WO2020210338A1

WO2020210338A1 - Early warning system for a vehicle during poor light conditions

Info

Publication number: WO2020210338A1
Application number: PCT/US2020/027237
Authority: WO
Inventors: Luis Javier DEL REAL IBANEZ; Ulrich STÄHLIN; Paul D BINGHAM
Original assignee: Continental Automotive Systems, Inc.
Priority date: 2019-04-12
Filing date: 2020-04-08
Publication date: 2020-10-15

Abstract

A method of providing an early warning message to a driver of a first vehicle that a second vehicle is approaching is provided. The method includes receiving a communication signal from the second vehicle and determining a warning message based on the communication signal. The method also includes transmitting instructions to provide the warning message at a first time to a driver or an autonomous controller supported by the first vehicle. The method includes determining a headlight status of the second vehicle based on the communication signal. Additionally, the method includes receiving sensor system data from a sensor system supported by the first vehicle. The method also includes transmitting instructions to provide the warning message at a second time being earlier than the first time when the headlight status is OFF and the sensor system data is below a predetermined threshold.

Description

Early Warning System for a Vehicle During Poor Light Conditions

TECHNICAL FIELD

[0001] This disclosure relates to a warning system for a vehicle that provides a warning to a driver during bad meteorological visibility conditions due to poor metrological conditions (e.g., heavy rain, snow) and/or environmental conditions (e.g., fog, at sunrise and/or sunset) when the headlights of an approaching vehicle are turned off.

BACKGROUND

[0002] Vehicle-to-everything (V2X) communication is the process of transmitting information from a vehicle to any entity that may affect the vehicle, and vice versa. V2X includes several types of communication, such as, but not limited to V2I (vehicle-to- infrastructure), V2N (vehicle-to-network), V2V (vehicle-to-vehicle), V2P (vehicle-to- pedestrian), V2D (vehicle-to-device), and V2G (vehicle-to-grid). V2X allows for communication between the vehicle and other entities which results in road safety, traffic efficiency, and energy savings.

[0003] Currently, V2V applications supported by a vehicle provide a driver of the vehicle with a warning based on a configurable time-to-collision threshold. This threshold is predefined and developed through user experience, reaction time and the vehicle capabilities (for example, braking distance). In some examples, it is desirable, for a vehicle to include an early warning system that warns the driver when another vehicle is approaching the vehicle before the V2V application is configured to provide the warning, for example, during bad meteorological visibility conditions due to bad weather (e.g., heavy rain, snow) and/or environmental conditions (e.g., fog, at sunrise and/or sunset) especially when the headlights of the other vehicle are turned off. Therefore, the driver would receive the warning signal at a time before the time the V2V applications are configured to provide the warning signal. SUMMARY

[0004] One aspect of the disclosure provides a method of providing an early warning message to a driver of a first vehicle that a second vehicle is approaching. The method includes receiving, at data processing hardware supported by the first vehicle, a communication signal from the second vehicle. A vehicle-to-X system in communication with the data processing hardware receives the communication signal. The method also includes determining, at the data processing hardware, a warning message based on the communication signal. The method also includes transmitting, from the data processing hardware, instructions to provide the warning message at a first time to the driver. In addition, the method includes determining, at the data processing hardware, a headlight status of the second vehicle based on the communication signal. The method also includes receiving, at the data processing hardware, sensor system data from a sensor system supported by the first vehicle. In some examples, the sensor system includes a camera, a light sensor, and/or a rain sensor. The method also includes transmitting, from the data processing hardware, instructions to provide the warning message to the driver at a second time being earlier than the first time when the headlight status is OFF and the sensor system data is below a predetermined threshold.

[0005] Implementations of the disclosure may include one or more of the following optional features. In some implementations, the sensor system data includes a light status determined by light sensors. The sensor system data is below the predetermined threshold when the light status is one of nighttime, dusk, or dawn.

[0006] In some examples, the sensor system data includes a visibility value. The sensor system data is below a predetermined threshold when the visibility value is below 1000 meters. The method may also include receiving, a road side alert signal from a road side unit positioned along a road. In this case, the visibility value is determined based on the road side alert signal.

