US-20260128996-A1 - COMMUNICATING PRECEDENCE USING VEHICLE TO EVERYTHING (V2X) MESSAGES

US20260128996A1US 20260128996 A1US20260128996 A1US 20260128996A1US-20260128996-A1

Abstract

Provided are methods for communicating precedence using vehicle to everything (V2X) messages, which include broadcasting at least one outgoing message associated with an upcoming intersection, and receiving at least one incoming message to at least one other vehicle approaching the upcoming intersection. Some methods described also include determining a priority conflict exists, and updating the respective priority number based on the respective stopped time and the at least one other stopped time. Some methods described also include updating the respective conflict flag based on the updated respective priority number, and determining whether the priority conflict exists based on the updated respective conflict flag. Some methods described also include determining a consensus priority order in response to determining that the priority conflict does not exist. Systems and computer program products are also provided.

Inventors

Junho Park
Hahkrel Noh
Jungnam BAE

Assignees

MOTIONAL AD LLC

Dates

Publication Date: 20260507
Application Date: 20251110

Claims (20)

1 - 20 . (canceled)
21 . A method, comprising: broadcasting at least one outgoing message associated with an intersection, the at least one outgoing message comprising a respective priority number and a respective conflict indicator; receiving at least one incoming message from at least one other vehicle approaching the intersection, the at least one incoming message comprising at least one other priority number and at least one other conflict indicator; determining whether a priority conflict exists based on the respective conflict indicator and the at least one other conflict indicator; in response to determining that the priority conflict exists: updating the respective priority number based on, at least in part, one or more of a stopped time, a vehicle position, a distance from a stop line, a relative orientation or approach angle, or an estimated stopped time; updating the respective conflict indicator based on the updated respective priority number and the at least one other priority number; and determining whether the priority conflict exists based on the updated respective conflict indicator and the at least one other conflict indicator; and traversing the intersection according to a consensus priority order in response to determining that the priority conflict does not exist.
22 . The method of claim 21 , wherein the respective priority number is determined before reaching a full stop.
23 . The method of claim 21 , wherein the respective conflict indicator encodes a state of priority agreement between vehicles.
24 . The method of claim 21 , wherein a conflict indicator represents a status of conflict checks with respect to the intersection.
25 . The method of claim 21 , wherein the respective priority number and the respective conflict indicator are updated iteratively until a conflict no longer exists.
26 . The method of claim 21 , wherein updating the respective conflict indicator based on the updated respective priority number and the at least one other priority number comprises: receiving another incoming message comprising at least one updated other priority number; and updating the respective conflict indicator based on the updated respective priority number and the at least one updated other priority number.
27 . The method of claim 21 , wherein determining whether the priority conflict exists based on the updated respective conflict indicator and the at least one other conflict indicator comprises: receiving another incoming message comprising at least one updated other conflict indicator; and determining whether the priority conflict exists based on the updated respective conflict indicator and the at least one updated other conflict indicator.
28 . The method of claim 21 , the method further comprising: in response to determining that the priority conflict does exist, determining whether the priority conflict is an adversarial conflict; and in response to determining that the priority conflict is an adversarial conflict, operating according to the adversarial conflict.
29 . A system, comprising: at least one processor, and at least one non-transitory storage media storing instructions that, when executed by the at least one processor, cause the at least one processor to: broadcast at least one outgoing message associated with an intersection, the at least one outgoing message comprising a respective priority number and a respective conflict indicator; receive at least one incoming message from at least one other vehicle approaching the intersection, the at least one incoming message comprising at least one other priority number and at least one other conflict indicator; determine whether a priority conflict exists based on the respective conflict indicator and the at least one other conflict indicator; in response to determining that the priority conflict exists: update the respective priority number based on, at least in part, one or more of a stopped time, a vehicle position, a distance from a stop line, a relative orientation or approach angle, or an estimated stopped time; update the respective conflict indicator based on the updated respective priority number and the at least one other priority number; and determine whether the priority conflict exists based on the updated respective conflict indicator and the at least one other conflict indicator; and traverse the intersection according to a consensus priority order in response to determining that the priority conflict does not exist.
30 . The system of claim 29 , wherein the respective priority number is determined before reaching a full stop.
31 . The system of claim 29 , wherein the respective conflict indicator encodes a state of priority agreement between vehicles.
32 . The system of claim 29 , wherein a conflict indicator represents a status of conflict checks with respect to the intersection.
33 . The system of claim 29 , wherein the respective priority number and the respective conflict indicator are updated iteratively until a conflict no longer exists.
34 . The system of claim 29 , wherein updating the respective conflict indicator based on the updated respective priority number and the at least one other priority number comprises: receiving another incoming message comprising at least one updated other priority number; and updating the respective conflict indicator based on the updated respective priority number and the at least one updated other priority number.
