KR-102964481-B1 - Method and apparatus for vehicle maneuver planning and messaging

KR102964481B1KR 102964481 B1KR102964481 B1KR 102964481B1KR-102964481-B1

Abstract

Technologies are provided that enable the implementation of various methods and/or devices within a vehicle to determine vehicle-to-vehicle spacing, intersection priority, lane change behavior and spacing, and other autonomous vehicle behaviors by utilizing vehicle external sensor data, vehicle internal sensor data, vehicle capabilities, and external CV2X inputs to determine, transmit, receive, and utilize data elements.

Inventors

바실로프스키, 단
쳉, 홍
우, 지빈
파틸, 샤일레쉬
호비, 리차드 레이드

Assignees

퀄컴 인코포레이티드

Dates

Publication Date: 20260513
Application Date: 20200414
Priority Date: 20190820

Claims (20)

As a method of vehicle adjustment, In an ego vehicle, the step of receiving a first message from a first vehicle — said first message comprises an identification data element for said first vehicle, an autonomous vehicle capability element indicating whether said first vehicle has non-autonomous vehicle capability or autonomous vehicle capability, and a braking distance data element for said first vehicle —; In the above-mentioned ego vehicle, the step of receiving a second message from a second vehicle — the second message comprises an identification data element for the second vehicle, an autonomous vehicle capability element indicating whether the second vehicle has non-autonomous vehicle capability or autonomous vehicle capability, and a braking distance data element for the second vehicle —; The size of the above-mentioned ego vehicle, or the braking distance data element for the first vehicle, or the braking distance data element for the second vehicle, or a combination of two or more of these, and The autonomous vehicle capability element for the first vehicle indicating whether the first vehicle has non-autonomous vehicle capability or autonomous vehicle capability, or the autonomous vehicle capability element for the second vehicle indicating whether the second vehicle has non-autonomous vehicle capability or autonomous vehicle capability, or a combination thereof. A step of determining a target space between the first vehicle and the second vehicle based at least partially on; A step of transmitting a third message to the first vehicle from the above-mentioned ego vehicle, requesting the target space between the first vehicle and the second vehicle; A step of transmitting a fourth message requesting the target space between the first vehicle and the second vehicle from the ego vehicle to the second vehicle; A step of receiving at least one response from a fifth message from the first vehicle or a sixth message from the second vehicle or a combination thereof; and A vehicle control method comprising the step of moving the ego vehicle into a target space between the first vehicle and the second vehicle based on at least one response.
In Article 1, A vehicle adjustment method in which the third message and the fourth message are transmitted to the first vehicle and the second vehicle as broadcast messages or multicast messages.
In Article 1, A vehicle adjustment method in which the third message and the fourth message are peer-to-peer messages transmitted to the first vehicle and the second vehicle, respectively.
In Article 1, A vehicle adjustment method in which the target space is determined at least partially based on the braking distance for the ego vehicle.
In Paragraph 4, A vehicle adjustment method in which the braking distance for the above-mentioned ego vehicle is determined at least partially based on the speed of the above-mentioned ego vehicle.
In Paragraph 4, A vehicle adjustment method in which the braking distance for the above-mentioned ego vehicle is determined at least partially based on tire pressure, weather conditions, or tire traction data or a combination thereof for the above-mentioned ego vehicle.
In Paragraph 4, A vehicle adjustment method in which the braking distance for the above-mentioned ego vehicle, or the braking distance data element for the above-mentioned first vehicle, or the braking distance data element for the above-mentioned second vehicle, or a combination thereof, is smaller in autonomous mode than in manual mode.
In Article 1, A vehicle adjustment method in which the first message and the second message are broadcast messages.
In Article 1, A vehicle adjustment method in which the first message and the second message are point-to-point messages.
In Article 1, A vehicle adjustment method in which the first message and the second message are basic safety messages or cooperative recognition messages.
In Article 1, A vehicle control method comprising the step of moving the ego vehicle into the target space, the step of moving the ego vehicle to the same lane as the first vehicle and the second vehicle.
As an ego vehicle, One or more wireless transceivers; Vehicle interior sensors; Vehicle external sensors; Memory; and It includes one or more wireless transceivers, the vehicle interior sensors, the vehicle exterior sensors, and one or more processors coupled to the memory for communication; The above one or more processors are, In the one or more wireless transceivers above, a first message is received from a first vehicle — the first message comprises an identification data element for the first vehicle, an autonomous vehicle capability element indicating whether the first vehicle has a non-autonomous vehicle state or an autonomous vehicle state, and a braking distance data element for the first vehicle —; In the one or more wireless transceivers above, a second message is received from a second vehicle — the second message comprises an identification data element for the second vehicle, an autonomous vehicle capability element indicating whether the second vehicle has a non-autonomous vehicle state or an autonomous vehicle state, and a braking distance data element for the second vehicle —; The size of the above-mentioned ego vehicle, or the braking distance data element for the first vehicle, or the braking distance data element for the second vehicle, or a combination of two or more of these, and The autonomous vehicle capability element for the first vehicle indicating whether the first vehicle has a non-autonomous vehicle state or an autonomous vehicle state, or the autonomous vehicle capability element for the second vehicle indicating whether the second vehicle has a non-autonomous vehicle state or an autonomous vehicle state, or a combination thereof. Determining a target space between the first vehicle and the second vehicle based at least partially on; From the above one or more wireless transceivers, a third message requesting the target space between the first vehicle and the second vehicle is transmitted to the first vehicle; From the above one or more wireless transceivers, a fourth message requesting the target space between the first vehicle and the second vehicle is transmitted to the second vehicle; Receiving at least one response from the fifth message from the first vehicle or the sixth message from the second vehicle or a combination thereof; An ego vehicle configured to move the ego vehicle into a target space between the first vehicle and the second vehicle based on at least one response.
In Article 12, The third message and the fourth message are transmitted to the first vehicle and the second vehicle as broadcast messages or multicast messages, ego vehicle.
In Article 12, The third message and the fourth message are peer-to-peer messages transmitted to the first vehicle and the second vehicle, respectively, ego vehicles.
In Article 12, The above target space is an ego vehicle, determined at least partially based on the braking distance for the ego vehicle.
In Article 15, The braking distance for the above-mentioned ego vehicle is determined at least partially based on the speed of the above-mentioned ego vehicle.
In Article 15, The braking distance for the above-mentioned ego vehicle is determined at least partially based on tire pressure, weather conditions, or tire traction data or a combination thereof for the above-mentioned ego vehicle.
In Article 15, The braking distance for the above ego vehicle, or the braking distance data element for the first vehicle, or the braking distance data element for the second vehicle, or a combination thereof, is smaller in autonomous mode than in manual mode, ego vehicle.
In Article 12, The ego vehicle, wherein the first message and the second message are broadcast messages.
In Article 12, The ego vehicle, wherein the first message and the second message are point-to-point messages.