[0007] In some examples, the communication signal includes a basic safety message. The basic safety message includes information associated with a vehicle size, a vehicle position, a vehicle speed, a vehicle heading, a vehicle acceleration, a brake system status, and a headlight status of the second vehicle. [0008] In some examples, the method further includes receiving, a road side alert signal from a road side unit positioned along a road. The sensor system data is also determined based on the road side alert signal.

[0009] The warning message to the driver may include a visual warning displayed on a display supported by the first vehicle. Additionally or alternatively, the warning message to the driver may include an audible warning outputted from an audio system of the first vehicle.

[0010] In some implementations, the method also includes transmitting to an autonomous drive controller, the warning message at the second time when the headlight status is OFF and the sensor system data is below the predetermined threshold. The autonomous controller supported by the first vehicle and the warning message causes the autonomous controller to change one or more vehicle behaviors.

[0011] Another aspect of the disclosure provides a system that includes data processing hardware and memory hardware in communication with the data processing hardware. The memory hardware stores instructions that when executed on the data processing hardware to perform operations. These operations include the method described above.

[0012] The details of one or more implementations of the disclosure are set forth in the accompanying drawings and the description below. Other aspects, features, and advantages will be apparent from the description and drawings, and from the claims.

DESCRIPTION OF DRAWINGS

[0013] FIG. l is a schematic view of an exemplary overview of a two vehicle along an intersection.

[0014] FIG. 2 is a schematic view of an exemplary overview of a vehicle having a vehicle warning system.

[0015] FIG. 3 is a schematic view of an exemplary arrangement of operations for a method of providing an early warning to a driver of a first vehicle that a second vehicle is approaching.

[0016] Like reference symbols in the various drawings indicate like elements. DETAILED DESCRIPTION

[0017] Referring to FIGS. 1 and 2, in some implementations, a first vehicle 100, 100a and a second vehicle 100, 100b are both equipped with a vehicle communication system 110. The communication system 110 allows the vehicles 100 to communicate with other entities and with each other. The communication system 110 may include a V2X communication system. The V2X communication system may use one or more of the following connection classes to send and/or receive messages and/or information: WLAN connection, e.g. based on IEEE 802.11, ISM (Industrial, Scientific, Medical Band) connection, Bluetooth® connection, ZigBee connection, UWB (ultrawide band) connection, WiMax® (Worldwide Interoperability for Microwave Access) connection, LTE-V2X, Dedicated Short Range Communications (DSRC), infrared connection, mobile radio connection, and/or radar-based communication.

[0018] In some examples, the communication system 110 includes an antenna 112 for receiving and transmitting messages/signals, data processing hardware, and memory hardware capable of storing instructions that cause the data processing hardware to perform one or more operations. The communication system 110 may be part of the controller 140.

[0019] The vehicle 100 may include a user interface 120. In some examples, the user interface 120 includes a display 124 that provides the driver with messages. The display 124 may be a touch display or a non-touch display with a rotary knob or a mouse that allow the driver to make a selection on the display. The user interface 120 may display one or more warning messages 162, 172, 182 to the driver. In some examples, the user interface 120 receives one or more user commands from the driver via one or more input mechanisms or the touch screen display 124 and/or displays one or more notifications to the driver, the driver input is for example, an acknowledgement of the received warning. In some examples, the user interface 120 includes an audio system 126 that outputs an audible warning message 162, 172, 182.

[0020] The vehicle 100 includes a sensor system 130 to provide reliable and robust driving. The sensor system 130 may include different types of sensors that may be used separately or with one another to create a perception of the environment of the vehicle 100 that is used by the vehicle 100 to drive and aid the driver in make intelligent decisions based on objects and obstacles detected by the sensor system 130.

[0021] In some implementations, the sensor system 130 includes the one or more cameras 132 configured to capture one or more images 133 of the vehicle surroundings. The sensor system also includes one or more light detection sensors 134. The camera(s) 132 and/or the light detection sensor(s) 134 may be configured to measure surrounding light, i.e., provide light sensor data 135. The light sensor data 135 may include a light status indicative of an outside light of the first vehicle being daytime, nighttime, dusk, or dawn. In other examples, the light sensor data 135 is a measure in lux which is the SI derived unit of illuminance measuring luminous flux per unit area. At sunrise or sunset on a clear day the illuminance is 400 lux. In addition, the sensor system 130 may include rain sensors 136 configured to provide rain sensor data 137 indicative of when rain is falling.

