Vehicle-to-vehicle messaging based on road topology

Abstract

The present disclosure relates to vehicle-to-vehicle messaging based on road topology. A system includes a wireless transceiver and a processor. The processor is configured to: generate a warning message indicating a road obstacle based on sensor data; send the warning message via the wireless transceiver through vehicle-to-vehicle direct communication; in response to topology data generated from the sensor data indicating that line-of-sight communication is blocked, send the warning message via the wireless transceiver to a cellular tower for local cellular broadcast.

Description

Technical Field

[0001] Aspects of the present disclosure generally relate to intelligent cellular vehicle-to-arbitrary entity messaging based on road topology. Background Art

[0002] Vehicle-to-vehicle (V2V) communications include messages such as accident warnings or hazardous road warnings. These types of messages and other types of messages can be transmitted from the host vehicle to the following vehicle to inform the following vehicle of upcoming road conditions. Dedicated short-range communications (DSRC) can be used for the transmission of messages. Summary of the invention

[0003] In one or more illustrative embodiments, a system includes a wireless transceiver and a processor of a vehicle, the processor configured to: generate a warning message indicating a road obstacle based on sensor data, send the warning message via the wireless transceiver through vehicle-to-vehicle direct communication, and in response to topology data generated from the sensor data indicating that line-of-sight communication is compromised, send the warning message via the wireless transceiver to a cellular tower for local cellular broadcast.

[0004] In one or more illustrative embodiments, a method includes utilizing topological data to track a vehicle's position relative to a lane traversing a route along a road to a destination; transmitting a warning message indicating a road obstruction via vehicle-to-vehicle direct communication; and transmitting the warning message to a cellular tower for local cellular broadcast in response to topological data generated from vehicle sensor data indicating that line-of-sight communication is obstructed.

[0005] In one or more illustrative embodiments, a vehicle includes a processor configured to, in response to topology data generated from vehicle sensor data indicating that line-of-sight communications using a wireless transceiver are blocked, send a warning message to a cellular tower for local cellular broadcast via the wireless transceiver, the wireless transceiver being configured to transmit via both vehicle-to-vehicle direct communications and cellular communications.

[0006] According to the present invention, a vehicle-to-vehicle communication system is provided, the vehicle-to-vehicle communication system comprising a wireless transceiver and a processor of a vehicle, the processor being configured to: perform lane analysis to fit information identified by performing feature detection on sensor data to identify lane positions and structures of a road into a model of the road; send a warning message indicating road obstacles based on sensor data through vehicle-to-vehicle direct communication via the wireless transceiver; and send the warning message to a cellular tower via the wireless transceiver for local cellular broadcasting in response to topology data generated from the sensor data indicating that line-of-sight communication is blocked.

[0007] According to one embodiment of the present invention, the vehicle-to-vehicle communication system further comprises: a lidar sensor and a camera configured to provide sensor data.

[0008] According to one embodiment of the present invention, the road obstacle is a stationary vehicle.

[0009] According to an embodiment of the present invention, the warning message includes the direction, speed and position of the vehicle.

[0010] According to an embodiment of the present invention, the road model includes one or more of a straight line, a curve or a parabola.

[0011] According to the present invention, a method for vehicle-to-vehicle communication performed by a processor is provided, the method comprising: utilizing topological data to track the position of a vehicle relative to a lane that passes through a route along a road to a destination; performing feature detection on sensor data to identify information including lane position and structure of the road from the sensor data; performing lane analysis to fit the identified information into a model of the road; sending a warning message indicating a road obstacle via vehicle-to-vehicle direct communication; and in response to topological data generated from the sensor data indicating that line-of-sight communication is blocked, sending the warning message to a cellular tower for local cellular broadcasting.

[0012] According to one embodiment of the present invention, the method further comprises: receiving sensor data from a LiDAR sensor and a camera to generate the topology data.

[0013] According to one embodiment of the present invention, the road obstacle is a stationary vehicle.

