Planning and control framework with communication messaging

Patent metadata

Field	Value
Publication number	US-11670172-B2
Application number	US-202117540852-A
Country	US
Kind code	B2
Filing date	Dec 2, 2021
Priority date	Aug 22, 2019
Publication date	Jun 6, 2023
Grant date	Jun 6, 2023

Abstract

Disclosed is a method and apparatus for operating a first device. The first device obtains environment information in proximity to the first device and receives one or more communication messages from a second device and the message(s) includes relevance criteria, wherein the relevance criteria indicates one or more devices, one or more sets of device characteristics, one or more lanes, one or more intersections or areas, one or more pedestrian paths or bicycle paths, one or more signal characteristics from the second device or any combination thereof. The first device determines whether the one or more communication messages are relevant to the first device based on the relevance criteria and the environment information and performs an operation in response to the determination of whether the one or more communication messages are relevant.

First claim

What is claimed is:

1. A method of operating a first device, the method comprising:
obtaining, by the first device, environment information in proximity to the first device;
receiving, by the first device, one or more communication messages from a second device, wherein the one or more communication messages include relevance criteria, wherein the relevance criteria indicates one or more devices, one or more sets of device characteristics, one or more lanes, one or more intersections or areas, one or more pedestrian paths or bicycle paths, one or more signal characteristics from the second device or any combination thereof;
determining, by the first device, whether the one or more communication messages are relevant to the first device based on the relevance criteria and the environment information; and
determining whether the first device is to coordinate with the second device based on one or more device characteristics of the second device from the one or more sets of device characteristics and the environment information, wherein the determining whether the first device is to coordinate with the second device comprises:
transmitting one or more requests to the second device, wherein the one or more requests indicate the second device to perform an action, capture one or more images of the first device or a third device from the second device, or any combination thereof;
determining whether the second device is a non-spoofed device based on a response to the one or more requests; and

performing, by the first device, an operation in response to the determination of whether the one or more communication messages are relevant to the first device and in response to the determination of whether the first device is to coordinate with the second device.

2. The method of claim 1 , wherein the environment information comprises one or more images of an environment in proximity to the first device, a real-world traffic model (RTM) or any combination thereof.

3. The method of claim 1 , further comprising:
obtaining one or more device characteristics corresponding to the first device; and
determining whether the one or more communication messages are relevant to the first device is further based on the first device characteristics and the one or more sets of device characteristics.

4. The method of claim 1 , further comprising:
in response to the determination of whether the one or more communication messages are relevant to the first device, transmitting an acknowledgement message to the second device, wherein the acknowledgement message indicates that the first device has received the one or more communication messages and indicates whether the one or more communication messages are relevant to the first device.

5. The method of claim 1 , further comprising: in response to the determination that
the first device is to coordinate with the second device, determining whether the first device should perform a vehicular maneuver based on the one or more communication messages.

6. The method of claim 1 , wherein the one or more communication messages indicate one or more intentions of the second device, one or more actions to be performed or requested to be performed by the second device, or any combination thereof.

7. The method of claim 1 , further comprising:
in response to the determination that the one or more communication messages are relevant to the first device, setting a pertinence level associated with the second device to a higher level.

8. The method of claim 1 , further comprising:
transmitting a second set of one or more communication messages, wherein the second set of one or more communication messages indicates one or more coordinated driving actions to be performed by the second device, to be performed by the first device or both.

9. The method of claim 1 , wherein the environment information comprises one or more images; and
wherein determining whether the one or more communication messages are relevant to the first device based on the relevance criteria and the environment information further comprises:
determining whether the first device is in an area indicated in the relevance criteria of the one or more communication messages based on the one or more images;
in response to the determination that the first device is in the area indicated by the relevance criteria, determining whether the first device should perform a vehicular maneuver based on the one or more communication messages.

10. A first device comprising:
one or more memory;
one or more transceivers;
one or more processors, wherein the one or more processors are communicatively coupled to the one or more memory and the one or more transceivers, wherein the one or more processors configured to:
obtain environment information in proximity to the first device;
receive, via the one or more transceivers, one or more communication messages from a second device, wherein the one or more communication messages include relevance criteria, wherein the relevance criteria indicates one or more devices, one or more sets of device characteristics, one or more lanes, one or more intersections or areas, one or more pedestrian paths or bicycle paths, one or more signal characteristics from the second device or any combination thereof;
determine whether the one or more communication messages are relevant to the first device based on the relevance criteria and the environment information; and
determine whether the first device is to coordinate with the second device based on one or more device characteristics of the second device from the one or more sets of device characteristics and the environment information, wherein the one or more processors configured to:
transmit one or more requests to the second device, wherein the one or more requests indicate the second device to perform an action, capture one or more images of the first device or a third device from the second device, or any combination thereof
determine whether the second device is a non-spoofed device based on a response to the one or more requests; and

perform an operation in response to the determination of whether the one or more communication messages are relevant to the first device and in response to the determination of whether the first device is to coordinate with the second device.

11. The first device of claim 10 , wherein the environment information comprises one or more images of an environment in proximity to the first device, a real-world traffic model (RTM) or any combination thereof.

12. The first device of claim 10 , the one or more processors are further configured to:
obtain one or more device characteristics corresponding to the first device; and
determine whether the one or more communication messages are relevant to the first device is further based on the first device characteristics and the one or more sets of device characteristics.

13. The first device of claim 10 , the one or more processors are further configured to:
in response to the determination of whether the one or more communication messages are relevant to the first device, transmit an acknowledgement message to the second device, wherein the acknowledgement message indicates that the first device has received the one or more communication messages and indicates whether the one or more communication messages are relevant to the first device.

14. The first device of claim 10 , further comprising the one or more processors configured to: in response to the determination that the first device is to coordinate with the second device, determine whether the first device should perform a vehicular maneuver

Assignees

• Qualcomm Inc

Inventors

• Lund Benjamin
• Park Edwin Chongwoo
• Blow Anthony
• Shriver Garrett

Classifications

• G08G1/0141

  for traffic information dissemination · CPC title

• H04W4/44

  for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] · CPC title

• G08G1/005

  including pedestrian guidance indicator · CPC title

• G08G1/0112 Primary

  from the vehicle, e.g. floating car data [FCD] · CPC title

• G08G1/166 Primary

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title