# US 10,769,952 B2 · Turn assist system and method using dedicated short-range communications

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- Number: US 10,769,952 B2
- Document ID: US10769952B2
- Status: Granted
- Kind: B2
- Application number: 15/794,099
- Filed: 2017-10-26
- Published: 2019-05-02
- Granted: 2020-09-08
- Earliest claimed: 2017-10-26
- Assignees: DENSO International America, Inc.
- Applicants: DENSO International America, Inc.
- Inventors: Susan Graham
- Web page: https://patentgrep.com/patent/US10769952B2

## CPC

- G08G 1/162: {event-triggered}
- B60Q 9/008: {for anti-collision purposes}
- G08G 1/0965: responding to signals from another vehicle, e.g. emergency vehicle
- G08G 1/096791: {where the origin of the information is another vehicle}
- G08G 1/163: {involving continuous checking}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- B60W 2556/65: Data transmitted between vehicles
- 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})
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- 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

A turn assist system includes a receiver of a primary vehicle that receives travel path data of a remote vehicle. A lane tracking module determines, based on the travel path data of the remote vehicle, whether the remote vehicle will enter an intersection in a nearest lane to the primary vehicle when the primary vehicle is at the intersection in a crossing lane and waiting to enter the intersection into the nearest lane. The determination includes determining whether the remote vehicle will change lanes. The nearest lane is a lane of a multilane road that is closest to the primary vehicle while located in the crossing lane. An alert module notifies a driver of the primary vehicle, in response to the lane tracking module determining that the remote vehicle will enter the intersection in the nearest lane, that it is unsafe to make a turn at the intersection.

## Claims

### Claim 1

A turn assist system comprising:
a receiver of a primary vehicle configured to receive travel path data of a remote vehicle transmitted by the remote vehicle and map coordinates for a plurality of lanes of a multilane road transmitted by roadside equipment located at an intersection;
a lane tracking module of the primary vehicle configured to, based on the travel path data of the remote vehicle and based on the map coordinates of the plurality of lanes, determine which lane of the multilane road the remote vehicle will be in when the primary vehicle will enter the intersection and determine whether the remote vehicle will be in the intersection in a nearest lane, of the plurality of lanes, to the primary vehicle when the primary vehicle will enter the intersection, while the primary vehicle is at the intersection in a crossing lane and waiting to enter the intersection into the nearest lane, the nearest lane being a lane of the plurality of lanes of the multilane road that is closest to the primary vehicle while located in the crossing lane; and
an alert module of the primary vehicle configured to, based on a result of the determination performed by the lane tracking module, notify a driver of the primary vehicle that it is unsafe to make a turn at the intersection, in response to determining that the remote vehicle will enter the intersection in the nearest lane,
wherein:
determining whether the remote vehicle will enter the intersection in the nearest lane includes determining whether the remote vehicle will change lanes prior to entering the intersection,
the primary vehicle is traveling in a first direction,
the remote vehicle is traveling in a second direction, and
the first direction is not parallel to the second direction.

### Claim 2 (depends on 1)

The turn assist system of claim 1, wherein:
the remote vehicle is approaching the primary vehicle from a left side of the primary vehicle; and
the alert module is configured to alert the driver of the primary vehicle that it is unsafe to make a right turn at the intersection.

### Claim 3 (depends on 1)

The turn assist system of claim 1, wherein:
the remote vehicle is approaching the primary vehicle from a right side of the primary vehicle; and
the alert module is configured to alert the driver of the primary vehicle that it is unsafe to make a left turn at the intersection.

### Claim 4 (depends on 1)

The turn assist system of claim 1, wherein the receiver of the primary vehicle is a dedicated short-range communication (DSRC) module configured to receive the travel path data of the remote vehicle transmitted by DSRC.

### Claim 5 (depends on 1)

The turn assist system of claim 1, wherein the travel path data includes at least one of:
a path prediction of the remote vehicle;
a current position of the remote vehicle;
a speed of the remote vehicle;
a heading of the remote vehicle;
a yaw rate of the remote vehicle; and
a status of exterior lights of the remote vehicle.

### Claim 6 (depends on 1)

The turn assist system of claim 1, wherein the receiver of the primary vehicle is configured to receive a safety message from the roadside equipment.