[0022] The sensor system 130 may include other sensors such as, but not limited to, radar, sonar, LIDAR (Light Detection and Ranging, which can entail optical remote sensing that measures properties of scattered light to find range and/or other information of a distant target), LADAR (Laser Detection and Ranging), ultrasonic sensors, etc. Additional sensors may also be used.

[0023] In some examples, the vehicle 100 includes a controller 140. The vehicle controller 140 includes a computing device (or processor) 142 (e.g., central processing unit having one or more computing processors) in communication with non-transitory memory 144 (e.g., a hard disk, flash memory, random-access memory) capable of storing instructions executable on the computing processor(s) 142.

[0024] The controller 140 executes one or more applications 150 that include, but are not limited to, Intersection Movement Assist (IMA) 160, Forward Collision Warning (FCW) 170, and Do Not Pass Warning (DNPW) 180. Other applications may also be executed by the controller 140. These applications 160, 170, 180, 190 receive one or more communication signals 114 by way of the communication system 110 and analyze the received communication signals 114 to provide the driver with information or warning messages 162, 172, 182 relating to the road ahead, the other vehicles 110b, and the current vehicle 100a. [0025] The IMA 160 allows the first vehicle 100a to receive messages/signals 114 from other vehicles 100b approaching an intersection from all directions. The IMA 160 calculates a potential of a collision and provides the driver of the first vehicle 100a with an IMA warning message 162 that advises the driver with progressive urgency.

Therefore, the IMA allows the first vehicle 100a to be aware of the second vehicle 100b even though the driver of the first vehicle 100a does not see the second vehicle 100b.

[0026] The FCW 170 calculates a potential of an impending rear-end collision with another vehicle 100 ahead in traffic, in the same lane moving in the same direction. The FCW 170 provides the driver with an FCW warning message 182 that advises the driver with progressive urgency.

[0027] The DNPW 180 provides the driver of the first vehicle 100a with a DNPW warning message 182 during a passing maneuver attempt when a slower-moving vehicle 100 ahead cannot be passed safely using a passing zone, due to the passing zone being occupied by vehicles 100 moving in the opposite direction. In some examples, the DNPW 180 provides the information even though the driver is not attempting to pass the vehicle 100 in front of him/her.

[0028] Therefore, when one of the applications 160, 170, 180 receives a

communication signal 114 and determines that a warning message 162, 172, 182 should be sent to the driver, then the application 160, 170, 180 sends instructions 152 to the user interface 120 to provide the warning message 162, 172, 182 to the driver at a first time. The first time may be a predetermined time from the time of receiving the

communication signal 114. In some examples, additionally or alternatively, the application 160, 170, 180 sends the warning message 162, 172, 182 to an autonomous controller (not shown) supported by the first vehicle 100a. The autonomous controller adjusts one or more vehicle dynamics behavior of the first vehicle 100a during autonomous or semi -autonomous driving based on the warning message 162, 172, 182 providing safer autonomous or semi-autonomous driving. For example, the vehicle dynamics behavior of the first vehicle 100 may include activating actuators, such as, brakes or drive engine of the vehicle 100, in order to avoid a collision with the second or third vehicle 100, 100b or other road users or objects based on the received warning message 162, 172, 182. [0029] Additionally, the controller 140 executes an early warning system 190 that analyzes the communication signal 114, i.e. vehicle-to-X message 114, from the other vehicle 100b and sensor system data 131 to determine if the warning message 162, 172, 182 should be sent to the driver at an earlier time than the first time (i.e., at a second time being earlier than the first time). In some examples, the communication signal 114 includes a BSM (Basic Safety Message) signal transmitted by the second vehicle 100b. The BSM message includes information associated with the transmitting vehicle. For example, the BSM message may include, but is not limited to, information relating to the vehicle size, vehicle position, vehicle speed, vehicle heading, vehicle acceleration, brake system status, and headlight status (ON/OFF). The early warning system 190 determines if the received BSM message includes a headlight status of the approaching vehicle 100b. If the received message includes a headlight status being OFF, then the early warning system 190 analyzes one or more sensor system data 131 received from the sensor system 130 to determine if the early warning message 162, 172, 182 should be sent at the second time being earlier than the first predetermined time.