[0014] According to an embodiment of the present invention, the warning message includes the direction, speed and position of the vehicle.

[0015] According to an embodiment of the present invention, the road model includes one or more of a straight line, a curve or a parabola.

[0016] According to one embodiment of the present invention, the steps of sending a warning message indicating a road obstacle via vehicle-to-vehicle direct communication and sending the warning message to a cellular tower for local cellular broadcast are performed using a wireless transceiver configured to transmit via both vehicle-to-vehicle direct communication and cellular communication.

[0017] According to the present invention, a vehicle for vehicle-to-vehicle communication is provided, the vehicle comprising: a lidar sensor and a camera configured to provide sensor data for generating warning information; a processor configured to: perform feature detection on the sensor data to identify information including lane position and structure of a road from the sensor data; perform lane analysis to fit the identified information into a model of the road; in response to topology data generated from the vehicle sensor data indicating that line-of-sight communication using a wireless transceiver is blocked, send a warning message via the wireless transceiver to a cellular tower for local cellular broadcast, the wireless transceiver being configured to transmit via both vehicle-to-vehicle direct communication and cellular communication.

[0018] According to an embodiment of the present invention, the road model includes one or more of a straight line, a curve or a parabola.

[0019] According to an embodiment of the present invention, the warning message indicates the position of the stalled vehicle as a road obstacle.

[0020] According to an embodiment of the present invention, the warning message includes the direction, speed and position of the vehicle.

[0021] According to the present invention, a method of vehicle-to-vehicle communication executed by a processor is provided, the method comprising: performing lane analysis to fit information identified by performing feature detection on sensor data to identify lane positions and structures of a road into a model of the road; sending a warning message indicating a road obstacle through vehicle-to-vehicle direct communication, and in response to topology data generated from the sensor data indicating that line-of-sight communication is blocked, sending the warning message to a cellular tower for local cellular broadcasting. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 An example system for V2X messaging is shown;

[0023] Figure 2A An example diagram showing a vehicle sending communications to other vehicles via V2V communications;

[0024] Figure 2B An example diagram showing a vehicle sending communications to other vehicles via cellular communications;

[0025] Figure 3 An example process for generating a warning message is shown;

[0026] Figure 4 An example process for providing a warning message to a vehicle is shown. DETAILED DESCRIPTION

[0027] As required, detailed embodiments of the present invention are disclosed herein; however, it will be understood that the disclosed embodiments are merely examples of the present invention, which may be implemented in various forms and alternative forms. The drawings are not necessarily drawn to scale; some features may be exaggerated or minimized to show details of particular components. Therefore, the specific structural and functional details disclosed herein should not be interpreted as limiting, but merely as a representative basis for teaching those skilled in the art to utilize the present invention in various forms.

[0028] Vehicle-to-vehicle (V2V) communication technology can use line-of-sight message transmission at frequencies such as 5.9 gigahertz (GHz) to communicate directly between vehicles. However, the disadvantage of using 5.9 GHz is that there is severe signal loss due to trees, buildings, mountains, ramps and other obstacles. As a result, the message may not be transmitted to the intended neighboring vehicle as expected.

[0029] Vehicles may implement cellular-V2X technology with a single chipset that is capable of transmitting messages using a cellular protocol or via vehicle-to-vehicle (V2V) communications. The vehicle's navigation system may be used to determine the topology of the current road the vehicle is traversing. Notably, cellular technology uses lower frequencies than V2V frequencies that may be more suitable for obstructed terrain. Therefore, based on the road topology, cellular technology may be used to transmit specific messages that may not be received using V2V communications.

[0030] Figure 1 An example system 100 for V2X messaging is shown. Using the system 100, a vehicle 102 may perform wireless messaging using V2V communications and / or cellular communications. To facilitate communications, the system 100 may utilize an assist application 144 of an advanced driver assistance system (ADAS) 136 installed to the vehicle 102. When the assist application 144 generates a warning message 156, the assist application 144 may instruct the ADAS 136 to send the warning message 156 via cellular communications and / or V2V communications based on topology data 146 updated by the ADAS 136. Other aspects of the system 100 are described in detail below.

