# US 10,504,367 B2 · Navigation assisted collision avoidance at intersections > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,504,367 B2 - Document ID: US10504367B2 - Status: Granted - Kind: B2 - Application number: 15/495,779 - Filed: 2017-04-24 - Published: 2018-10-25 - Granted: 2019-12-10 - Earliest claimed: 2017-04-24 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Sagar Kumar Regmi - Web page: https://patentgrep.com/patent/US10504367B2 ## CPC - G08G 1/162: {event-triggered} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 40/04: Traffic conditions - G08G 1/0965: responding to signals from another vehicle, e.g. emergency vehicle - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract According to one embodiment, a vehicle may include a turn signal status component, communication component, and a maneuver component. The turn signal status component detects an active turn signal indicator on a target vehicle. The communication component receives a wireless communication indicating an intended turning maneuver of the target vehicle. The maneuver component determines a maneuver for the parent vehicle or a timing for the maneuver based at least in-part on the intended turning maneuver. ## Claims ### Claim 1 A computer implemented method comprising: detecting an active turn signal indicator on a target vehicle; determining whether a collision is possible between a parent vehicle and the target vehicle; in response to determining that a collision is possible, sending a vehicle-to-vehicle probe request to the target vehicle to determine an intended turning maneuver of the target vehicle; receiving a wireless communication from the target vehicle indicating the intended turning maneuver of the target vehicle; and determining a maneuver for the parent vehicle or a timing for the maneuver based at least in-part on the intended turning maneuver. ### Claim 2 (depends on 1) The method of claim 1, wherein the determining whether a collision is possible comprises determining a likelihood that a driving path of the target vehicle will cross or pass within a predefined distance of a driving path of the parent vehicle. ### Claim 3 (depends on 1) The method of claim 1, wherein the active turn signal indicator on the target vehicle is a left turn signal, and wherein the vehicle-to-vehicle probe request seeks an indication whether the target vehicle intends to perform a left turn or a U-turn. ### Claim 4 (depends on 3) The method of claim 3, wherein, in response to the intended turning maneuver being a U-turn, the maneuver for the parent vehicle comprises one or more of decreasing speed of the parent vehicle or providing space for the target vehicle to complete the U-turn. ### Claim 5 (depends on 1) The method of claim 1, wherein detecting the active turn signal indicator comprises detecting the active turn signal based on an image or a series of images of the target vehicle. ### Claim 6 (depends on 1) The method of claim 1, further comprising providing an indication of the intended turning maneuver to a human driver or to a driving system of the parent vehicle. ### Claim 7 (depends on 1) The method of claim 1, wherein the indication of the intended turning maneuver comprises an indication of one or more of an intersection, a roadway, driveway, or parking lot from a navigation system of the target vehicle. ### Claim 8 (depends on 1) The method of claim 1, wherein determining whether a collision is possible comprises determining based on the active turn signal indicator on the target vehicle and an active turn signal indicator on the parent vehicle. ### Claim 9 (depends on 1) The method of claim 1, wherein the indication of the intended turning maneuver comprises an indication of an intended traffic circle exit. ### Claim 10 A system comprising: a turn signal status component configured to detect an active turn signal indicator on a target vehicle; a path component configured to determine whether a collision is possible between a parent vehicle and the target vehicle; a communication component configured to: in response to the path component determining that a collision is possible, send a vehicle-to-vehicle probe request to the target vehicle to determine an intended turning maneuver of the target vehicle; and receive a wireless communication from the target vehicle indicating the intended turning maneuver of the target vehicle; and a maneuver component configured to determine a maneuver for the parent vehicle or a timing for the maneuver based at least in-part on the intended turning maneuver. ### Claim 11 (depends on 10) The system of claim 10, wherein the path component is configured to determine whether a collision is possible by determining a likelihood that a driving path of the target vehicle will cross or pass within a predefined distance of a driving path of the parent vehicle. ### Claim 12 (depends on 10) The system of claim 10, wherein the active turn signal indicator on the target vehicle is a left turn signal, and wherein the vehicle-to-vehicle probe request seeks an indication whether the target vehicle intends to perform a left turn or a U-turn. ### Claim 13 (depends on 12) The system of claim 12, wherein, in response to the intended turning maneuver being a U-turn, the maneuver for the parent vehicle comprises one or more of decreasing speed of the parent vehicle or providing space for the target vehicle to complete the U-turn. ### Claim 14 (depends on 10) The system of claim 10, wherein the turn signal status component detects the active turn signal indicator based on an image or a series of images of the target vehicle. ### Claim 15 (depends on 10) The system of claim 10, further comprising a notification component configured to provide an indication of the intended turning maneuver to a human driver or to a driving system of the parent vehicle. ### Claim 16 (depends on 10) The system of claim 10, wherein the indication of the intended turning maneuver comprises one or more of: an indication of a location of one or more of an intersection, a roadway, driveway, or parking lot from a navigation system of the target vehicle; an indication of an intended U-turn maneuver; or an indication of an intended traffic circle exit location. ### Claim 17 Non-transitory computer readable storage media storing instructions that, when executed by one or more processors, cause the one or more processors to: determine that a turn signal indicator of a parent vehicle is active; detect an active turn signal indicator on a target vehicle; determine, based on an active route of a navigation system of the parent vehicle, an intended turning maneuver of the parent vehicle; determine, based on the active turn signal indicator on the target vehicle and the intended turning maneuver of the parent vehicle, whether a collision is possible between the parent vehicle and the target vehicle; in response to determining that a collision is possible, send a vehicle-to-vehicle probe request to the target vehicle to determine an intended turning maneuver of the target vehicle; and transmit a message indicating the intended turning maneuver of the parent vehicle for receipt by proximal vehicles in response to the turn signal indicator of the parent vehicle being active. ### Claim 18 (depends on 17) The computer readable storage media of claim 17, wherein the instructions cause the one or more processors to receive and process a signal from the target vehicle requesting the intended turning maneuver of the target vehicle, wherein transmitting the message indicating the intended turning maneuver of the parent vehicle comprises transmitting in response to receiving the signal from the target vehicle requesting the intended turning maneuver of the target vehicle. ### Claim 19 (depends on 17) The computer readable storage media of claim 17, wherein the instructions further cause the one or more processors to determine a driving maneuver for the parent vehicle based at least in part on the signal from the target vehicle requesting the intended turning maneuver of the target vehicle. ### Claim 20 (depends on 17) The computer readable storage media of claim 17, wherein the instructions cause the one or more processors to transmit the message indicating the intended turning maneuver of the parent vehicle, the message comprising one or more of: an indication of one or more of an intersection, a roadway, driveway, or parking lot in the active route of the navigation system; an indication of an intended U-turn maneuver; or an indication of an intended traffic circle exit.