35 . The system of claim 29 , wherein determining whether the priority conflict exists based on the updated respective conflict indicator and the at least one other conflict indicator comprises: receiving another incoming message comprising at least one updated other conflict indicator; and determining whether the priority conflict exists based on the updated respective conflict indicator and the at least one updated other conflict indicator.
36 . At least one non-transitory storage media storing instructions that, when executed by at least one processor, cause the at least one processor to: broadcast at least one outgoing message associated with an intersection, the at least one outgoing message comprising a respective priority number and a respective conflict indicator; receive at least one incoming message from at least one other vehicle approaching the intersection, the at least one incoming message comprising at least one other priority number and at least one other conflict indicator; determine whether a priority conflict exists based on the respective conflict indicator and the at least one other conflict indicator; in response to determining that the priority conflict exists: update the respective priority number based on, at least in part, one or more of a stopped time, a vehicle position, a distance from a stop line, a relative orientation or approach angle, or an estimated stopped time; update the respective conflict indicator based on the updated respective priority number and the at least one other priority number; and determine whether the priority conflict exists based on the updated respective conflict indicator and the at least one other conflict indicator; and traverse the intersection according to a consensus priority order in response to determining that the priority conflict does not exist.
37 . The at least one non-transitory storage media of claim 36 , wherein the respective priority number is determined before reaching a full stop.
38 . The at least one non-transitory storage media of claim 36 , wherein the respective conflict indicator encodes a state of priority agreement between vehicles.
39 . The at least one non-transitory storage media of claim 36 , wherein a conflict indicator represents a status of conflict checks with respect to the intersection.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation of U.S. application Ser. No. 18/378,951, filed Oct. 11, 2023, now allowed, which claims priority from U.S. Provisional Application No. 63/416,446, filed on Oct. 14, 2022 and U.S. Provisional Application No. 63/436,319, filed on Dec. 30, 2022, all of which are incorporated by reference. BACKGROUND Vehicles navigate through an environment with varying levels of autonomous functionality. The vehicles are configured to communicate with other vehicles, systems, or infrastructure. The communications are sent and received by vehicles as they navigate through the environment. BRIEF DESCRIPTION OF THE FIGURES FIG. 1 is an example environment in which a vehicle including one or more components of an autonomous system can be implemented; FIG. 2 is a diagram of one or more systems of a vehicle including an autonomous system; FIG. 3 is a diagram of components of one or more devices and/or one or more systems of FIGS. 1 and 2; FIG. 4 is a diagram of certain components of an autonomous system; FIG. 5 is a diagram of an implementation of communicating precedence using vehicle to everything (V2X) messages; FIGS. 6A-6B are diagrams of example intersections for which precedence is communicated; FIG. 7 is a flowchart of a process for responding to a priority conflict; and FIG. 8 is a flowchart of a process for communicating precedence using V2X messages. DETAILED DESCRIPTION In the following description numerous specific details are set forth in order to provide a thorough understanding of the present disclosure for the purposes of explanation. It will be apparent, however, that the embodiments described by the present disclosure can be practiced without these specific details. In some instances, well-known structures and devices are illustrated in block diagram form in order to avoid unnecessarily obscuring aspects of the present disclosure. Specific arrangements or orderings of schematic elements, such as those representing systems, devices, modules, instruction blocks, data elements, and/or the like are illustrated in the drawings for ease of description. However, it will be understood by those skilled in the art that the specific ordering or arrangement of the schematic elements in the drawings is not meant to imply that a particular order or sequence of processing, or separation of processes, is required unless explicitly described as such. Further, the inclusion of a schematic element in a drawing is not meant to imply that such element is required in all embodiments or that the features represented by such element may not be included in or combined with other elements in some embodiments unless explicitly described as such. Further, where connecting elements such as solid or dashed lines or arrows are used in the drawings to illustrate a connection, relationship, or association between or among two or more other schematic elements, the absence of any such connecting elements is not meant to imply that no connection, relationship, or association can exist. In other words, some connections, relationships, or associations between elements are not illustrated in the drawings so as not to obscure the disclosure. In addition, for ease of illustration, a single connecting element can be used to represent multiple connections, relationships or associations between elements. For example, where a connecting element represents communication of signals, data, or instructions (e.g., “software instructions”), it should be understood by those skilled in the art that such element can represent one or multiple signal paths (e.g., a bus), as may be needed, to affect the communication. Although the terms first, second, third, and/or the like are used to describe various elements, these elements should not be limited by these terms. The terms first, second, third, and/or the like are used only to distinguish one element from another. For example, a first contact could be termed a second contact and, similarly, a second contact could be termed a first contact without departing from the scope of the described embodiments. The first contact and the second contact are both contacts, but they are not the same contact. The terminology used in the description of the various described embodiments herein is included for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various described embodiments and the appended claims, the singular forms “a,” “an” and “the” are intended to include the plural forms as well and can be used interchangeably with “one or more” or “at least one,” unless the context clearly indicates otherwise. It will also be understood that the term “and/or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms “includes,” “including,” “comprises,” and/or “comprising,” when u