is executed only when the vehicle 112 is within the intersection zone. The process begins at block 302, where image data from one or more image sensors 218 is collected and analyzed. Image processing algorithms are used to detect the traffic light 114 and its status. As an example, the image processing algorithm employs a classifier that is used to classify the image data as at least red, yellow, or green. Any known or yet to be developed known machine learning classifier may be used. Other methods of determining the status of the traffic light 114 may be utilized.

[0024] After determining the status of the traffic light 114, the process moves to block 304, where it is determined whether the traffic light status is red or yellow. If no, i.e., the traffic light 114 status is green, the process moves again to block 302, where additional image data is collected. If the answer at block 304 is yes, the process moves to block 306, where the traffic calming system generates a message output that is the least urgent of the three outputs. As described above, the message output is in the form of an informative visual graphic or icon that is shown on one or more electronic displays 214 within the vehicle cabin. As an example, the informative visual graphic is a message icon 216 in the form of a traffic light that indicates the traffic light is yellow or green.

[0025] The intersection mitigation system's warning output has a higher urgency than that of the message output. Figure 4 shows example logic for when the intersection mitigation system generates a warning output, including a message icon 216 of the message output and an audio and / or haptic warning. The logic of Figure 4 is executed only when the vehicle 112 is within the intersection zone. Note that the logic of Figure 4 may be executed in parallel with the logic of Figure 3.

[0026] The logic begins at block 402, where image data from one or more image sensors 218 is collected and analyzed. At block 402, the status of the traffic light 114 is determined, as described with respect to block 302 of FIG. 3 . The process proceeds to block 404, where it is determined whether a vehicle system is currently intervening. The vehicle system may intervene by autonomously applying the vehicle's brakes or, in some cases, by autonomously applying the vehicle's accelerator. If the answer at block 404 is yes, the process proceeds to block 412, where the intersection mitigation system generates a warning.

[0027] If the answer is no at block 404, the process moves to block 406, where it is determined whether the status of the traffic light 114 is red. If no, the process moves to block 408, where it is determined whether the status of the traffic light 114 is yellow. If no, the process moves to block 414, where the intersection mitigation system does not generate a warning. The process may then return to block 402 again to continue evaluating whether to issue a warning.

[0028] If the answer at block 406 or block 408 is yes, the process moves to block 410, where it is determined whether the violation confidence value is at least moderate. The violation confidence value is the likelihood that the vehicle 112 will not be able to stop at the intersection under current conditions.

[0029] Referring now to FIG. 5, a graph 502 illustrating violation confidence values is provided. The graph shows a curve 504 representing speed versus time and a curve 506 plotting violation confidence values versus time. The system calculates a final intervention value, which is the latest possible time to intervene given the required intersection stopping position, measured vehicle conditions (e.g., current speed), and the vehicle's dynamic limitations (e.g., braking capability). The violation confidence value is set to 0 at some parameterized time t=x (e.g., 1 second) prior to the final intervention. The violation confidence value then increases linearly to 1 at the final intervention. FIG. 5 also shows a vehicle 508a moving toward the intersection before t=x without a warning being issued, a vehicle 508b in the zone with a warning output because the final intervention value is above a moderate threshold (e.g., 0.4), and a vehicle 508c stopped at the intersection by either manual braking or autonomous braking upon intervention.

[0030] Referring again to FIG. 4, when the violation confidence value is at least medium (i.e., as a non-limiting example, the violation confidence value is above some predetermined medium threshold, e.g., 0.4), the logic moves to block 412, where the output is a warning with a visual output and one or more of an audio warning and a tactile warning.

[0031] Figure 6 is a chart summarizing the alert logic of Figure 4 for three individual cases. An alert is issued for each case if all of the selection conditions are met. For Case 1, the intersection mitigation system issues an alert when the system is currently intervening, regardless of the violation confidence value and the traffic light 114 status. For Case 2, the intersection mitigation system issues an alert when the system is not currently intervening, the violation confidence value is at least medium, and the traffic light 114 is red. For Case 3, the intersection mitigation system issues an alert when the system is not currently intervening, the violation confidence value is at least medium, and the traffic light 114 is yellow.

[0032] The intersection mitigation system's intervention output has a higher urgency than the warning output. The intervention output includes taking over control over the longitudinal control of the vehicle 112 by braking to stop the vehicle 112 at the intersection 108. Figure 7 shows the logic for when the intersection mitigation system generates an intervention output, which involves generating a message icon (i.e., a visual message), one or more of an audio warning and a haptic feedback warning, and autonomously braking the vehicle.