[0030] In some implementations, the early warning system 190 determines a visibility value 192 based on the images 133 and/or rain sensor data 137 and/or a Road Side Alert (RSA) signal. The visibility value 192 is indicative of visibility conditions due to poor meteorological conditions (e.g., heavy rain, snow) and/or visibility conditions due to environmental conditions (e.g., fog, night time, sunrise/sunset). In some examples, the communication system 110 receives the RSA signal from a Road Side Unit (RSU) positioned along the road, where the RSA signal provides roadside information relating to the road infrastructure, weather conditions, accidents, construction zones, or any other information relating to the current road. The early warning system 190 analyzes the received sensor system data 131 and the RSA signal(s) and based on the analyzed data determines if the driver has poor visibility. Visibility is a measure of the distance at which an object or light can be clearly recognized. In some examples, visibility is reported by way of surface weather observations and METAR code either in meters or statute miles, depending on the country. Fog has a visibility of less than 3,300 feet, mist has a visibility of between 0.62 miles and 1.2 miles, and haze has a visibility from 1.2 miles to 3.1 miles. Fog and mist mainly include water droplets, while haze and smoke may be of smaller particle size. Visibility of less than 330 feet is usually reported as zero. At zero visibility, roads may be closed to avoid vehicle collisions. Poor visibility may range from a visibility value 192 between 330 feet and 3281 feet (approximately 1000 meters).

[0031] In some examples, when the early warning system 190 determines, from the

BSM message that the headlights of the second vehicle 100b are OFF and that the current light sensors data 135 is either dusk/dawn or nighttime, and/or optionally the visibility value 192 is low, then the early warning system 190 communicates with other applications 160, 170, 180 to provide the warning message 162, 172, 182 to the driver at the second time being earlier than the first predetermined time. Therefore, when the light sensor data 135 is either dusk/dawn time or nighttime (or the light value is less than a predetermined lux value) and the headlights of the second approaching vehicle 100b are OFF, then the driver of the first vehicle is warned about the second vehicle 100b at a second time earlier than the first predefined time. The first predefined time being the time the driver would have been warned if it is not nighttime or dusk time. However, if none of the applications 160, 170, 180 include a warning message and it is either nighttime or dusk time and the headlights of the second vehicle 100b are OFF, then the driver is not warned about the second vehicle 100b since no warning message exists at the first time.

[0032] As another example, when the visibility value 192 is low and the headlights of the second approaching vehicle 100b are OFF, then the driver of the first vehicle is warned about the second vehicle 100b at the second time earlier than the first predefined time. However, if none of the applications 160, 170, 180 include a warning message and the visibility value 192 is low and the headlights of the second vehicle 100b are OFF, then the driver is not warned about the second vehicle 100b since no warning message exists at the first time.

[0033] In some implementations, when the early warning system 190 determines, from the BSM message that the headlights of the second vehicle 100b are ON and that the current light sensors data 135 is either dusk/dawn or nighttime, and/or optionally the visibility value 192 is low, then the early warning system 190 does not communicates with other applications 160, 170, 180 to provide the warning message 162, 172, 182 to the driver at the second time being earlier than the first predetermined time. Therefore, the applications 160, 170, 180 send the warning message 162, 172, 182 at the first time.

[0034] In some examples, the first vehicle 100a is an autonomous or semi- autonomous vehicle that includes an autonomous drive controller (not shown) configured to execute one or more vehicle behaviors to autonomously or semi-autonomously drive the vehicle 100a. In this case, the early warning system 190 transmits the warning message at the second time earlier than the first time to the autonomous drive controller, the autonomous drive controller to adjust one or more drive behaviors of the first vehicle 100a.

[0035] In some implementations, in addition to displaying a warning message to the driver and/or generate an audible warning sound, the early warning system 190 updates a TTC (time-to-collision) signal, which is indicative of the time it will take the first vehicle 100a to collide with the second vehicle 100b if both vehicles 100a, 100b maintain their current heading, speed, acceleration, etc.