[0031] The vehicle 102 may be one of various types of passenger vehicles, such as a sedan, a crossover utility vehicle (CUV), a sport utility vehicle (SUV), a truck, a recreational vehicle (RV), or other mobile machines for transporting people or goods. In many cases, the vehicle 102 may be driven by an internal combustion engine. As another possibility, the vehicle 102 may be a hybrid electric vehicle (HEV) driven by both an internal combustion engine and one or more electric motors, such as a series hybrid electric vehicle (SHEV), a parallel hybrid electric vehicle (PHEV), or a parallel / series hybrid electric vehicle (PSHEV). Since the type and configuration of the vehicle 102 may be different, the capabilities of the vehicle 102 may be correspondingly different. As some other possibilities, the vehicle 102 may have different capabilities for passenger capacity, traction capacity and capacity, and storage capacity. For title, inventory, and other purposes, the vehicle 102 may be associated with a unique identifier, such as a vehicle identification number (VIN).

[0032] The telematics controller 104 may be configured to provide telematics services to the vehicle 102. As some non-limiting examples, these services may include navigation, turn-by-turn navigation, vehicle health reports, local business searches, accident reports, and hands-free calling. In an example, the telematics controller 104 may include the Ford SYNC system manufactured by Ford Motor Company of Dearborn, Michigan.

[0033] The telematics controller 104 may include one or more processors 106 configured to execute instructions, commands, and other routines that support the processing described herein. Various types of computer-readable storage media 108 may be used to store such instructions and other data in a non-volatile manner. Data may be loaded from the storage media 108 into the memory 110 for access by the processor 106. The computer-readable storage media 108 (also referred to as processor-readable media or memory) includes any non-transitory media (e.g., tangible media) that participates in providing instructions or other data that can be read by the processor 106 of the telematics controller 104. Computer-executable instructions may be compiled or interpreted from a computer program created using various programming languages ​​and / or technologies, including, but not limited to, a single one or a combination of the following: Java, C, C++, C#, Objective C, Fortran, Pascal, JavaScript, Python, Perl, and PL / SQL.

[0034] The telematics controller 104 may utilize a voice interface to provide a hands-free interface to the telematics controller 104. The voice interface may support voice recognition of audio received via the microphone 112 according to the syntax of available commands, and support voice prompt generation for output via the speaker 114 or other audio output. In some cases, when an audio prompt is ready for presentation by the telematics controller 104 and music or other audio is selected for playback, the system may be configured to temporarily mute, fade out, or otherwise override the audio source specified by the input selector.

[0035] The telematics controller 104 may also receive input from human-machine interface (HMI) controls configured to provide occupant interaction with the vehicle 102. For example, the telematics controller 104 may interact with one or more buttons or other HMI controls (e.g., steering wheel audio buttons, push-to-talk buttons, dashboard controls, etc.) configured to invoke functions of the telematics controller 104. The telematics controller 104 may also drive or otherwise communicate with one or more displays 116 configured to provide visual output to vehicle occupants. In some cases, the display 116 may be a touch screen that is further configured to receive user touch input, while in other cases, the display 116 may simply be a display without touch input capabilities.

[0036] The telematics controller 104 may also be configured to communicate with a mobile device (not shown) of a vehicle occupant. The mobile device may be any of various types of portable computing devices (such as a cellular phone, a tablet computer, a smart watch, a laptop computer, a portable music player, or other devices capable of communicating with the telematics controller 104). In many examples, the telematics controller 104 may include a local wireless transceiver (not shown) configured to communicate with a compatible wireless transceiver of the mobile device (e.g., a Bluetooth module, a ZIGBEE transceiver, a Wi-Fi transceiver, etc.). Additionally or alternatively, the telematics controller 104 may communicate with the mobile device via a wired connection (such as via a USB connection between the mobile device and the telematics controller 104).