[0033] At block 702, the status of the traffic light 114 is determined, as described with respect to block 302 of FIG. 3 . The process proceeds to block 704, where it is determined whether a vehicle system is currently intervening and whether the driver is currently attempting to override the intervention by pressing the brake pedal 208 or the accelerator pedal 210. Feedback from one or more pedal sensors 206 is used to determine whether the driver is attempting to override the intervention. If the answer at block 704 is yes, the process moves to block 716, where the intersection mitigation system stops the current intervention and allows the driver to control the vehicle 112 to a stop.

[0034] If the answer is no in block 704, the process moves to block 706, where it is determined whether the traffic light 114 is yellow and whether the amount of braking required is within the vehicle system capabilities. The amount of braking required to stop takes into account the vehicle's speed and the distance to the stopping point. The vehicle 112 has a braking capacity that depends on the make and model of the vehicle 112 and takes into account factors such as tire type, brake pads, vehicle weight, and the like. The vehicle 112 may store the braking capacity of the vehicle 112 for use in the determination in block 706. If the answer is no in block 706, the process moves to block 716, where no intervention is provided because the traffic light 114 is green or the traffic light 114 is yellow and the amount of braking required exceeds the vehicle's 112 capabilities.

[0035] If the answer at block 706 is yes, the process proceeds to block 708, where it is determined whether the system is intervening and whether the driver is not pressing the brake pedal. If the answer at block 708 is yes, the process moves to block 718, where intervention continues. If the answer at block 708 is no, the process moves to block 710, where it is determined whether the violation confidence value is at least medium and whether the driver is pressing the brake pedal. If the answer at block 710 is yes, the process moves to block 718, where the intersection mitigation system provides intervention.

[0036] If the answer at block 710 is no, the process moves to block 712, where it is determined whether the violation confidence value is high, i.e., above some high threshold (e.g., 0.7). If the answer is yes, the process moves to block 718, where intervention is provided.

[0037] If the answer at block 712 is no, the process moves to block 714, where it is determined whether the violation confidence is medium (i.e., above some low threshold but below some high threshold) and whether the required braking is low or medium (i.e., below some threshold). If the answer at block 714 is yes, the process moves to block 718, where intervention is provided. If the answer at block 714 is no, the process moves to block 716, where no intervention is provided.

[0038] FIG. 8 is a chart summarizing the intervention logic of FIG. 7 for five individual cases. Intervention is provided for each case if all of the selection conditions are met. For Case 1, the intersection mitigation system applies intervention when the system is not currently intervening, the required braking is within system capability, the violation confidence value is high, and the traffic light status is red or yellow. For Case 2, the intersection mitigation system applies intervention when the system is not currently intervening, the required braking is within system capability, the required braking is low or medium, the violation confidence value is medium or high, and the traffic light status is red or yellow. For Case 3, the intersection mitigation system applies intervention when the system is not currently intervening, the required braking is within system capability, the violation confidence value is medium or high, the driver is applying the brake pedal, and the traffic light status is red or yellow. For case 4, the intersection mitigation system applies intervention when the system is currently intervening, the required braking is within the system's capabilities, the driver is not pressing the brake pedal or the accelerator pedal, and the traffic light is red or yellow.For case 5, the intersection mitigation system applies intervention when the system is currently intervening, the required braking is within the system's capabilities, the violation confidence is medium or high, the driver is pressing the brake pedal, the driver is not pressing the accelerator pedal, and the traffic light is red or yellow.

[0039] Referring now to Figure 9, the intersection mitigation function may be a cross traffic mitigation function that operates in a manner similar to the traffic light mitigation function described above. Figure 9 shows an ego vehicle 902 approaching an intersection in which a vehicle 904 is traveling in a cross traffic situation. Based on a collision confidence value, calculated in a manner similar to the violation confidence value, the intersection mitigation system communicates a message, warns, or intervenes, as described above with respect to the traffic light function.

