Low Level Function
5.15.3.1 Predict Host Vehicle Trajectory

Overview

This Function shall be capable of providing the following facilities:

(1) The ability to take responsibility for predicting the trajectory of the Host Vehicle, i.e. the Vehicle it which it is operating.
(2) The ability to receive data about how the Host Vehicle is moving and its current location within the carriageway and within the road network.
(3) From this data the ability to predict the immediate forward trajectory of the Host Vehicle, e.g. staying in lane, lane change, overtaking, turning, reversing, stopping and stationary.
(4) The ability to classify whether the predicted immediate forward trajectory of the Vehicle is safe or not.
(5) If the predicted immediate forward trajectory of the Vehicle is found to be unsafe, the ability to send a warning message for output to the Driver.
(6) The ability to also use the data it receives from traffic signals that are relevant to its trajectory showing when red (stop) and green (go) will be displayed to determine whether the Vehicle will run a red light.
(7) If the data received from traffic signals shows that the Vehicle will run a red light, the ability to send a warning for output to the Driver of the Host Vehicle and also to Other Vehicles for output to their Drivers.

Functional Requirements

(a) continuously monitor for the receipt of any of the input data flows
(b) when the vehicle location for trajectory data flow is received in (a) store its contents locally for use in (e), (i) and (j)
(c) when the vehicle data for trajectory data flow in (a) is received, determine the immediate forward trajectory of the host vehicle and its likely action, e.g. stop, turn left or right, change lane, overtake and store it for future use in (d), (e), (i), (j) and (k)
(d) send the result of (c) to the Classify Host Vehicle Driver Behaviour function in the vehicle trajectory for driver behaviour data flow
(e) when the s&g in-vehicle data for red light warning data flow is received in (a), use the data in (c) to calculate if and when the host vehicle will run through a red light based on the vehicle location data received in (b) and ignoring any red lights at traffic signals not in its immediate forward trajectory
(f) if the answer to (e) is that the vehicle will run through a red light send the red light running warning data flow to the Provide Vehicle Trajectory Information to Driver function and the host vehicle red light running data flow to the Provide V2V Communications function for transmission to other Vehicles in the area
(g) the calculation in (e) shall be repeated to find out what advice should be give to the driver in terms of lane and speed for the minimum of delay to be experienced at the next set of traffic signals that the vehicle encounters using its current forward trajectory and speed
(h) send the results from (g) to the Provide Vehicle Trajectory Information to Driver function in the traffic signal advisory message data flow
(i) if the result of (c) is that the vehicle is about to depart from the lane that it is occupying, send the host vehicle lane departure warning data flow to the Provide Vehicle Trajectory Information to Driver function, the roadside vehicle lane departure warning data flow to the Output Commands & Information to Urban Roads function and the other vehicle lane departure warning data flow to the Provide V2V Communications function
(j) use the data from (b) and (c) to determine if the host vehicle is about to enter a curve that has been classified as a black spot for that category of vehicle, and send suitable action(s) for the driver take in the road curve ahead warning data flow to the Provide Vehicle Trajectory Information to Driver function
(k) also use the data from (b) and (c) to determine if the host vehicle is being driven the wrong way down the carriageway that it is occupying, i.e. it is a "ghost driver"
(l) if the result of (k) is that the host vehicle is a "ghost driver", put data for a warning message to be output to the driver in the host vehicle with advice on the actions the driver must take into the ghost driving warning data flow and send it to the Provide Vehicle Trajectory Information to Driver function
(m) if the result of (c) is that the host vehicle is about to change lanes check the other vehicle trajectory for host vehicle data flow received in (a) to see if the manoeuvre will cause conflict with another vehicle, e.g. overtaking one vehicle will cause the host vehicle to move into the path of an on- coming vehicle in the carriageway/lane being used for the overtaking
(n) if the result of (m) is that the host vehicle will move into the carriageway/lane that is occupied by an approaching vehicle, send data for a warning message to the driver in the un-safe overtaking manoeuvre warning data flow to the Provide Vehicle Trajectory Information to Driver function and to the other vehicle in the un-safe overtaking warning for other vehicle data flow to the Provide V2V Communications function.