Description

Method and apparatus for vehicle maneuver planning and messaging [0001] The present application claims the benefit of U.S. Provisional Application No. 62/839,981, filed April 29, 2019, with the title of invention “Method and Apparatus for Vehicle Maneuver Planning and Messaging,” which is assigned to the present assignee and incorporated herein by reference. The present application also claims the benefit of U.S. Formal Application No. 16/545,282, filed August 20, 2019, with the title of invention “Method and Apparatus for Vehicle Maneuver Planning and Messaging,” which is assigned to the present assignee and incorporated herein by reference. [0002] The subject matter of the claims disclosed in this specification relates to automotive devices, and more specifically, to methods, messaging, and devices for use in or together with automotive devices to enable vehicle operation. [0003] Autonomous vehicles enable autonomous driving, thereby improving the safety, efficiency, and convenience of vehicle transport. Route and maneuver planning for V2X (vehicle to everything)-enabled vehicles (referred to here as ego vehicles) relies on knowing the capabilities and behaviors of surrounding vehicles. The capabilities and behaviors of surrounding vehicles help determine, for example, safe vehicle-to-vehicle spacing and lane-changing maneuvers. The capabilities and behaviors of surrounding vehicles will need to be communicated, for example, through V2X application-layer standards via a set of DEs (Data elements) for vehicles to exchange capability information. Using these data elements will enable vehicles to optimize times and distances for vehicle-to-vehicle spacing and maneuvers. As used herein, it is understood that references to V2X (vehicle to everything) and CV2X (cellular vehicle to everything) include and may apply to various communication embodiments and standards (but not limited thereto), such as 5G NR (new radio) communication standards, DSRC (dedicated short-range communications), 802.11p, SVS (Surface Vehicle Standard) from SAE (Society of Automotive Engineers), ITS (Intelligent Transport System) standards from ETSI (European Telecommunications Standards Institute), such as basic safety messages or cooperative awareness messages, and/or other V2V (vehicle to vehicle), CV2X (cellular vehicle to everything), and other V2X (vehicle to everything) communication embodiments that may exist or be defined in the future. [0004] Some exemplary techniques that can be implemented in various methods and devices of a vehicle to determine vehicle-to-vehicle spacing, intersection priority, lane change behavior and spacing, and other autonomous vehicle behaviors are presented herein. [0005] In one embodiment, a vehicle adjustment method comprises: receiving a first message from a first vehicle in an ego vehicle ― the first message comprises an identification data element for the first vehicle, an autonomous vehicle state data element for the first vehicle, or a braking distance data element for the first vehicle, or a combination thereof ―; receiving a second message from a second vehicle in an ego vehicle ― the second message comprises an identification data element for the second vehicle, an autonomous vehicle state data element for the second vehicle, or a braking distance data element for the second vehicle, or a combination thereof ―; determining a target space at least partially based on the size of the ego vehicle, the autonomous vehicle state data element for the first vehicle, the autonomous vehicle state data element for the second vehicle, the braking distance data element for the first vehicle, or the braking distance data element for the second vehicle, or a combination thereof; transmitting a third message from the ego vehicle to the first vehicle requesting a target space between the first vehicle and the second vehicle; The method may include the steps of: transmitting a fourth message from the ego vehicle to the second vehicle requesting a target space between the first vehicle and the second vehicle; receiving at least one response from a fifth message from the first vehicle or a sixth message from the second vehicle or a combination thereof; and moving the ego vehicle to the target space between the first vehicle and the second vehicle based on at least one response. [0006] In one embodiment, the ego vehicle comprises one or more wireless transceivers; vehicle internal sensors; vehicle external sensors; memory; and one or more processors communicateably coupled to one or more wireless transceivers, vehicle internal sensors, vehicle external sensors and memory; and one or more processors receive a first message from a first vehicle at one or more wireless transceivers — the first message comprises an identification data element for the first vehicle, an autonomous vehicle state data element for the first vehicle, or a braking distance data element for the first vehicle, or a combination thereof —; receive