[0037] The vehicle bus 124 may include various communication methods available between the telematics controller 104 and other components of the vehicle 102. For example, the vehicle bus 124 may include one or more of a vehicle controller area network (CAN), Ethernet, and a media oriented systems transport (MOST) network.

[0038] The embedded modem 126 may be a component of the vehicle 102 configured to facilitate communication of the vehicle 102 over a communication network 128. The communication network 128 may provide communication services, such as packet-switched network services (e.g., Internet access, VoIP communication services), to devices connected to the communication network 128. Examples of the communication network 128 may include a cellular telephone network. For example, the embedded modem 126 may access the cellular network via a connection to one or more cellular towers 130. To facilitate communication over the communication network 128, the embedded modem 126 may be associated with a unique device identifier (e.g., a mobile device number (MDN), an Internet Protocol (IP) address, etc.) to identify the communication of the embedded modem 126 over the communication network as being associated with the vehicle 102. To support telematics services, the telematics controller 104 may utilize the embedded modem 126 to facilitate networked communications between the vehicle 102 and devices external to the vehicle 102. In other examples, the telematics controller 104 may communicate with the communication network 128 via a network connection of a nomadic device connected to the telematics controller 104 via a local wireless transceiver.

[0039] The V2V transceiver 132 may be a component of the vehicle 102 configured to facilitate one-way or two-way wireless communications via frequencies and protocols specifically designed for automotive use. In an example, the V2V transceiver 132 may be configured to facilitate intelligent transportation system capabilities. The wireless components of the V2V and V2V and Wireless Access in Vehicle Environments (WAVE) protocols operate within a 75 megahertz (MHz) bandwidth of the 5.9 GHz spectrum band. The allocated bandwidth is typically divided into one control channel (CCH) for broadcasting safety messages and announcing available services and four to six service channels (SCH) for subsequent communications between the broadcasting service provider and the service user. It should be noted that although the V2V transceiver 132 and the embedded modem 126 are shown here as separate components, in some examples, the functions of the V2V transceiver 132 and the embedded modem 126 may be performed by a combined V2V / cellular transceiver device.

[0040] A global navigation satellite system (GNSS) receiver 134 may be a component of the vehicle 102 for providing geospatial positioning information for the vehicle 102. As some examples, the GNSS receiver 134 may be configured to receive location data via a global positioning system (GPS), a GLONASS navigation satellite system (GLONASS), and / or a Galileo positioning system.

[0041] ADAS 136 is configured to automate or enhance one or more vehicle systems to improve driving performance. Example functions implemented by ADAS 136 for improving driving performance may include adaptive cruise control systems, blind spot monitoring systems, crosswind stabilization systems, collision warning systems, and lane departure warning systems. In an example, ADAS 136 may include one or more processors 138 configured to execute computer instructions and a storage medium 142 on which computer executable instructions (e.g., auxiliary applications 144 discussed in more detail below) and / or data (e.g., topological data 146, etc.) may be stored. Data can be loaded from storage medium 142 into memory 140 for access by processor 138.

[0042] ADAS 136 may receive input from various sensors. In an example, ADAS 136 may communicate with a LiDAR sensor 148. In other examples, ADAS 136 may additionally or alternatively communicate with a laser sensor, a radar sensor, a sonar sensor, or other types of distance sensors and / or obstacle sensors. ADAS 136 may communicate with one or more camera devices 150 configured to capture information about the surrounding environment of vehicle 102. ADAS 136 may also receive vehicle network data from other vehicle controllers via vehicle bus 124.

[0043] The navigation application 152 may be an application installed to the storage medium 108 of the telematics controller 104. When the navigation application 152 is executed by the telematics controller 104, the navigation application 152 may be configured to use the GNSS receiver 134 to determine the location of the vehicle 102 and utilize the location to provide navigation directions along the route. In some cases, the navigation directions may be provided to the vehicle occupants via the speaker 114 and / or the display 116. In another example, the directions may be provided to the ADAS 136 or to a fully autonomous driving system to guide the vehicle 102.