### Claim 7 (depends on 6)

The turn assist system of claim 6, wherein the safety message includes the map coordinates for the plurality of lanes, including the nearest lane.

### Claim 8 (depends on 1)

The turn assist system of claim 1, further comprising:
a global positioning system or global navigation satellite system that communicates with the lane tracking module to provide a position of the primary vehicle.

### Claim 9 (depends on 1)

The turn assist system of claim 1, wherein notifying the driver includes at least one of:
producing an audio alert; and
producing a visual alert.

### Claim 10 (depends on 9)

The turn assist system of claim 9, wherein an intensity of the audio alert is (i) directly proportional to a speed of the remote vehicle and (ii) inversely proportional to a distance between the primary vehicle and the remote vehicle.

### Claim 11

A method comprising:
receiving, by a primary vehicle, travel path data of a remote vehicle transmitted by the remote vehicle and map coordinates for a plurality of lanes of a multilane road transmitted by roadside equipment located at an intersection;
determining, based on the travel path data of the remote vehicle and based on the map coordinates of the plurality of lanes, which lane of the multilane road the remote vehicle will be in when the primary vehicle will enter the intersection and whether the remote vehicle will be in the intersection in a nearest lane, of the plurality of lanes, to the primary vehicle when the primary vehicle will enter the intersection, while the primary vehicle is at the intersection in a crossing lane and waiting to enter the intersection into the nearest lane, the nearest lane being a lane of the plurality of lanes of the multilane road that is closest to the primary vehicle while located in the crossing lane; and
in response to determining that the remote vehicle will enter the intersection in the nearest lane, notifying a driver of the primary vehicle that it is unsafe to make a turn at the intersection,
wherein:
determining whether the remote vehicle will enter the intersection in the nearest lane includes determining whether the remote vehicle will change lanes prior to entering the intersection,
the primary vehicle is traveling in a first direction,
the remote vehicle is traveling in a second direction, and
the first direction is not parallel to the second direction.

### Claim 12 (depends on 11)

The method of claim 11, wherein:
the remote vehicle is approaching the primary vehicle from a left side of the primary vehicle; and
notifying a driver of the primary vehicle that it is unsafe to make a turn at the intersection includes alerting the driver of the primary vehicle that it is unsafe to make a right turn at the intersection.

### Claim 13 (depends on 11)

The method of claim 11, wherein:
the remote vehicle is approaching the primary vehicle from a right side of the primary vehicle; and
notifying a driver of the primary vehicle that it is unsafe to make a turn at the intersection includes alerting the driver of the primary vehicle that it is unsafe to make a left turn at the intersection.

### Claim 14 (depends on 11)

The method of claim 11, wherein:
the remote vehicle transmits the travel path data by dedicated short-range communication (DSRC); and
receiving, by a primary vehicle, travel path data of a remote vehicle includes receiving the travel path data using DSRC.

### Claim 15 (depends on 11)

The method of claim 11, wherein the travel path data includes at least one of:
a path prediction of the remote vehicle;
a current position of the remote vehicle;
a speed of the remote vehicle;
a heading of the remote vehicle;
a yaw rate of the remote vehicle; and
a status of exterior lights of the remote vehicle.

### Claim 16 (depends on 11)

The method of claim 11, further comprising receiving, by the primary vehicle, a safety message from the roadside equipment.

### Claim 17 (depends on 16)

The method of claim 16, wherein the safety message includes the map coordinates for the plurality of lanes, including the nearest lane.

### Claim 18 (depends on 11)

The method of claim 11, further comprising:
determining, using a global positioning system or global navigation satellite system, a position of the primary vehicle.

### Claim 19 (depends on 11)

The method of claim 11, wherein notifying the driver includes at least one of:
producing an audio alert; and
producing a visual alert.

### Claim 20 (depends on 19)

The method of claim 19, further comprising:
varying an intensity of the audio alert based on (i) a speed of the remote vehicle and (ii) a distance between the primary vehicle and the remote vehicle,
wherein the intensity of the audio alert is (i) directly proportional to the speed of the remote vehicle and (ii) inversely proportional to the distance between the primary vehicle and the remote vehicle.