[0040] Referring now to FIG. 10 , a graph plot 1002 illustrating collision reliability values is provided. The graph shows a curve 1004 representing speed versus time and a curve 1006 plotting collision reliability values versus time. The system calculates a final intervention value, which is the last possible time to intervene given the required stopping position to avoid a collision, measured vehicle conditions (e.g., current speed), and the vehicle's dynamic limitations (e.g., braking capability). The collision reliability value is set to 0 at some parameterized time t=x (e.g., 1 second) prior to the final intervention. The collision reliability value then increases linearly to 1 at the final intervention. FIG. 10 also shows an ego-vehicle 1008a (time t1) moving toward the intersection before t=x without a warning being issued, an ego-vehicle 1008b (time t2) in a zone with a warning output because the final intervention value is above a moderate threshold (e.g., 0.4), and an ego-vehicle 1008c being stopped at the intersection by either manual braking or autonomous braking via intervention. FIG. 10 also shows a cross-traffic vehicle 1010a at time t1, a cross-traffic vehicle 1010b at time t2, and a cross-traffic vehicle at time t3.

[0041] The collision confidence value may be generated by trajectory prediction using heuristic rules, a machine learning model, or a combination of both. The trajectory prediction model uses kinematic rules to generate a heuristic collision confidence value regarding how likely a collision with a cross-traffic vehicle will occur. The machine learning model uses a trained model to predict the likelihood of a collision with a cross-traffic vehicle based on input parameters of the vehicle and observed parameters of the cross-traffic vehicle. The machine learning model generates the machine learning collision confidence value. The cross-traffic function may use one or both of the heuristic collision confidence value and the machine learning collision confidence value. In embodiments using both, both confidence values may be aggregated and discretized to combine both values. This combined collision confidence value may then be used when generating a message, generating a warning, or making a decision to intervene.

[0042] Embodiments of the present disclosure may be implemented by a computing device and embodied as computer-readable instructions stored on a non-transitory memory device. Referring now to FIG. 11 , an exemplary system for providing intersection mitigation for a vehicle is illustrated schematically as computing device 1104. The exemplary computing device 1104 provides a system for providing intersection mitigation for a vehicle and / or a non-transitory computer-usable medium having computer-readable program code for providing intersection mitigation for a vehicle embodied as hardware, software, and / or firmware in accordance with the embodiments shown and described herein. In some embodiments, computing device 1104 may be configured as a general-purpose computer having the necessary hardware, software, and / or firmware, while in some embodiments, computing device 1104 may be configured as a special-purpose computer specifically designed to perform the functions described herein. It should be understood that the software, hardware, and / or firmware components depicted in FIG. 11 may also be provided in other computing devices external to computing device 1104 (e.g., data storage devices, remote server computing devices, and the like).

[0043] 11 , computing device 1104 (or other additional computing device) may include a processor 1118, input / output hardware 1120, network interface hardware 1122, data storage component 1124 (which may include location data 1126 (e.g., GPS data), high-precision HD map data 1128 (e.g., data including LiDAR datasets, vector data in vector layers, and other map data), and any other data 1130 for performing the functions described herein), and non-transitory memory component 1106. Non-transitory memory component 1106 may be configured as a volatile and / or non-volatile computer-readable medium, and thus may include random access memory (including SRAM, DRAM, and / or other types of random access memory), flash memory, registers, a compact disc (CD), a digital versatile disc (DVD), and / or other types of storage component.

[0044] Additionally, the non-transitory memory component 1106 may be configured to store operating logic 1108, mitigation logic 1110 that generates desired outputs, traffic light logic 1112 that calculates violation confidence values and applies messaging, warning, and intervention logic, and cross-traffic logic that calculates collision confidence values and determines whether to message, warn, or intervene (each of which may be embodied as computer-readable program code, firmware, or hardware, by way of example). It should be understood that the data storage component 1124 may reside locally and / or remotely relative to the computing device 1104 and may be configured to store one or more data for access by the computing device 1104 and / or other components.

[0045] A local interface 1116 is also included in FIG. 11 and may be implemented as a bus or other interface for facilitating communication between components of the computing device 1104 .

[0046] The processor 1118 may include any processing component configured to receive and execute computer-readable code instructions (e.g., from the data storage component 1124 and / or the non-transitory memory component 1106). The input / output hardware 1120 may include a virtual reality headset, a graphics display device, a keyboard, a mouse, a printer, a camera, a microphone, speakers, a touchscreen, and / or other devices that receive, transmit, and / or present data. The network interface hardware 1122 may include any wired or wireless networking hardware, such as a modem, a LAN port, a Wireless Fidelity (Wi-Fi) card, a WiMax card, mobile communication hardware, and / or other hardware that communicates with other networks and / or devices.

