First vehicle, method for a vehicle, and fleet of vehicles

Abstract

The present invention relates to a first vehicle, a method for a vehicle, and a fleet of vehicles. Methods and systems are provided for establishing a line-of-sight (LoS) communication link between a first vehicle and one or more second vehicles. The LoS communication link can comprise a Li-Fi communication link, a visible light communication (VLC) link, or other light-based communication link. The LoS communication can be used to create and control a fleet of vehicles.

Description

Technical Field

[0001] This disclosure relates to vehicles. Background Technology

[0002] Li-Fi, or Light Fibre, is a wireless communication technology that uses light to transmit data and location between devices. Li-Fi is a visible light communication (VLC) technology for sharing data. Li-Fi supports data rates that can use light to transmit audio, video, and multimedia services. Summary of the Invention

[0003] Systems and methods for establishing line-of-sight (LoS) communication links between a first vehicle and one or more second vehicles are described. LoS communication can be used to create a LoS network of vehicles and, in some cases, to create and control a convoy of vehicles (caravans). LoS communication may include Li-Fi communication systems, VLC communication systems, or other light-based communication systems.

[0004] In one embodiment, the method performed by the first vehicle includes: detecting a second vehicle operating in the environment using a perception system on the first vehicle operating in the environment. The first vehicle may include a perception system, which may include a camera, RADAR (radar), LiDAR, etc. The first vehicle may detect friendly vehicles based on an authentication protocol. The method may further include: adjusting the trajectory of the first vehicle to form a convoy with the second vehicle using a control system on the first vehicle. Adjusting the trajectory of the first vehicle to form a convoy with the second vehicle includes: transmitting data to move the first vehicle to a position such that the second vehicle is within the line of sight of at least one line-of-sight communication system of the first vehicle. For example, a convoy is formed when two vehicles process a link through a handshake. In some embodiments, a pace car manages remote communication between the first vehicle and a command center via a wireless communication protocol. The first vehicle may or may not guide the vehicles to adjust their trajectories—the vehicles may adjust their own trajectories autonomously.

[0005] In some embodiments, adjusting the trajectory of the first vehicle to form a convoy with the second vehicle may include adjusting the trajectory of the first vehicle to move it to a position within one carlength of the second vehicle. For example, the distance between vehicles in the convoy should not exceed one carlength or the diagonal of one carlength.

[0006] Some embodiments may include a handshake process with a second vehicle using a line-of-sight communication system. For example, the handshake establishes a communication link between the vehicles. The vehicle may use a radio communication system to transmit the result of the handshake process to a remote command center for verification.

[0007] Some embodiments may include using a radio communication system to receive handshake authentication messages from a remote command center. For example, the radio communication system is any system used by the vehicle to communicate with the command center or FAS. The vehicle may also use a line-of-sight (LOS) communication system to establish a communication link with a second vehicle by opening a LoS channel between vehicles. For example, the LoS communication system is a Li-Fi system, a VLC system, or other light-based communication system. The communication link may be a Li-Fi link.

[0008] Some embodiments may also include receiving information from a remote command center using a radio communication system. For example, the lead vehicle acts as a hub between the command center and other vehicles in the convoy, thus receiving any information being transmitted by the command center. The first vehicle may also transmit this information to a second vehicle using a line-of-sight communication system. For example, the lead vehicle then transmits this information to the other vehicles in the convoy using Li-Fi or VLC.

[0009] In some embodiments, the information includes one or more of the following: information representing the trajectory associated with the first vehicle; information representing the user experience of the users in the first vehicle; information representing vehicle diagnostics of the first vehicle; information representing the status of the first vehicle; and fleet form factor information representing the position of one vehicle relative to another vehicle. The command center can receive information about one or more second vehicles via the Li-Fi link of the first vehicle, such as vehicle identification information, status and vital information, route information, origin and destination information, HMI / UX preferences, cargo and manifest information, vehicle capability information, etc.

[0010] Some embodiments may include using a line-of-sight communication system to synchronize the driving modes of a first and second vehicle based on a selected fleet shape factor. For example, an example use case for Li-Fi is synchronizing driving modes.