[0044] For example, the navigation application 152 may include instructions that, when executed by the processor 106 of the telematics controller 104, cause the telematics controller 104 to provide a map of the vehicle 102 depicted in the surrounding road environment to the display 116. The map may be based on map data 154 saved to the memory 108 of the telematics controller 104. The map data 154 may include information that can be queried to provide map information to a viewer of the display 116. As one example, the telematics controller 104 may load the map data 154 from a digital versatile disk (DVD) as needed. As another example, the telematics controller 104 may save the map data 154 on a flash memory or HDD memory. The map data 154 may include, for example, information about roads that may be traversed by the vehicle 102 (e.g., location, name, end point, speed limit, traffic, etc.) and geographic features of the area surrounding the road (e.g., water, park, desert, mountain range, building profile, etc.).

[0045] The navigation application 152 may also include instructions for the telematics controller 104 to utilize the map data 154 to identify a route for the vehicle 102. As an example, the navigation application 152 may be configured to identify a path along a road segment in the map data 154 from the current location of the vehicle 102 (or a user-specified starting location) to a location that the driver desires to reach. The navigation application 152 may also be configured to display the route in the HMI of the vehicle 102, such as by overlaying a highlighted path on the displayed map data 154, and / or display the route in the HMI of the vehicle 102 as a list of one or more driving instructions that, when followed, take the vehicle 102 to the intended destination or waypoint point of interest (POI).

[0046] The assist application 144 may include instructions that, when executed by the processor 138 of the ADAS 136, cause the ADAS 136 to process data received from sensors (e.g., LiDAR 148, camera 150, etc.) and determine road topology based on the data. For example, the assist application 144 may perform feature detection on the received data to identify information related to lane location or structure from the sensor data. As some possible approaches, this information may include line markings in the road, painted road features, curbs, or street signs indicating road structure.

[0047] This road feature information may be interpreted by a lane analyzer that attempts to fit the currently identified information into a continuous representation of the lane based on previously received data. For example, tracking may include attempting to fit the identified information into a model of the road (such as a straight line, curve, parabola, or some other feasible simple shape). The result of this process may be topological data 146 that includes information indicating the structure of the road ahead (such as the location of the lanes and the curvature of the road).

[0048] In some cases, the assistance application 144 may detect an obstacle (e.g., a stopped vehicle 102) or a steep curve or other features that may be of interest to other vehicles 102 crossing the road. In such an example, the assistance application 144 may generate a warning message 156 to be sent to other vehicles 102 near the vehicle 102. The warning message 156 may include information such as the direction, speed, and location of the vehicle. As some examples, the warning message 156 may also include a warning type indicating the type of warning message 156 (e.g., there is a stopped vehicle 102 or an obstacle or a steep curve). As shown in Figure 1 As generally shown in FIG. 1 , the communication may be accomplished through cellular communication and / or via V2V communication.

[0049] Figure 2A An example diagram 200-A is shown in which a vehicle 102-A sends a communication to another vehicle 102 via V2V communication. As shown, the vehicle 102-A sends a warning message 156 via V2V communication, which is received by the vehicle 102-B. However, due to the topographic structure of the road in the example diagram 200-A, the vehicle 102-C is unable to receive the warning message 156 from the vehicle 102-A.