[0047] The non-transitory memory component 1106 may include operating logic 1108, data mitigation logic 1110, traffic light logic 1112, and cross-traffic logic 1114. The operating logic 1108 may include an operating system and / or other software that manages the components of the computing device 1104. Similarly, the mitigation logic 1110 may reside in the non-transitory memory component 1106 and may be configured to generate message, warning, and intervention outputs. The traffic light logic 1112 may also reside in the non-transitory memory component 1106 and may be configured to calculate a violation confidence value and apply message, warning, and intervention logic. The cross-traffic logic 1114 includes logic for calculating a collision confidence value and determining whether to message, warn, or intervene.

[0048] The components shown in Figure 10 are merely exemplary and are not intended to limit the scope of the present disclosure. More specifically, while the components in Figure 10 are shown as residing within the computing device 1104, this is a non-limiting example. In some embodiments, one or more of the components may be external to the computing device 1104.

[0049] It should now be appreciated that embodiments of the present disclosure are directed to systems and methods for providing intersection mitigation for vehicles that eliminate or substantially minimize false positive warnings or interventions. More specifically, embodiments of the present disclosure enable intersection mitigation functionality only when a vehicle is within an intersection zone. When a vehicle is not within the intersection zone, intersection functionality, such as traffic light functionality or cross traffic functionality, is disabled. This prevents erroneous messages, warnings, and / or interventions from occurring when a vehicle is not near an intersection. To further reduce false positives, embodiments employ logic for determining when to generate a message, generate a warning, or generate an intervention.

[0050] It should be noted that the terms "substantially" and "about" may be used herein to express the degree of inherent uncertainty that may result from any quantitative comparison, value, measurement, or other representation. These terms are also used herein to express the degree to which a quantitative representation may vary from the stated basis without resulting in a change in the basic functionality of the subject matter at issue.

[0051] While particular embodiments have been shown and described herein, it should be understood that various other changes and modifications can be made without departing from the spirit and scope of the claimed subject matter. Moreover, although various aspects of the claimed subject matter are described herein, such aspects need not be utilized in combination. Accordingly, the appended claims are intended to cover all such changes and modifications that are within the scope of the claimed subject matter.

Claims

1. 1. A method of providing intersection mitigation for a vehicle, the method comprising: receiving vehicle location data; comparing the vehicle location data with map data, the map data comprising a plurality of intersection zones, each intersection zone including an intersection between two or more roads; disabling mitigation features for one or more intersections when the vehicle location data indicates that the vehicle is outside an intersection zone of the plurality of intersection zones; enabling a mitigation function for the one or more intersections when the vehicle location data indicates that the vehicle is within an intersection zone of the plurality of intersection zones; A method comprising:

2. The method of claim 1 , wherein each intersection zone is defined by a radius surrounding a particular intersection.

3. The method of claim 1 , wherein the one or more intersection mitigation features comprise one or more of a traffic light mitigation feature and a cross traffic mitigation feature.

4. The method of claim 3 , wherein the traffic light mitigation function is operable to provide one or more of a notification message, a warning, and an intervention.

5. the notification message comprises a visual message displayed on an electronic display; the alert comprises the visual message displayed on the electronic display, and one or more of an audio alert and tactile feedback; The method of claim 4 , wherein the intervention includes autonomously applying brakes to the vehicle.

6. 10. The method of claim 1, wherein the one or more intersection mitigation functions comprise traffic light mitigation functions, the method further comprising: receiving sensor data indicating a traffic light status; and, if the vehicle location data indicates that the vehicle is within an intersection zone, issuing a traffic light notification message when the status of the traffic light is red or yellow.

7. The one or more intersection mitigation functions comprise a traffic light mitigation function, and the method includes receiving sensor data indicative of a traffic light status, and if the vehicle location data indicates that the vehicle is within an intersection zone, performing one of the following: that the vehicle is currently applying an intervention; and The vehicle is not currently applying an intervention, the violation confidence level is above a threshold, and the status of the traffic light is red or yellow. and issuing a traffic light warning when one or more of the following is true:

8. The method of claim 7 , wherein the violation confidence is based on a required stopping position, a current state of the vehicle, and a final intervention time determined by dynamic limitations of the vehicle.