[0011] Some embodiments may include using a line-of-sight communication system to synchronize the human-machine interface (HMI) schemes of the first and second vehicles. For example, another example use case for Li-Fi is the possibility of synchronizing HMI schemes.

[0012] Some embodiments may include using a line-of-sight communication system to receive traffic pattern information from a second vehicle. For example, the convoy may act as a traffic pattern surveyor, so the second vehicle can send traffic pattern information to a lead vehicle, which in turn can send the information to a command center and / or other vehicles in the convoy. The method may also include using a radio communication system to transmit the traffic pattern information to a remote command center.

[0013] Some embodiments may also include using a line-of-sight communication system to receive an indication that a second vehicle will leave the convoy. For example, particularly when a vehicle leaves, there are mechanisms for changing the convoy. The method also includes terminating the communication link with the second vehicle and using a radio communication system to transmit the vehicle departure message to a remote command system. For example, when the second vehicle leaves the convoy, the LoS or VLC link is terminated. In some embodiments, if the departing vehicle is within a specific area around the lead vehicle, the lead vehicle can maintain vehicle information for reconnecting the LoS communication link. In one example, the lead vehicle can establish a geofence. A geofence is a virtual fence or perimeter around a physical location (in this case, around the lead vehicle). If the second vehicle disconnects from the LoS communication link but remains within the geofence, the lead vehicle can maintain information about the second vehicle until the vehicle leaves the geofence or the line-of-sight communication link is re-established.

[0014] In some embodiments, a first vehicle is designated as the lead vehicle of a convoy. Some embodiments may include: using a planning system on the first vehicle to determine that the first vehicle will leave the convoy. For example, the lead vehicle will have a planned route and corresponding trajectory, so the lead vehicle should know when it needs to leave the convoy. Embodiments may include: using a radio communication system to transmit a lead vehicle departure message to a remote command center. For example, the lead vehicle alerts the command center that it intends to leave the convoy. Embodiments may include: using a radio communication system to receive a lead vehicle assignment message indicating that a second vehicle will become the lead vehicle. For example, the command center assigns a new lead vehicle. Embodiments may include: using a line-of-sight communication system to transmit a lead vehicle assignment message to the second vehicle. For example, the lead vehicle alerts another vehicle that it will become the lead vehicle. Embodiments may include: terminating the communication link with the second vehicle. Embodiments may include: using a control system on the first vehicle to adjust the position of the first vehicle to move it outside the convoy. For example, the lead vehicle then leaves the convoy.

[0015] In some embodiments, a first vehicle is designated as the lead vehicle of the convoy, and a second vehicle is designated as a backup lead vehicle. Some embodiments may include: using a planning system on the first vehicle to determine that the first vehicle will leave the convoy. For example, the lead vehicle will have a planned route and corresponding track, so the lead vehicle should know when it needs to leave the convoy. Embodiments may include: using a line-of-sight communication link to transmit a lead vehicle departure message to the backup lead vehicle indicating that the lead vehicle will leave the convoy. For example, as described above, the backup lead vehicle is alerted that it will become the new lead vehicle (then the backup lead vehicle should initiate a process to establish a Line of Service (LoS) with other vehicles and establish a radio link with the command center). Embodiments may include: using a radio communication system to transmit the lead vehicle departure message to a remote command center. The lead vehicle still alerts the command center that it is leaving. Embodiments may include: terminating the communication link with the backup lead vehicle and using a control system on the first vehicle to adjust the position of the first vehicle to move it outside the convoy.

[0016] In some embodiments, the first vehicle may include a sensing system including circuitry for detecting a second vehicle and determining that the second vehicle is compatible with the first vehicle to form a convoy. The first vehicle may include a control system including circuitry for moving the first vehicle to become within the line of sight of the second vehicle. The first vehicle may include a Line-of-Sight (LoS) communication system to establish a line-of-sight communication link with the second vehicle. The first vehicle may include a radio communication system to establish a radio communication link with a remote command center. The control system may adjust the trajectory of the first vehicle to move it to a position within one vehicle length of the second vehicle to form a convoy. The LoS communication system may include a Li-Fi system, a VLC system, or other light-based communication systems.