[0050] Figure 2BAn example diagram 200-B shows a vehicle 102-A sending a communication to other vehicles 102 via cellular communication. As shown, the vehicle 102-A sends a warning message 156 to a cell tower 130 via a cellular channel. The cell tower 130 is positioned so that the cell tower 130 provides a cellular connection for the area of ​​the road shown. In addition, the cell tower 130 may also be configured to relay the warning message 156 to the coverage area of ​​the cell tower 130 via the cellular connection provided by the cell tower 130. For example, the cell tower 130 may verify that the message is a warning message 156 (e.g., rather than a call, text message, data request, etc.), rather than passing the warning message 156 to the communication network 128, and if the message is a warning message 156, the cell tower 130 may locally rebroadcast the warning message 156 from the cell tower 130 to any receiver within the coverage area of ​​the cell tower 130. The message may be verified as a warning message 156 based on information in the message (such as the type of warning that is set). Thus, while the vehicle 102 -C may not be able to directly receive the V2V message from the vehicle 102 -A ahead, the vehicle 102 -C may receive the warning message 156 via the cellular connection.

[0051] Figure 3 An example process 300 for generating a warning message 156 is shown. In an example, the warning message 156 may be generated by the ADAS 136. At operation 302, the ADAS 136 receives sensor data. For example, the sensor data may include data from a LiDAR sensor 148, data from a camera 150, and vehicle bus 124 data from various electronic control units (ECUs) of the vehicle 102. As some other possible approaches, the ADAS 136 may receive sensor data from a laser sensor, a radar sensor, a sonar sensor, or other types of distance sensors and / or obstacle sensors.

[0052] In operation 304, the ADAS 136 performs feature detection. In an example, the assist application 144 of the ADAS 136 may identify information related to lane position or structure from the received sensor data. As some possible approaches, this information may include identification of line markings in the road, identification of features of a drawn road, curbs, or reading of street signs indicating road structure.

[0053] In operation 306, the ADAS 136 performs lane analysis. In an example, the assist application 144 of the ADAS 136 fits the currently identified information into a continuous representation of the lane based on previously received data. For example, tracking may include attempting to fit the identified information into a model of the road (e.g., a straight line, curve, parabola, or other road shape).

[0054] In operation 308 , the ADAS 136 updates the topology data 146 . In an example, based on the lane analysis, the assistance application 144 creates the topology data 146 that includes information indicating the structure of the road ahead, such as the location of the lanes and the curvature of the road.

[0055] In operation 310, the ADAS 136 utilizes the topological data 146. In an example, the auxiliary application 144 utilizes the topological data 146. In an example, if the vehicle 102 deviates beyond the boundary of the lane that the vehicle 102 is currently crossing, the auxiliary application 144 may provide a warning to the user. In another example, if the vehicle 102 deviates beyond the boundary of the lane, the auxiliary application 144 may provide a command to adjust the steering, speed, or other aspects of the travel of the vehicle 102 to correct the movement of the vehicle 102. The auxiliary application 144 may also provide the topological data 146 to the navigation application 152 to allow the navigation application 152 to track the position of the vehicle 102 relative to the correct lane for crossing the route to the destination. For example, the auxiliary application 144 may utilize the topological data 146 to indicate to the user that the user should be in a different lane to continue to travel correctly along the route.

[0056] In operation 312, the ADAS 136 determines whether a warning condition is encountered. In an example, the auxiliary application 144 may detect an obstacle or a sharp turn or other features that may be of interest to other vehicles 102 crossing the road. If the ADAS 136 determines that a warning condition is encountered, control passes to operation 314. Otherwise, the process 300 ends. In operation 314, the ADAS 136 generates a warning message 156 to be sent to other vehicles 102 near the vehicle 102. In an example, the message may include an indication of an obstacle or a turn or other warning condition that was identified. After operation 314, the process 300 ends.

[0057] Figure 4 An example process 400 is shown for providing a warning message 156 to the vehicle 102. At operation 402, the ADAS 136 determines whether a warning message 156 is pending. In the example, as discussed above with respect to process 300, the ADAS 136 may determine whether any warning message 156 has been generated. If the ADAS 136 determines that a warning message 156 is pending, control passes to operation 404.