9. and wherein the one or more intersection mitigation functions comprise a traffic light mitigation function, the method including receiving sensor data indicative of a traffic light status; and, if the vehicle location data indicates that the vehicle is within an intersection zone, when the vehicle is not currently intervening and the driver of the vehicle is not accelerating the vehicle, the traffic light status is red or yellow, and an amount of braking to stop at the intersection is within vehicle capability. When the driver is not applying the brake pedal, When the violation reliability is above a first threshold and the driver is actuating the brake pedal, when the violation confidence level is above a second threshold that is greater than the first threshold; and when the violation confidence level is greater than the first threshold and less than the second threshold, and the amount of braking to stop at the intersection is less than a braking threshold; The method of claim 1 , further comprising: applying an intervention.

10. 2. The method of claim 1, wherein the one or more intersection mitigation functions comprise cross-traffic mitigation functions, the method further comprising: receiving sensor data indicative of an obstacle in a lane of the vehicle; and, if the vehicle location data indicates the vehicle is in an intersection zone, applying intervention when an amount of braking to stop ahead of the obstacle is within vehicle capability, a collision reliability is greater than a threshold, and the obstacle overlaps the lane of the vehicle by a threshold amount.

11. A vehicle, A location sensor; one or more processors; a memory storing instructions; wherein the instructions, when executed by the one or more processors, cause the one or more processors to: receiving vehicle location data from the location sensor; comparing the vehicle location data with map data, the map data comprising a plurality of intersection zones, each intersection zone including an intersection between two or more roads; Disabling mitigation features for one or more intersections when the vehicle location data indicates that the vehicle is outside an intersection zone of the plurality of intersection zones; enabling a mitigation function for the one or more intersections when the vehicle location data indicates that the vehicle is within an intersection zone of the plurality of intersection zones; vehicle.

12. 12. The vehicle of claim 11, wherein each intersection zone is defined by a radius surrounding a respective intersection.

13. The vehicle of claim 11 , wherein the one or more intersection mitigation features comprise one or more of a traffic light mitigation feature and a cross traffic mitigation feature.

14. The vehicle of claim 13 , wherein the traffic light mitigation function is operable to provide one or more of a notification message, a warning, and an intervention.

15. the notification message comprises a visual message displayed on an electronic display of the vehicle; the warning comprises the visual message displayed on the electronic display, and one or more of an audio warning generated by an audio device of the vehicle and a haptic feedback generated by a haptic actuator of the vehicle; The vehicle of claim 14 , wherein the intervention includes autonomously applying brakes to the vehicle.

16. 12. The vehicle of claim 11, wherein the one or more intersection mitigation functions comprise traffic light mitigation functions, the method further comprising: receiving sensor data indicative of a traffic light status; and, if the vehicle location data indicates that the vehicle is within an intersection zone, issuing a traffic light notification message when the status of the traffic light is red or yellow.

17. The one or more intersection mitigation functions comprise a traffic light mitigation function, and the method includes receiving sensor data indicative of a traffic light status; and if the vehicle location data indicates that the vehicle is within an intersection zone, performing one of the following: that the vehicle is currently applying an intervention; and The vehicle is not currently applying an intervention, the violation confidence level is above a threshold, and the status of the traffic light is red or yellow; and issuing a traffic light warning when one or more of the following is true:

18. 18. The vehicle of claim 17, wherein the violation confidence is based on a required stopping position, a current state of the vehicle, and a final intervention time determined by dynamic limitations of the vehicle.

19. The one or more intersection mitigation functions include a traffic light mitigation function, and the method includes receiving sensor data indicating a traffic light status; and if the vehicle location data indicates the vehicle is within an intersection zone, when the vehicle is not currently intervening and the driver of the vehicle is not accelerating the vehicle, the traffic light status is red or yellow, and an amount of braking to stop at the intersection is within vehicle capability. When the driver is not applying the brake pedal, When the violation reliability is above a first threshold and the driver is actuating the brake pedal, when the violation confidence level is above a second threshold that is greater than the first threshold; and when the violation confidence level is greater than the first threshold and less than the second threshold, and the amount of braking to stop at the intersection is less than a braking threshold; and applying an intervention.

20. 12. The vehicle of claim 11, wherein the one or more intersection mitigation functions comprise cross-traffic mitigation functions, the method further comprising: receiving sensor data indicative of an obstacle in a lane of the vehicle; and, if the vehicle location data indicates the vehicle is in an intersection zone, applying an intervention when an amount of braking to stop ahead of the obstacle is within vehicle capability, a collision reliability is greater than a threshold, and the obstacle overlaps the lane of the vehicle by a threshold amount.

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