[0017] In some embodiments, the first vehicle may include at least one computer-readable medium for storing instructions. The first vehicle may include a LoS communication system. The first vehicle may include at least one processor for executing instructions, the execution of which includes: detecting a second vehicle; determining that the second vehicle is compatible with the first vehicle to form a convoy; moving the first vehicle to become within the line of sight of the second vehicle; establishing a line-of-sight communication link with the second vehicle; establishing a radio communication link with a remote command center; and adjusting the trajectory of the first vehicle to move it to a position within one vehicle length of the second vehicle to form a convoy. The LoS communication system may include a Li-Fi system, a VLC system, or other light-based communication systems.

[0018] In some embodiments, the line-of-sight communication system can transmit a handshake initiation message to the second vehicle and receive a handshake confirmation message from the second vehicle. A radio communication link can transmit the result of the handshake process to a remote command center for verification.

[0019] In some embodiments, the radio communication system can receive handshake authentication messages from a remote command center; and the line-of-sight communication system can establish a communication link with a second vehicle.

[0020] In some embodiments, the radio communication system can receive information from a remote command center; and the line-of-sight communication system can transmit the information to a second vehicle.

[0021] In some embodiments, the information includes one or more of the following: information representing the trajectory associated with the first vehicle; information representing the user experience of the users in the first vehicle; information representing vehicle diagnostics of the first vehicle; information representing the state of the first vehicle; and fleet shape factor information representing the position of one vehicle relative to another vehicle.

[0022] In some embodiments, the line-of-sight communication system can transmit information to a second vehicle to synchronize the driving modes of the first and second vehicles.

[0023] In some embodiments, the line-of-sight communication system can transmit information to a second vehicle to synchronize the human-machine interface (HMI) schemes of the first and second vehicles.

[0024] In some embodiments, the line-of-sight communication system can receive traffic mode information from the second vehicle; and the wireless communication system can transmit the traffic mode information to a remote command center.

[0025] In some embodiments, the line-of-sight communication system may receive an instruction that the second vehicle is leaving the convoy and terminate the communication link with the second vehicle. The radio communication system may transmit the vehicle departure message to a remote command system.

[0026] In some embodiments, a first vehicle is designated as the lead vehicle of a convoy, and the first vehicle, including the planning system, can determine that it will leave the convoy. A radio communication system can transmit a lead vehicle departure message to a remote command center and receive a lead vehicle assignment message instructing a second vehicle to become the lead vehicle. A line-of-sight communication system can transmit a lead vehicle assignment message to the second vehicle and terminate the communication link with the second vehicle. The control system can adjust the position of the first vehicle to move it outside the convoy.

[0027] In some embodiments, a first vehicle is designated as the lead vehicle of the convoy, and a second vehicle is designated as a backup lead vehicle; the first vehicle, including a planning system, can determine that it will leave the convoy; a radio communication system can transmit a lead vehicle departure message to a remote command center. A line-of-sight communication link can transmit a lead vehicle departure message indicating that the lead vehicle will leave the convoy to the backup lead vehicle and terminate the communication link with the backup lead vehicle. The control system can adjust the position of the first vehicle to move it outside the convoy.

[0028] In some embodiments, the line-of-sight communication system includes at least one of a light transmitter and receiver, a Li-Fi system, a visible light communication (VLC) system, and an LED.

[0029] In some embodiments, a vehicle fleet includes: a primary vehicle operating in the environment; and secondary vehicles operating in the environment. The primary vehicle approaches the secondary vehicle, and the primary vehicle uses a line-of-sight communication system to control the trajectory of the secondary vehicle.

[0030] In some embodiments, the primary vehicle is positioned within the line of sight of the secondary vehicle. In some embodiments, the primary vehicle is positioned within one vehicle length of the secondary vehicle.

[0031] In some embodiments, the primary vehicle and the secondary vehicle are in one of the same lane and the adjacent lane.

[0032] In some embodiments, the primary and secondary vehicles operate using synchronized trajectories.

[0033] In some embodiments, the primary and secondary vehicles operate using a synchronized human-machine interface.

[0034] In some embodiments, the primary vehicle includes a radio-wave-based communication system for communicating with a remote command center. The primary vehicle can use the radio-wave-based communication system to receive vehicle trajectory information from the remote command center and use a line-of-sight communication system to transmit the vehicle trajectory information to secondary vehicles.

