V2V messaging based on road topology

Patent metadata

Field	Value
Publication number	US-10140868-B1
Application number	US-201715685581-A
Country	US
Kind code	B1
Filing date	Aug 24, 2017
Priority date	Aug 24, 2017
Publication date	Nov 27, 2018
Grant date	Nov 27, 2018

Abstract

A system includes a wireless transceiver and a processor. The processor is programmed to generate an alert message indicative of a roadway obstacle according to sensor data, send the alert message over vehicle-to-vehicle direct communications via the wireless transceiver, and send the alert message to a cellular tower via the wireless transceiver for local cellular broadcast responsive to topology data generated from the sensor data indicating line-of-sight communication is compromised.

First claim

What is claimed is:

1. A vehicle-to-vehicle communication system comprising:
a wireless transceiver; and
a processor of a vehicle programmed to
perform lane analysis to fit, to a model of a roadway, information identified from performing feature detection on the sensor data to identify lane locations of the roadway and structures,
send an alert message indicative of a roadway obstacle per the sensor data over vehicle-to-vehicle direct communications via the wireless transceiver, and
send the alert message to a cellular tower via the wireless transceiver for local cellular broadcast responsive to topology data generated from the sensor data indicating line-of-sight communication is compromised.

2. The system of claim 1 , further comprising LiDAR sensors and a camera configured to provide the sensor data.

3. The system of claim 1 , wherein the roadway obstacle is a stalled vehicle.

4. The system of claim 1 , wherein the alert message includes a direction, a speed, and a location of the vehicle.

5. The system of claim 1 , wherein the model of the roadway includes one or more of a line, a curve, or a parabola.

6. A method of vehicle-to-vehicle communication executing by a processor comprising:
utilizing topology data to track vehicle location with respect to a lane for traversing a route along a roadway to a destination;
performing feature detection on sensor data to identify information including lane locations of the roadway and structures from the sensor data;
performing lane analysis to fit the identified information to a model of the roadway;
sending an alert message indicative of a roadway obstacle over vehicle-to-vehicle direct communications; and
sending the alert message to a cellular tower for local cellular broadcast responsive to topology data generated from the sensor data indicating line-of-sight communication is compromised.

7. The method of claim 6 , further comprising receiving sensor data from LiDAR sensors and cameras to generate the topology data.

8. The method of claim 6 , wherein the roadway obstacle is a stalled vehicle.

9. The method of claim 6 , wherein the alert message includes a direction, a speed, and a location of the vehicle.

10. The method of claim 6 , wherein the model of the roadway includes one or more of a line, a curve, or a parabola.

11. The method of claim 6 , wherein the sending over vehicle-to-vehicle direct communications and the sending to the cellular tower are performed using a wireless transceiver configured to transmit over both vehicle-to-vehicle direct communications and cellular communications.

12. A vehicle for vehicle-to-vehicle communication comprising:
LiDAR sensors and a camera configured to provide sensor data for generating the alert message; and
a processor programmed to
perform feature detection on the sensor data to identify information including lane locations of a roadway and structures from the sensor data,
perform lane analysis to fit the identified information to a model of the roadway, and
send an alert message to a cellular tower for local cellular broadcast via a wireless transceiver configured to transmit over both vehicle-to-vehicle direct communications and cellular communications, responsive to topology data generated from vehicle sensor data indicating line-of-sight communication using the wireless transceiver is compromised.

13. The vehicle of claim 12 , wherein the model of the roadway includes one or more of a line, a curve, or a parabola.

14. The vehicle of claim 12 , wherein the alert message indicates a location of a stalled vehicle that is a roadway obstacle.

15. The vehicle of claim 12 , wherein the alert message includes a direction, a speed, and a location of the vehicle.

16. A processor-executed method of vehicle-to-vehicle communication comprising:
performing lane analysis to fit, to a model of a roadway, information identified from performing feature detection on the sensor data to identify lane locations of the roadway and structures; and
sending an alert message, indicative of a roadway obstacle, over vehicle-to-vehicle direct communications, and responsive to topology data generated from the sensor data indicating line-of-sight communication is compromised, to a cellular tower for local cellular broadcast.

Assignees

• Ford Global Tech Llc

Inventors

• Lei Oliver
• Murray Allen R

Classifications

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title

• B60W2552/00

  Input parameters relating to infrastructure · CPC title

• B60W2552/30

  Road curve radius · CPC title

• B60W2556/65

  Data transmitted between vehicles · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title