Vehicle-to-everything communication-based lane change collision avoidance warning

A system included in an ego vehicle, the system comprising:

• a processor communicatively coupled to an autonomous driving system, a Vehicle-to-Everything (V2X) radio, and a non-transitory memory, wherein the V2X radio is operable to receive a V2X message and the non-transitory memory stores computer code that is operable, when executed by the processor, to cause the processor to:
• determine, based on remote data that describes sensor measurements for a remote vehicle that are described in a Vehicle-to-Everything (V2X) message originated by the remote vehicle, that the remote vehicle is changing lanes to a target lane at a target time, wherein the remote data includes one or more of a turning direction for a turn signal of the remote vehicle when the turn signal is engaged or a change in a steering wheel angle of the remote vehicle over time;
• determine that the ego vehicle is changing lanes to the target lane at the target time;
• estimate that the ego vehicle and the remote vehicle will collide at the target lane at the target time;
• and
• modify, with the autonomous driving system, a steering wheel of the ego vehicle so that the ego vehicle does not change lanes to the target lane at the target time wherein this modification is based on the determination that the ego vehicle is changing lanes to the target lane at the target time and the estimation that the ego vehicle and the remote vehicle will collide at the target lane at the target time.

A computer program product comprising instructions that, when executed by a processor of an ego vehicle including an autonomous driving system, causes the processor to perform operations comprising:

• determining, based on remote data that describes sensor measurements for a remote vehicle that are described in a Vehicle-to-Everything (V2X) message originated by the remote vehicle, that the remote vehicle is changing lanes to a target lane at a target time, wherein the remote data includes one or more of a turning direction for a turn signal of the remote vehicle when the turn signal is engaged or a change in a steering wheel angle of the remote vehicle over time;
• determining that the ego vehicle is changing lanes to the target lane at the target time;
• estimating that the ego vehicle and the remote vehicle will collide at the target lane at the target time;
• and
• modifying, with the autonomous driving system, a steering wheel of the ego vehicle so that the ego vehicle does not change lanes to the target lane at the target time wherein the modifying is based on the determination that the ego vehicle is changing lanes to the target lane at the target time and the estimating that the ego vehicle and the remote vehicle will collide at the target lane at the target time.