[0035] In some embodiments, the line-of-sight communication system includes at least one of a Li-Fi system, a laser-based communication system, a visible light communication system, a light-emitting diode-based communication system, and a line-of-sight communication system.

[0036] In some embodiments, the primary vehicle includes a Global Positioning System (GPS), and the primary vehicle uses GPS to establish a geofence around the secondary vehicle.

[0037] In some embodiments, the primary vehicle detects the departure of the secondary vehicle based on the secondary vehicle exiting the geofence.

[0038] In some embodiments, the primary or secondary vehicle detects the entry of a third vehicle based on the entry of the third vehicle into the geofence.

[0039] In some embodiments, the primary vehicle forms a convoy with the secondary vehicle by: detecting the secondary vehicle using a perception system; determining, using the perception system, that the secondary vehicle is suitable for convoy formation; using a control system to position the primary vehicle to become within the line of sight of the secondary vehicle; transmitting an encrypted handshake message to the secondary vehicle using a line-of-sight communication system; receiving a handshake confirmation message using a line-of-sight communication system; transmitting a handshake verification request message to a remote command center using a radio wave-based communication system; receiving a handshake verification message from the remote command center using a radio wave-based communication system; and establishing a communication link between the primary and secondary vehicles using a line-of-sight communication system.

[0040] In some embodiments, the secondary vehicle includes a sensing system to detect objects along a trajectory; the secondary vehicle uses a line-of-sight communication system to transmit information related to the sensed objects along the trajectory to the primary vehicle; the primary vehicle uses planning circuitry to adjust the trajectory of the primary vehicle or the secondary vehicle, or both; and the primary vehicle uses the line-of-sight communication system to transmit trajectory adjustment information to the secondary vehicle.

[0041] In some embodiments, the command center system includes: a radio wave-based communication system for transmitting information to vehicles; a memory for storing instructions; and one or more hardware processors for executing the instructions to perform operations. These operations include: receiving, using the radio wave-based communication system, an encrypted handshake verification request message from a primary vehicle for a handshake process between the primary and secondary vehicles to form a convoy; and transmitting, using the radio wave-based communication system, a handshake verification response message to the primary vehicle verifying the handshake process between the primary and secondary vehicles, the handshake verification response message facilitating convoy formation.

[0042] In some embodiments, the operation includes: using a radio wave-based communication system to transmit vehicle control information relating to the secondary vehicle to the primary vehicle.

[0043] In some embodiments, the operation includes: using a radio wave-based communication system to transmit vehicle interface information relating to one or both of the primary and secondary vehicles to the primary vehicle.

[0044] In some embodiments, the operation includes: receiving vehicle diagnostic information relating to a secondary vehicle from a primary vehicle using a radio wave-based communication system; and transmitting vehicle system correction information of the secondary vehicle to the primary vehicle using the radio wave-based communication system based on the diagnostic information.

[0045] In some embodiments, the operation includes: receiving traffic pattern information or lane congestion information for a route the convoy is traversing from a primary vehicle using a radio wave-based communication system; determining alternative route information for the convoy based on at least one of the traffic pattern information and the lane congestion information using at least one processor; and transmitting the alternative route information for the convoy to the primary vehicle using the radio wave-based communication system.

[0046] Some embodiments include a first vehicle comprising one or more processors, one or more sensors, a line-of-sight (LoS) communication system, and one or more data storage devices, the data storage devices including instructions, when executed by one or more processors, to cause the first vehicle to perform the following functions: detect a second vehicle; determine that the second vehicle is compatible with the first vehicle to form a convoy; move the first vehicle to become within the line of sight of the second vehicle; establish a line-of-sight communication link with the second vehicle; establish a radio communication link with a remote command center; and adjust the trajectory of the first vehicle to move the first vehicle to a position within one vehicle length of the second vehicle to form a convoy.

[0047] In some embodiments, these functions include: transmitting a handshake initiation message to a second vehicle; receiving a handshake confirmation message from the second vehicle; and transmitting the result of the handshake process to a remote command center for verification.

[0048] In some embodiments, these functions include: receiving handshake verification messages from a remote command center; and establishing a Loss of Memory (LoS) communication link with a second vehicle.

