Method of automatically controlling an autonomous vehicle based on electronic messages from roadside infrastructure or other vehicles

Abstract

A method of operating a vehicle, such as an autonomous vehicle, includes the steps of receiving a message from roadside infrastructure via an electronic receiver and providing, by a computer system in communication with said electronic receiver, instructions based on the message to automatically implement countermeasure behavior by a vehicle system. Additionally or alternatively, the method may include the steps of receiving a message from another vehicle via an electronic receiver and providing, by a computer system in communication with said electronic receiver, instructions based on the message to automatically implement countermeasure behavior by a vehicle system.

1 . A method of operating a vehicle, comprising the steps of:
 receiving a message sent from roadside infrastructure, said message received via an electronic receiver of a vehicle; and   providing, by a computer system in communication with said electronic receiver, instructions based on the message to automatically implement countermeasure behavior by a vehicle system used to operate the vehicle.   
     
     
         2 . The method of operating a vehicle according to  claim 1 , wherein the roadside infrastructure is a traffic signaling device and data contained in the message includes a device location, a signal phase, and a phase timing, wherein the vehicle system includes a braking system, and wherein the step of providing instructions includes the sub-steps of:
 determining a vehicle speed of the vehicle;   determining the signal phase in a current vehicle path of the vehicle;   determining a distance between the vehicle and the device location; and   providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the vehicle speed, the signal phase of the current vehicle path, and the distance between the vehicle and the device location.   
     
     
         3 . The method of operating a vehicle according to  claim 1 , wherein the roadside infrastructure is a construction zone warning device and data contained in the message includes information selected from the group of: a zone location, a zone direction, a zone length, a zone speed limit, and lane closures, wherein the vehicle system includes a steering system, and a powertrain system, and wherein the step of providing instructions includes
 determining a vehicle speed of the vehicle;   determining a lateral vehicle location of the vehicle within a roadway;   determining a distance between the vehicle and the zone location;   determining a steering angle based on the lane closures, and the distance between the vehicle and the zone location;   providing, by the computer system, instructions to the steering system to adjust a vehicle path based on the steering angle; and   providing, by the computer system, instructions to the powertrain system to adjust the vehicle speed so that the vehicle speed is less than or equal to the zone speed limit.   
     
     
         4 . The method of operating a vehicle according to  claim 1 , wherein the roadside infrastructure is a stop sign and data contained in the message includes sign location and stop direction, wherein the vehicle system includes a braking system, and wherein the step of providing instructions includes
 determining vehicle speed of the vehicle;   determining the stop direction of a current vehicle path;   determining a distance between the vehicle and the sign location; and   providing, by the computer system, instructions to the braking system to apply vehicle brakes based on a vehicle speed, the stop direction of the current vehicle path, and the distance between the vehicle and the sign location.   
     
     
         5 . The method of operating a vehicle according to  claim 1 , wherein the roadside infrastructure is a railroad crossing warning device and data contained in the message includes device location and warning state, wherein the vehicle system includes a braking system, and wherein the step of providing instructions includes
 determining vehicle speed of the vehicle;   determining the warning state;   determining a distance between the vehicle and the device location; and   providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the vehicle speed, warning state, and the distance between the vehicle and the device location.   
     
     
         6 . The method of operating a vehicle according to  claim 1 , wherein the roadside infrastructure is an animal crossing zone warning device and data contained in the message includes zone location, zone direction, and zone length, wherein the vehicle system includes a forward looking sensor, and wherein the step of providing instructions includes
 providing, by the computer system, instructions to the forward looking sensor to widen a field of view so as to include at least both road shoulders within the field of view.   
     
     
         7 . The method of operating a vehicle according to  claim 1 , wherein the roadside infrastructure is a pedestrian crossing warning device and data contained in the message includes crossing location and warning state, wherein the vehicle system includes a braking system and a forward looking sensor, and wherein the step of providing instructions includes
 providing, by the computer system, instructions to the forward looking sensor to widen a field of view so as to include at least both road shoulders within the field of view;   determining vehicle speed of the vehicle;   determining a distance between the vehicle and the crossing location; and   providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the vehicle speed, warning state, and the distance between the vehicle and the crossing location.   
     
     
         8 . The method of operating a vehicle according to  claim 1 , wherein the roadside infrastructure is a school crossing warning device and data contained in the message includes device location and warning state, wherein the vehicle system includes a braking system, and wherein the step of providing instructions includes
 determining vehicle speed of the vehicle;   determining a lateral location of the device location within a roadway;   determining a distance between the vehicle and the device location; and   providing, by the computer system, instructions to the braking system to apply vehicle brakes based on data selected from the group consisting of: a vehicle speed, the lateral location, the warning state, and the distance between the vehicle and the device location.   
     
