US 12,469,388 B2
Path prediction based on intersection information from map messages
Dhyana Ramamurthy, Novi, MI (US); Aaron Weinfield, Encinitas, CA (US); Brian Gallagher, Carlsbad, CA (US); and Susan Graham, Solana Beach, CA (US)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Mar. 31, 2022, as Appl. No. 17/710,256.
Prior Publication US 2023/0316912 A1, Oct. 5, 2023
Int. Cl. G08G 1/0967 (2006.01); G08G 1/01 (2006.01); G08G 1/052 (2006.01); G08G 1/16 (2006.01)
CPC G08G 1/096783 (2013.01) [G08G 1/0116 (2013.01); G08G 1/052 (2013.01); G08G 1/161 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A path prediction system comprising:
a transceiver configured to receive a map message at a host vehicle, the map message comprising path information of vehicles through an intersection;
a memory configured to store map data including global navigation satellite system information; and
a control module configured to (i) based on the map data, determine if the host vehicle is within a predetermined distance of the intersection, at an entry point of the intersection, or within the intersection, (ii) in response to determining that the host vehicle is approaching within the predetermined distance of the intersection, at the entry point of the intersection, or within the intersection, predict a path of the host vehicle through the intersection based on the path information, (iii) predict the path of the host vehicle through the intersection based on at least one of a node list or a radius of curvature of a previous path of either the host vehicle or another vehicle, the node list being a list of point locations of either the host vehicle or the another vehicle along the previous path, and iv) autonomously drive the host vehicle based on the predicted path of the host vehicle through the intersection,
wherein the control module is configured to at least one of
i) determine whether the map data includes at least one of a node list or a radius of curvature of each of a plurality of vehicle paths through the intersection, and, in response to the map data not including the at least one of the node list or the radius of curvature of each of the plurality of vehicle paths through the intersection, predict the path of the host vehicle based on at least one of speed or yaw rate of the host vehicle, and
ii) determine whether the host vehicle has left the intersection, and (ii) in response to the host vehicle having left the intersection, transition from predicting the path of the host vehicle based on the map data to predicting the path of the host vehicle based on at least one of speed or yaw rate of the host vehicle.