[0049] In some embodiments, these functions include receiving information from a remote command center and transmitting that information to a second vehicle using a LoS communication link.

[0050] In some embodiments, the information includes one or more of the following: information representing the trajectory associated with the first vehicle; information representing the user experience of the users in the first vehicle; information representing vehicle diagnostics of the first vehicle; information representing the state of the first vehicle; and fleet shape factor information representing the position of one vehicle relative to another vehicle.

[0051] In some embodiments, these functions include: using a LoS communication link to transmit information to a second vehicle to synchronize the driving modes of the first and second vehicles.

[0052] In some embodiments, these functions include: using a LoS communication link to transmit information to a second vehicle to synchronize the human-machine interface (HMI) schemes of the first and second vehicles.

[0053] In some embodiments, these functions include: receiving traffic mode information from a second vehicle using a LoS communication link; and transmitting the traffic mode information to a remote command center.

[0054] In some embodiments, these functions include: receiving an instruction that a second vehicle will leave the convoy using a LoS communication link; and terminating the LoS communication link with the second vehicle. These functions may also include: transmitting a vehicle departure message to a remote command system.

[0055] In some embodiments, a first vehicle is designated as a lead vehicle for a convoy, and the functions include: determining that the first vehicle will leave the convoy; transmitting a lead vehicle departure message to a remote command center; receiving a lead vehicle assignment message indicating that a second vehicle will become the lead vehicle; transmitting the lead vehicle assignment message to the second vehicle using a LoS communication link; terminating the LoS communication link with the second vehicle; and adjusting the position of the first vehicle to move it outside the convoy.

[0056] In some embodiments, a first vehicle is designated as the lead vehicle of the convoy, and a second vehicle is designated as a backup lead vehicle; these functions include: determining that the first vehicle will leave the convoy; transmitting a lead vehicle departure message to a remote command center; transmitting a lead vehicle departure message indicating that the lead vehicle will leave the convoy to the backup lead vehicle using a LoS communication link; terminating the LoS communication link with the backup lead vehicle; and adjusting the trajectory or position of the first vehicle to move the first vehicle outside the convoy.

[0057] In some embodiments, the line-of-sight communication system includes at least one of a light transmitter and receiver, a Li-Fi system, a visible light communication (VLC) system, and an LED. Attached Figure Description

[0058] Figure 1 This is an example environment for implementing a vehicle that includes one or more components of an autonomous system, according to embodiments of the present invention.

[0059] Figure 2 This is a diagram of one or more systems of a vehicle including an autonomous system according to embodiments of the present invention.

[0060] Figure 3 According to the embodiments of the present invention, Figure 1 and Figure 2 A diagram of one or more devices and / or one or more system components.

[0061] Figure 4 This is a diagram of certain components of an autonomous system according to an embodiment of the present invention.

[0062] Figure 5 This is a schematic diagram of a vehicle with a line-of-sight communication system according to an embodiment of the present invention.

[0063] Figures 6A-6C This is a diagram illustrating the establishment of a line-of-sight communication link between a vehicle and another vehicle according to an embodiment of the present invention.

[0064] Figures 7A-7D This is a diagram illustrating an implementation of an architecture for vehicle-to-vehicle line-of-sight communication according to an embodiment of the present invention.

[0065] Figures 8A-8E This is a diagram of an example fleet pattern according to an embodiment of the present invention.

[0066] Figures 9A-9C This is a diagram of an example surveyor pattern according to an embodiment of the present invention.

[0067] Figure 10 This is a flowchart illustrating a process for establishing a line-of-sight communication link between a vehicle and another vehicle, according to an embodiment of the present invention.

[0068] Figure 11 This is a flowchart illustrating the process of a second vehicle leaving the convoy according to an embodiment of the present invention.

[0069] Figure 12 This is a flowchart of a process for guiding a vehicle to leave a convoy according to an embodiment of the present invention. Detailed Implementation

[0070] In the following description, numerous specific details are set forth for purposes of explanation in order to provide a thorough understanding of this disclosure. However, it will be apparent that the embodiments described herein can be practiced without these specific details. In some instances, well-known constructions and apparatuses are illustrated in block diagram form to avoid unnecessarily obscuring aspects of this disclosure.