[0036] FIG. 3 provides an example arrangement of operations for a method 300 providing an early warning message to a driver of a first vehicle 100a that a second vehicle 100b is approaching the first vehicle 100a using the early warning system 190 of FIGS. 1 and 2. At block 302, the method 300 includes receiving, at data processing hardware (e.g., a controller 140 including a processor 142 and memory hardware 144) supported by the first vehicle 100a, a communication signal 114 from the second vehicle 100b. In some examples, a vehicle-to-X communication system 110 that includes an antenna 112 receives the communication signal 114. The vehicle-to-X communication system 110 is in communication with the data processing hardware 140. At block 304, the method 300 includes determining, at the data processing hardware 140, a warning message 162, 172, 182 based on the communication signal 114. At block 306, the method 300 includes transmitting, from the data processing hardware 140, instructions to provide the warning message 162, 172, 182 at a first time to the driver. In addition, at block 308, the method 300 includes determining, at the data processing hardware 140, a headlight status of the second vehicle based on the communication signal 114. The headlight status being ON or OFF. At block 310, the method 300 includes receiving, at the data processing hardware 140, sensor system data 131 from a sensor system 130 supported by the first vehicle 100a. The sensor system 130 may include a camera 132, a light sensor 134 and/or a rain sensor 136. In some implementations, the sensor system data 131 includes a light status determined by the light sensor(s) 134, in this case, the light status is indicative of the light sensor data 135. The sensor system data 131 is below the predetermined threshold when the light status (i.e., light sensor data 135) is one of a nighttime, dusk time, or dawn time. In some examples, the processor 142 determines the light status by analyzing the one or more received images 133 from the camera 132. Additionally or alternatively, in some examples, the sensor system data 131 includes a visibility value 192 based on the images 133 and/or rain sensor data 137 and/or a Road Side Alert (RSA) signal. In this case, the sensor system data 131 is below a

predetermined threshold when the visibility value 192 is below 1000 meters.

[0037] At block 312, the method 300 includes transmitting, from the data processing hardware 140, instructions 152 to provide the warning message 162, 172, 182 at a second time being earlier than the first time when the headlight status is OFF and the sensor system data 131 is below a predetermined threshold.

[0038] In some implementations, the communication signal 114 includes a basic safety message (BSM) that includes information associated with a vehicle size, a vehicle position, a vehicle speed, a vehicle heading, a vehicle acceleration, a brake system status, and a headlight status of the second vehicle. Additionally and alternatively, the method 300 includes receiving, a road side alert (RSA) signal from a road side unit (RSU) positioned along a road. The sensor system data 131 is determined based on the road side alert signal.

[0039] In some examples, the warning message 162, 172, 182 to the driver includes a visual warning displayed on a displayl24 supported by the first vehicle 100a.

Additionally or alternatively, the warning message to the driver includes an audible warning outputted from an audio system 126 of the first vehicle 100a.

[0040] In some implementations, the method 300 includes transmitting to an autonomous drive controller (not shown), the warning message 162, 172, 182 at the second time when the headlight status is OFF and the sensor system data 131 is below the predetermined threshold. [0041] Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, specially designed ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0042] These computer programs (also known as programs, software, software applications or code) include machine instructions for a programmable processor, and can be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. As used herein, the terms“machine-readable medium” and“computer-readable medium” refer to any computer program product, apparatus and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a

programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term“machine-readable signal” refers to any signal used to provide machine instructions and/or data to a programmable processor.

[0043] Implementations of the subject matter and the functional operations described in this specification can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Moreover, subject matter described in this specification can be implemented as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a computer readable medium for execution by, or to control the operation of, data processing apparatus. The computer readable medium can be a machine-readable storage device, a machine-readable storage substrate, a memory device, a composition of matter effecting a machine-readable propagated signal, or a combination of one or more of them. The terms“data processing apparatus”,“computing device” and“computing processor” encompass all apparatus, devices, and machines for processing data, including by way of example a programmable processor, a computer, or multiple processors or computers. The apparatus can include, in addition to hardware, code that creates an execution environment for the computer program in question, e.g., code that constitutes processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them. A propagated signal is an artificially generated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal that is generated to encode information for transmission to suitable receiver apparatus.

[0044] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multi-tasking and parallel processing may be advantageous. Moreover, the separation of various system components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0045] A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the disclosure. Accordingly, other implementations are within the scope of the following claims.

