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EP-4062388-B1 - VEHICLE MANEUVER INFORMATION EXCHANGE WITH TEMPORAL WINDOW

EP4062388B1EP 4062388 B1EP4062388 B1EP 4062388B1EP-4062388-B1

Inventors

  • VASSILOVSKI, DAN
  • CHENG, HONG
  • YU, LAN
  • MARSH, Gene, Wesley

Dates

Publication Date
20260506
Application Date
20191122

Claims (13)

  1. A method of performing information exchange for maneuver execution by a first device in a first vehicle, the method comprising: transmitting an inter-vehicle message with a driving maneuver request for a driving maneuver to a second device in a second vehicle, the inter-vehicle message comprising a temporal execution window defining a range of time during which the driving maneuver will be initiated (1102); waiting for a driving maneuver response to the driving maneuver request from the second device before executing the driving maneuver (1104); and executing or cancelling the driving maneuver, wherein the driving maneuver is executed by the first device if the driving maneuver response accepting the driving maneuver request is received prior to expiration of the temporal execution window and the driving maneuver is cancelled by the first device if the driving maneuver response is not received prior to expiration of the temporal execution window (1106).
  2. The method of claim 1, wherein the inter-vehicle message further comprises a second range of time during which the driving maneuver will be completed and/or wherein the driving maneuver is cancelled by the first device if the driving maneuver response rejecting the driving maneuver is received prior to expiration of the temporal execution window.
  3. The method of claim 1, wherein the driving maneuver is cancelled by the first device, the method further comprising transmitting a second inter-vehicle message with the driving maneuver request to a third device, the second inter-vehicle message comprising a second temporal execution window defining second range of time during which the driving maneuver will be initiated.
  4. The method of claim 1, wherein transmitting the inter-vehicle message with the driving maneuver request to the second device either comprises transmitting the inter-vehicle message to the second device directly or transmitting the inter-vehicle message to the second device via a road side unit.
  5. The method of claim 1, wherein the inter-vehicle message comprises an initial time and the temporal execution window either defining the range of time after the initial time during which the driving maneuver will be initiated or defining the range of time before or after the initial time during which the driving maneuver will be initiated.
  6. The method of claim 1, further comprising: transmitting a second inter-vehicle message for a second driving maneuver to a third device in a third vehicle, the inter-vehicle message comprising a second temporal execution window defining a second range of time during which the second driving maneuver will be initiated; and executing the second driving maneuver within the second temporal execution window.
  7. The method of claim 1, further comprising: transmitting a second inter-vehicle message with a second driving maneuver request for a second driving maneuver to a third device in a third vehicle, the second inter-vehicle message comprising a spatial window defining a range of distance for one of a start location or stop location or both for the second driving maneuver.
  8. A first device in a first vehicle configured to perform information exchange for maneuver execution by the first device in the first vehicle, comprising: a wireless transceiver configured to communicate with devices in a wireless network; at least one memory; and at least one processor coupled to the wireless transceiver and the at least one memory, the at least one processor configured to: transmit, via the wireless transceiver, an inter-vehicle message with a driving maneuver request for a driving maneuver to a second device in a second vehicle, the inter-vehicle message comprising a temporal execution window defining a range of time during which the driving maneuver will be initiated (1102); wait, via the wireless transceiver, for a driving maneuver response to the driving maneuver request from the second device before executing the driving maneuver (1104); and execute or cancel the driving maneuver, wherein the driving maneuver is executed by the first device if the driving maneuver response accepting the driving maneuver request is received prior to expiration of the temporal execution window and the driving maneuver is cancelled by the first device if the driving maneuver response is not received prior to expiration of the temporal execution window (1106).
  9. The first device of claim 8, wherein the inter-vehicle message further comprises a second range of time during which the driving maneuver will be completed.
  10. The first device of claim 8, wherein the driving maneuver is cancelled by the first device if the driving maneuver response rejecting the driving maneuver is received prior to expiration of the temporal execution window.
  11. The first device of claim 8, wherein the at least one processor is configured to transmit, via the wireless transceiver, the inter-vehicle message with the driving maneuver request to the second device by being configured to either transmit the inter-vehicle message to the second device directly or transmit the inter-vehicle message to the second device via a road side unit.
  12. The first device of claim 8, wherein the inter-vehicle message comprises an initial time and the temporal execution window either defining the range of time after the initial time during which the driving maneuver will be initiated or defining the range of time before or after the initial time during which the driving maneuver will be initiated.
  13. The first device of claim 8, wherein the at least one processor is further configured to: transmit, via the wireless transceiver, a second inter-vehicle message for a second driving maneuver to a third device in a third vehicle, the inter-vehicle message comprising a second temporal execution window defining a second range of time during which the second driving maneuver will be initiated; and execute, via the wireless transceiver, the second driving maneuver within the second temporal execution window, and optionally wherein the second inter-vehicle message comprises information for the second driving maneuver.

