A method and apparatus for use in traversing a vehicle transportation network may include receiving a remote vehicle message including remote vehicle information indicating remote vehicle geospatial state information and remote vehicle kinematic state information, identifying host vehicle information including host vehicle geospatial state information and host vehicle kinematic state information, determining convergence information indicating whether a remote vehicle expected path for the remote vehicle and a host vehicle expected path for the host vehicle are convergent based on the host vehicle information and the remote vehicle information, and traversing a portion of the vehicle transportation network in response to the convergence information. Determining the convergence information may include determining an orientation sector based on a geodesic between the host vehicle and the remote vehicle, and determining relative position information for the host vehicle and the remote vehicle based on the orientation sector.
CONVERGING PATH DETECTION
2017-08-03
Patent
Electronic Resource
English
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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