	US 12,459,534 B2
	System and method for calculating a turn cost for route selection purposes
Donald K. Grimm, Utica, MI (US); and Iain Cameron, LaSalle (CA)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on May 30, 2023, as Appl. No. 18/325,479.
Prior Publication US 2024/0400087 A1, Dec. 5, 2024
Int. Cl. G01C 21/00 (2006.01); B60W 40/10 (2012.01); B60W 60/00 (2020.01); G01C 21/34 (2006.01)

CPC B60W 60/001 (2020.02) [B60W 40/10 (2013.01); G01C 21/3492 (2013.01)]

20 Claims

1. A method for selecting a route along an intersection, comprising:

providing a host vehicle having a controller for receiving map data and vehicle data;

receiving the map data, wherein the map data includes geometric data about the intersection on a road, and an oncoming vehicle is approaching the intersection on the road;

receiving the vehicle telemetry data crowdsourced from a plurality of remote vehicles, wherein the vehicle telemetry data includes speeds of the plurality of remote vehicles traveling along the intersection of the road;

determining a sight distance using the map data;

determining an average vehicle speed along the intersection using the vehicle telemetry data;

determining a time available to navigate through the intersection using the sight distance and the average vehicle speed along the intersection;

determining a time required to navigate the intersection using:

where:

v_limitis speed limit along the intersection;

a_avgis average driveaway acceleration of the host vehicle;

d_acclnis required distance of the host vehicle to achieve v_limitat a_avg;

d_turnis turning distance along the intersection;

t_gapis predetermined time indicating safe travel distance (d_gap) between two vehicles traveling at v_limit;

t_acclnis time it takes the host vehicle to reach an average vehicle speed after it has turned at the intersection;

d_gapis distance from closest remote vehicle to the host vehicle after the host vehicle has turned at the intersection;

d_catchis minimum distance that can be traversed by the closest remote vehicle to the intersection before the host vehicle will impede the remote vehicle's progress;

l_vehicleis length of the host vehicle;

d_offsetis distance from center of the intersection to location of the closest remote vehicle to the host vehicle after the host vehicle has turned at the intersection;

d_{signt_min_regd}is minimum sight distance required;

C_PWRis a predetermined weight coefficient;

C_t2cis a predetermined grade coefficient, which is calculated using map data; and

Time 2 Speed is minimum time required for the host vehicle to accelerate from rest to v_limitwithout disturbing flow of oncoming traffic at the intersection;

determining a ratio between the time available to navigate through the intersection and the time required to navigate the intersection;

determining a cost value of the intersection using the ratio between the time available to navigate through the intersection and the time required to navigate the intersection; and

driving the host vehicle autonomously on a preferred route being generated based on the cost value of the intersection to minimize difficulty of navigating through intersections.