     
         9 . The method of operating a vehicle according to  claim 1 , wherein the roadside infrastructure is a lane direction indicating device and data contained in the message includes a lane location and a lane direction, wherein the vehicle system includes a roadway mapping system, and wherein the step of providing instructions includes the sub-step of:
 providing, by the computer system, instructions to the roadway mapping system to dynamically update the roadway mapping system's lane direction information.   
     
     
         10 . The method of operating a vehicle according to  claim 1 , wherein the roadside infrastructure is a speed limiting device and data contained in the message includes a speed zone location, a speed zone direction, a speed zone length, and a zone speed limit, wherein the vehicle system includes a powertrain system, and wherein the step of providing instructions includes
 determining a vehicle speed of the vehicle;   determining a distance between the vehicle location and the speed zone location; and   providing, by the computer system, instructions to the powertrain system to adjust the vehicle speed so that the vehicle speed is less than or equal to the zone speed limit.   
     
     
         11 . The method of operating a vehicle according to  claim 1 , wherein the roadside infrastructure is a no passing zone device and data contained in the message includes a no passing zone location, a no passing zone direction, and a no passing zone length wherein the vehicle system includes a powertrain system, a forward looking sensor, and a braking system, and wherein the step of providing instructions includes
 detecting another vehicle ahead of the vehicle via the forward looking sensor;   determining a vehicle speed of the vehicle;   determining an another vehicle speed and a distance between the vehicle and the another vehicle;   determine a safe passing distance for overtaking the another vehicle;   determining a distance between the vehicle and the no passing zone location;   providing, by the computer system, instructions to the powertrain system to adjust the vehicle speed so that the speed differential is less than or equal to zero when the safe passing distance would end within the no passing zone; and   providing, by the computer system, instructions to the braking system to adjust the vehicle speed so that the vehicle speed is less than or equal to the another vehicle speed when the safe passing distance would end within the no passing zone.   
     
     
         12 . A method of operating a vehicle, comprising the steps of:
 receiving a message sent from another vehicle, said message received via an electronic receiver of a vehicle; and   providing, by a computer system in communication with said electronic receiver, instructions based on the message to automatically implement countermeasure behavior by a vehicle system used to operate the vehicle.   
     
     
         13 . The method of operating a vehicle according to  claim 12 , wherein the another vehicle is a school bus and data contained in the message includes school bus location and stop signal status, wherein the vehicle system includes a braking system, and wherein the step of providing instructions includes
 determining a vehicle speed of the vehicle;   determining the stop signal status;   determining a distance between the vehicle and the school bus location; and   providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the vehicle speed, the stop signal status, and the distance between the vehicle and the school bus location.   
     
     
         14 . The method of operating a vehicle according to  claim 12 , wherein the another vehicle is a maintenance vehicle and data contained in the message includes maintenance vehicle location and safe following distance, the vehicle system includes a powertrain system and a braking system, and wherein the step of providing instructions includes
 determining a distance between the vehicle and the maintenance vehicle location;   determining a difference between the safe following distance and the distance between the vehicle and the maintenance vehicle location;   providing, by the computer system, instructions to the braking system to apply vehicle brakes when the difference is less than zero; and   providing, by the computer system, instructions to the powertrain system to adjust a vehicle speed so that the difference is less than or equal to zero.   
     
     
         15 . The method of operating a vehicle according to  claim 12 , wherein the another vehicle is an emergency vehicle and data contained in the message includes information selected from the group consisting of: an emergency vehicle location, an emergency vehicle speed, and a warning light status, wherein the vehicle system includes a braking system, a steering system, a forward looking sensor, and a powertrain system, and wherein the step of providing instructions includes
 determining a distance between the vehicle and the emergency vehicle;   determine a location of an unobstructed portion of a road shoulder via the forward looking sensor based on the distance between the vehicle and the emergency vehicle, the emergency vehicle speed, and warning light status;   providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the distance between the vehicle and the emergency vehicle, the emergency vehicle speed, and the location of the unobstructed portion of the road shoulder;   determining a steering angle based on the distance between the vehicle and the emergency vehicle, the emergency vehicle speed, and the location of the unobstructed portion of the road shoulder;   providing, by the computer system, instructions to the steering system to adjust a vehicle path based on the steering angle; and   providing, by the computer system, instructions to the powertrain system to adjust a vehicle speed based on the distance between the vehicle and the emergency vehicle, the emergency vehicle speed, and the location of the unobstructed portion of the road shoulder.