Diagrams

The Diagram(s) is (are) the diagram(s) where you can find the function :
  • DFD 5.15.3 Determine Host Vehicle Situation
  • Functional Tree of Area 5

    • Parent Higher Level Function

    Input logical dataflows

    Output logical dataflows

    User needs

    Number

    Description

    7.4.1.22
    Hazard Detection - The system shall enable the host vehicle to send information about its own safety behaviour (i.e. whether or not the vehicle was being driven in an unsafe manner, e.g. excessive speeding, swapping of lanes, overtaking, driver inattention) to a road-side device.
    7.4.1.39
    Hazardous Location Notification - The system shall be able to warn the driver, via an in-vehicle device, that the host vehicle is about to enter a curve that has been classified as a black spot for that category of vehicle, and recommend a suitable speed and trajectory.
    7.4.2.2
    The system shall be able to warn drivers in a timely manner of self-reporting ghost drivers via an in-vehicle display.
    7.4.2.3
    The system shall be able to detect that the host vehicle is travelling in the wrong direction along a “one-way” road (i.e. a ghost driver), and warn/advise that driver to correct the situation.
    7.4.2.4
    The system shall be able to detect that a vehicle is overtaking (i.e. in the wrong lane) on a two-lane road and that there is another vehicle approaching in that lane, and provide a warning to the drivers of both vehicles via their in-vehicle devices.
    7.4.6.10
    The system shall be able to compare the current trajectory of a vehicle with the road geometry and send a warning to the drivers of other vehicles that might be affected, via a road-side device, that an oncoming vehicle lane departure into their lane is imminent.
    7.4.6.11
    The system shall be able to warn the driver, via an in-vehicle device, that another equipped vehicle is approaching the host vehicle from the front and in the same (partial) lane.
    7.4.6.12
    The system shall be able to warn the driver, via an in-vehicle device, that another equipped vehicle is approaching the host vehicle from the rear in the same (partial) lane and, when possible, provide advice, e.g. change to a safe adjacent lane, accelerate.
    7.4.6.13
    The system shall be able to warn the driver, via an in-vehicle device, that a slower equipped vehicle is ahead of the host vehicle and in the same (partial) lane and, when possible, provide advice, e.g. change to a safe adjacent lane, decelerate, brake.
    7.4.6.14
    The system shall be able to warn the driver, via an in-vehicle device, that there is a stationary object ahead of the host vehicle and in the same (partial) lane and, when possible, provide advice, e.g. change to a safe adjacent lane, brake.
    7.4.6.16
    The system shall be able to calculate the current and future trajectories of each vehicle and VRU approaching the host vehicle at an urban intersection and assess the potential for collisions with the host vehicle.
    7.4.6.17
    The system shall be able to warn the driver of the host vehicle, via an in-vehicle device, of any collisions that could occur with other vehicles and/or VRU that are approaching an urban intersection.
    7.4.6.18
    The system shall be able to use a road-side device to warn drivers of any collisions that could occur with other vehicles and/or VRU that are approaching an urban intersection.
    7.4.6.19
    The system shall be able to calculate the trajectory of each vehicles and VRU approaching a T-junction, predict their future trajectories, assess potential conflicts and advise the driver on the minor road when to exit and join the main road.
    7.4.6.2
    The system shall be able to determine that there is a high probability of a collision between the host vehicle and another vehicle.
    7.4.6.20
    The system shall be able to receive the status of traffic signals/signs that the host vehicle is approaching.
    7.4.6.21
    The system shall be able to provide advice to the driver approaching a junction, via an in-vehicle device, recommendations in terms of lane, speed, when traffic signal will change.
    7.4.6.22
    The system shall be able to advise a driver, via an in-vehicle device, how to approach a complex urban junction, e.g. speed required to go through green phase, imminent red phase warning, reduce speed to avoid queuing traffic, another vehicle or VRU, recommended lane choice.
    7.4.6.3
    The system shall be able to warn the driver approaching a junction, via an in-vehicle device, of other equipped vehicles approaching that junction.
    7.4.6.5
    The system shall be able to determine that the host vehicle is (about to) change lanes and warns the driver, via and in-vehicle device, if there are other equipped vehicles on potential collision path (e.g. motor-cycle in a blind spot).
    7.4.6.6
    The system shall be able to determine that the host vehicle is (about to) overtake, or turn across the road, and warns the driver, via and in-vehicle device, if there are other equipped vehicles on potential collision path (e.g. motor-cycle in a blind spot).
    7.4.6.7
    The system shall be able to compare the current trajectory of a vehicle with the road geometry and send a warning to that vehicle for display to the driver, via an in-vehicle device, that it is about to depart its lane.
    7.4.6.8
    The system shall be able to compare the current trajectory of a vehicle with the road geometry and send a warning to the driver, via a road-side device, that it is about to depart its lane.
    7.4.6.9
    The system shall be able to compare the current trajectory of a vehicle with the road geometry and send a warning to the drivers of other vehicles that might be affected, via an in-vehicle device, that an oncoming vehicle lane departure into their lane is imminent.
    7.4.8.5
    The system shall enable the trajectory of an emergency vehicle to be predicted and compared with the trajectories of other vehicles in the vicinity, and to warn the drivers of those other vehicles with a potential conflict, via an in-vehicle device.
    7.5.2.11
    The system shall be able to determine that the host vehicle is about to go through a red traffic signal, and to broadcast a warning to vehicles in the vicinity.