[0058] In operation 404, the ADAS 136 determines whether to utilize a cellular connection to provide the warning message 156. In an example, the ADAS 136 may query the telematics controller 104 to receive an indication of whether the embedded modem 126 is connected to a cellular tower 130. In another example, the ADAS 136 may additionally determine whether the topology data 146 for the current location of the vehicle 102 indicates a warning in a straight road segment or in a curved road segment where line-of-sight communications such as V2V communications may be difficult. If a cellular connection is available and the road topology may limit the ability of the vehicle 102 to effectively communicate via V2V communications, control passes to operation 406. Otherwise, control passes to operation 408.

[0059] At operation 406, the ADAS 136 utilizes cellular communication to broadcast the warning message 156. In the example, the ADAS 136 instructs the embedded modem 126 to send the warning message 156. The cellular tower 130 may accordingly receive the warning message 156 and broadcast the warning message 156 to the coverage area of ​​the cellular tower 130 via the cellular connection provided by the cellular tower 130.

[0060] At operation 408, the ADAS 136 utilizes V2V communication to broadcast the warning message 156. In the example, the ADAS 136 instructs the V2V transceiver 132 to send the warning message 156. The V2V transceiver 132 may accordingly broadcast the warning message 156 via V2V communication to the coverage area of ​​the V2V transceiver 132. After operation 408, the process 400 ends.

[0061] The computing devices described herein, such as the telematics controller 104 and the ADAS 136, generally include computer-executable instructions that can be executed by one or more computing devices, such as those listed above. The computer-executable instructions, such as those of the navigation application 152 and the auxiliary application 144, can be compiled or interpreted from a computer program created using a variety of programming languages ​​and / or techniques, including, but not limited to, one or a combination of the following: Java; TM , C, C++, C#, VisualBasic, Java Script, Python, Perl, PL / SQL, etc. In general, a processor (e.g., a microprocessor) receives instructions from, for example, a memory, a computer-readable medium, etc., and executes these instructions to perform one or more processes, including one or more of the processes described herein. Various computer-readable media can be used to store and transmit such instructions and other data.

[0062] With respect to the processes, systems, methods, teachings, etc. described herein, it should be understood that although the steps of such processes, etc. have been described as occurring according to a particular ordered sequence, such processes may be implemented with the steps performed in sequences other than the sequence described herein. It should also be understood that certain steps may be performed simultaneously, other steps may be added, or certain steps described herein may be omitted. In other words, the descriptions of processes herein are provided for the purpose of illustrating particular embodiments and should not be construed in any way as limiting the claims.

[0063] Accordingly, it should be understood that the above description is intended to be illustrative and not restrictive. When reading the above description, many embodiments and applications outside the examples provided will be apparent. The scope should not be determined with reference to the above description, but with reference to the full scope of the equivalents claimed by the claims and these claims. It is anticipated and planned that future developments will occur in the technology described herein, and the disclosed systems and methods will be incorporated into such future embodiments. In short, it should be understood that the present application is capable of modification and variation.

[0064] Unless expressly indicated to the contrary herein, all terms used in the claims are intended to be given their broadest reasonable constructions and their ordinary meanings as understood by those skilled in the art described herein. In particular, unless a claim recites an explicit limitation to the contrary, use of singular articles such as "a," "said," "the," etc. should be understood to describe one or more of the indicated elements.

[0065] The abstract of the specification of the present disclosure is provided to allow the reader to quickly determine the essence of the technical disclosure. The abstract of the specification of the present disclosure is submitted with the understanding that the abstract will not be used to interpret or limit the scope or meaning of the claims. In addition, in the aforementioned detailed description, it can be seen that for the purpose of simplifying the present disclosure, multiple features are combined together in multiple embodiments. The method of the present disclosure will not be interpreted as reflecting the intention that the claimed embodiments require more features than the features expressly recorded in each claim. More precisely, as reflected in the claims, the subject matter of the invention lies in features that are less than all the features of a single disclosed embodiment. Therefore, the claims are included herein in the detailed description, wherein each claim exists independently as a separately claimed subject matter.