Claims

WHAT IS CLAIMED IS:

1. A method of providing an early warning message to a driver of a first vehicle that a second vehicle is approaching, the method comprising:

receiving, at data processing hardware supported by the first vehicle, a communication signal from the second vehicle;

determining, at the data processing hardware, a warning message based on the communication signal;

transmitting, from the data processing hardware, instructions to provide the warning message at a first time to the driver;

determining, at the data processing hardware, a headlight status of the second vehicle based on the communication signal;

receiving, at the data processing hardware, sensor system data from a sensor system supported by the first vehicle; and

transmitting, from the data processing hardware, instructions to provide the warning message at a second time being earlier than the first time when the headlight status is OFF and the sensor system data is below a predetermined threshold.

2. The method according to claim 1, wherein the sensor system data includes a light status determined by a light sensor, and wherein the sensor system data is below the predetermined threshold when the light status is one of nighttime, dusk, or dawn.

3. The method according to at least one of the preceding claims, wherein the sensor system data includes a visibility value, and wherein the sensor system data is below the predetermined threshold when the visibility value is below 1000 meters.

4. The method according to claim 3, further comprising, receiving, a road side alert signal from a road side unit positioned along a road, wherein the visibility value is determined based on the road side alert signal.

5. The method according to at least one of the preceding claims, wherein a vehicle- to-X system in communication with the data processing hardware receives the communication signal.

6. The method according to at least one of the preceding claims, wherein the sensor system includes a camera, a light sensor, and/or a rain sensor.

7. The method according to at least one of the preceding claims, wherein the communication signal includes a basic safety message, the basic safety message includes information associated with a vehicle size, a vehicle position, a vehicle speed, a vehicle heading, a vehicle acceleration, a brake system status, and the headlight status of the second vehicle.

8. The method according to at least one of the preceding claims, wherein the warning message to the driver includes a visual warning displayed on a display supported by the first vehicle.

9. The method according to at least one of the preceding claims, wherein the warning message to the driver includes an audible warning outputted from an audio system of the first vehicle.

10. The method according to at least one of the preceding claims, further comprising transmitting to an autonomous drive controller, the warning message at the second time when the headlight status is OFF and the sensor system data is below the predetermined threshold.

11. A system for providing an early warning message to a driver of a first vehicle that a second vehicle is approaching, the system comprising:

data processing hardware supported by the first vehicle; and memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:

receiving a communication signal from the second vehicle; determining a warning message based on the communication signal;

transmitting instructions to provide the warning message at a first time; determining a headlight status of the second vehicle based on the communication signal;

receiving sensor system data from a sensor system supported by the first vehicle; and

transmitting instructions to provide the warning message at a second time being earlier than the first time when the headlight status is OFF and the sensor system data is below a predetermined threshold.

12. The system according to claim 11, wherein the sensor system data includes a light status determined by light sensors, and wherein the sensor system data is below the predetermined threshold when the light status is one of nighttime, dusk, or dawn.

13. The system according to at least one of claims 11 or 12, wherein the sensor system data includes a visibility value, and wherein the sensor system data is below the predetermined threshold when the visibility value is below 1000 meters.

14. The system according to 13, wherein the operations further comprise, receiving, a road side alert signal from a road side unit positioned along a road, wherein the visibility value is determined based on the road side alert signal.

15. The system according to at least one of claims 11 to 14, wherein a vehicle-to-X system in communication with the data processing hardware receives the communication signal.

16. The system according to at least one of claims 11 to 15, wherein the sensor system includes a camera, a light sensor, and/or a rain sensor.

17. The system according to at least one of claims 11 to 16, wherein the

communication signal includes a basic safety message, the basic safety message includes information associated with a vehicle size, a vehicle position, a vehicle speed, a vehicle heading, a vehicle acceleration, a brake system status, and the headlight status of the second vehicle.

18. The system according to at least one of claims 11 to 17, wherein the warning message to the driver includes a visual warning displayed on a display supported by the first vehicle.

19. The system according to at least one of claims 11 to 18, wherein the warning message to the driver includes an audible warning outputted from an audio system of the first vehicle.

20. The system according to at least one of claims 11 to 19, wherein the operations further comprise transmitting to an autonomous drive controller, the warning message at the second time when the headlight status is OFF and the sensor system data is below the predetermined threshold.