Description

BACKGROUND Background Field The subject matter disclosed herein relates to wireless communications systems, and more particularly to methods and apparatuses for vehicle maneuver exchange in a wireless communications system. Relevant Background Obtaining accurate position information for user equipment, such as cellular telephones or other wireless communication devices, is becoming prevalent in the communications industry. For example, obtaining highly accurate locations of vehicles or pedestrians is essential for autonomous vehicle driving and pedestrian safety applications. Coordinated or automated driving requires communications between vehicles, which may be direct or indirect, e.g., via an infrastructure component such as a road side unit (RSU). Inter-vehicle communications, for example, may be used to negotiate maneuvers necessary for automated driving. The inter-vehicle communications used to negotiate maneuvers may provide a current state and a planned (future) intent of a vehicle. The message exchange during these communications, however, necessarily requires time, during which conditions of either the initiating vehicle, the responding vehicle or both may change. US 2019/176830 A1 describes instructions executable by a processor to identify a relative area within a specified distance from a first vehicle and free of another vehicle, identify a second vehicle within a second specified distance of the relative area, transmit the relative area to the second vehicle, and navigate the first vehicle to the relative area within a specified time. US 2019/184893 A1 describes communicating an intention of an automated vehicle to at least one road user. WO 2017/174601 A1 describes a method for enhancing a cooperative awareness arrangement in which information is exchanged between vehicles using mobile communication transmissions. SUMMARY An aspect of the invention relates to a method of performing information exchange for maneuver execution in accordance with appended claim 1. Another aspect of the invention relates to a device configuted to perform information exchange for maneuver execution in accordance with appended claim 8. BRIEF DESCRIPTION OF THE DRAWING Non-limiting and non-exhaustive aspects are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various figures unless otherwise specified. FIG. 1 illustrates a wireless communication system in which a user equipment (UE), illustrated as a vehicle, is in wireless communications with other entities in the wireless communication system.FIG. 2 illustrates an example of a lane change maneuver to be performed by a vehicle.FIG. 3 illustrates an example of a left hand turn maneuver to be performed by a vehicle.FIG. 4 illustrates an example of an intended lane merge maneuver to be executed by a vehicle using an on-ramp to merge on a road occupied by another vehicle.FIG. 5A is a signal flow illustrating an example of a successful maneuver request-response in an inter-vehicle message exchange initiated by a vehicle for a lane merge maneuver, such as illustrated in FIG. 4.FIG. 5B is a signal flow illustrating an example of a successful maneuver request-response in an inter-vehicle message exchange initiated by a road side unit for a lane merge maneuver to be executed by a vehicle, such as illustrated in FIG. 4.FIG. 6 illustrates the initiation of the lane merge maneuver by the vehicle from FIG. 4 after a successful maneuver request-response in an inter-vehicle message exchange as illustrated in FIGs. 5A and 5B.FIG. 7 is a signal flow illustrating an example of a failed maneuver request-response in an inter-vehicle message exchange initiated by a vehicle for a lane merge maneuver, such as illustrated in FIG. 4.FIG. 8 illustrates the cancellation of the lane merge maneuver by the vehicle from FIG. 4 after a failed maneuver request-response in an inter-vehicle message exchange as illustrated in FIG. 7.FIG. 9 illustrates an example of an intended right turn maneuver to be executed by a vehicle in front of another vehicle.FIG. 10 is a signal flow illustrating an example of an inter-vehicle message exchange that includes information about an intended maneuver by a vehicle for a right turn maneuver, such as illustrated in FIG. 9.FIG. 11 is a flow chart illustrating a method of performing information exchange for maneuver execution performed by a device in a vehicle.FIG. 12 is a flow chart illustrating a method of performing information exchange for maneuver execution performed by a road side unit.FIG. 13 is a flow chart illustrating a method of performing information exchange for maneuver execution initiated by a road side unit.FIG. 14 is a diagram illustrating an example of a hardware implementation of a user equipment (UE) for a vehicle capable of performing information exchange for maneuver execution by the vehicle.FIG. 15 is a diagram illustrating an example of a hardware implementation of a road sid