[0066] Although exemplary embodiments are described above, these embodiments are not intended to describe all possible forms of the present invention. More specifically, the words used in the specification are descriptive words rather than restrictive words, and it should be understood that various changes can be made without departing from the spirit and scope of the present invention. In addition, the features of the various embodiments implemented can be combined to form further embodiments of the present invention.

Claims

1. A system for vehicle-to-vehicle communication, comprising: Wireless transceiver; The vehicle's processor is configured to: performing feature detection on the sensor data to identify information including lane positions and structure of a road from the sensor data; performing lane analysis to fit the identified information into a model of the road; transmitting, via the wireless transceiver, a warning message indicating a road obstacle based on the sensor data by vehicle-to-vehicle direct communication; In response to topology data generated from the sensor data indicating that line-of-sight communications are obstructed, the warning message is sent via the wireless transceiver to a cellular tower for local cellular broadcast.

2. The system for vehicle-to-vehicle communication of claim 1, further comprising: The lidar sensor and the camera are configured to provide sensor data.

3. The system for vehicle-to-vehicle communication as claimed in claim 1, wherein: The road obstacle is a stationary vehicle.

4. The system for vehicle-to-vehicle communication as claimed in claim 1, wherein: The warning message includes the direction, speed and position of the vehicle.

5. The system for vehicle-to-vehicle communication as claimed in claim 1, wherein: The road model includes one or more of a straight line, a curve or a parabola.

6. A method for vehicle-to-vehicle communication, comprising: utilizing topological data generated from the sensor data to track a position of the vehicle relative to lanes traversing a route along a road to a destination; performing feature detection on the sensor data to identify information including lane positions and structure of a road from the sensor data; performing lane analysis to fit the identified information into a model of the road; sending a warning message indicating a road obstacle based on sensor data via vehicle-to-vehicle direct communication; In response to the topology data indicating that line-of-sight communications are obstructed, the warning message is sent to a cellular tower for local cellular broadcast.

7. The method for vehicle-to-vehicle communication as claimed in claim 6, further comprising: Sensor data is received from a lidar sensor and a camera to generate the topology data.

8. The method for vehicle-to-vehicle communication according to claim 6, wherein: The road obstacle is a stationary vehicle.

9. The method for vehicle-to-vehicle communication as claimed in claim 6, wherein: The warning message includes the direction, speed and position of the vehicle.

10. The method for vehicle-to-vehicle communication according to claim 6, wherein: The road model includes one or more of a straight line, a curve or a parabola.

11. The method for vehicle-to-vehicle communication according to claim 6, wherein: The steps of transmitting a warning message indicating a road obstacle via vehicle-to-vehicle direct communication and transmitting the warning message to a cellular tower for local cellular broadcast are performed using a wireless transceiver configured to transmit via both vehicle-to-vehicle direct communication and cellular communication.

12. A vehicle comprising: The processor is configured as: performing feature detection on the sensor data to identify information including lane positions and structure of a road from the sensor data; performing lane analysis to fit the identified information into a model of the road; In response to topology data generated from the sensor data indicating that line-of-sight communications using a wireless transceiver are obstructed, a warning message based on the sensor data is sent to a cellular tower via the wireless transceiver for local cellular broadcast, the wireless transceiver being configured to transmit via both vehicle-to-vehicle direct communications and cellular communications.

13. The vehicle of claim 12, further comprising: The lidar sensor and the camera are configured to provide sensor data.

14. The vehicle of claim 12, wherein: The road model includes one or more of a straight line, a curve or a parabola.

15. The vehicle of claim 12, wherein: The warning message indicates the location of the stalled vehicle as a road obstacle.

16. The vehicle of claim 12, wherein: The warning message includes the direction, speed and position of the vehicle.

17. A computer program product, comprising a computer program / instructions, which when executed by a processor implements the method for vehicle-to-vehicle communication according to any one of claims 6 to 11.

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