[0071] In the accompanying drawings, for ease of description, specific arrangements or orders of schematic elements (such as those representing systems, devices, components, instruction blocks, and / or data elements) are illustrated. However, those skilled in the art will understand that, unless explicitly described, the specific order or arrangement of schematic elements in the drawings is not intended to imply a requirement for a particular processing order or sequence, or separation of processes. Furthermore, unless explicitly described, the inclusion of schematic elements in the drawings is not intended to imply that such elements are required in all embodiments, nor is it intended to imply that features represented by such elements cannot be included in some embodiments or cannot be combined with other elements in some embodiments.

[0072] Furthermore, in the accompanying drawings, connecting elements (such as solid or dashed lines or arrows) are used to illustrate connections, relationships, or associations between or among two or more other schematic elements. The absence of any such connecting element does not imply that connections, relationships, or associations cannot exist. In other words, some connections, relationships, or associations between elements are not illustrated in the drawings so as not to obscure the content of this disclosure. Additionally, for ease of illustration, a single connecting element may be used to represent multiple connections, relationships, or associations between elements. For example, if a connecting element represents communication of signals, data, or instructions (e.g., "software instructions"), those skilled in the art will understand that such an element may represent one or more signal paths (e.g., a bus) that may be necessary to influence the communication.

[0073] Although the terms "first," "second," and / or "third," etc., are used to describe various elements, these elements should not be limited by these terms. The terms "first," "second," and / or "third" are used only to distinguish one element from another. For example, without departing from the scope of the described embodiments, a first contact may be referred to as a second contact, and similarly, a second contact may be referred to as a first contact. Both the first contact and the second contact are contacts, but they are not the same contact.

[0074] The terminology used in the description of the various embodiments described 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 embodiments described and the appended claims, the singular forms “a,” “an,” and “the” are also intended to include the plural forms and may 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 includes any and all possible combinations of one or more of the associated listed items. It will also be understood that when the terms “comprising,” “including,” “possessing,” and / or “having” are used in this specification, they specifically indicate the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0075] As used herein, the terms "communication" and "to communicate" refer to at least one of the following: receiving, receiving, transmitting, conveying, and / or providing information (or information represented by, for example, data, signals, messages, instructions, and / or commands). For a unit (e.g., an apparatus, system, component of an apparatus or system, and / or combinations thereof) that wants to communicate with another unit, this means that the unit is able to receive information directly or indirectly from the other unit and / or send (e.g., transmit) information to the other unit. This can refer to a direct or indirect connection that is essentially wired and / or wireless. Furthermore, two units can communicate with each other even if the transmitted information can be modified, processed, relayed, and / or routed between the first and second units. For example, the first unit can communicate with the second unit even if it passively receives information and does not actively transmit information to the second unit. As another example, the first unit can communicate with the second unit if at least one intermediary unit (e.g., a third unit located between the first and second units) processes information received from the first unit and transmits the processed information to the second unit. In some embodiments, a message may refer to a network packet that includes data (e.g., a data packet, etc.).

[0076] As used herein, depending on the context, the term "if" may optionally be interpreted as "when," "in," "in response to being determined," and / or "in response to being detected," etc. Similarly, depending on the context, the phrases "if determined" or "if [the stated condition or event] is detected" may optionally be interpreted as "in response to being determined," "in response to being determined," "or" "in response to being detected," and / or "in response to being detected," etc. Furthermore, as used herein, the terms "have," "possess," or "own," etc., are intended to be open-ended terms. Additionally, unless explicitly stated otherwise, the phrase "based on" is intended to mean "at least partially based on."

[0077] Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. Numerous specific details are set forth in the following detailed description in order to provide a thorough understanding of the various embodiments described. However, it will be apparent to those skilled in the art that the various embodiments described can be practiced without these specific details. In other instances, well-known methods, processes, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.

[0078] Several features are described below, each of which can be used independently of the others or in any combination of other features. However, any single feature may not solve any of the problems discussed above, or may only solve one of the problems discussed above. Some of the problems discussed above may not be fully solved by any of the features described herein. Although headings are provided, information relating to a particular heading but not found in the section bearing that heading may also be found elsewhere in this specification. Embodiments are described herein based on the following overview:

[0079] 1. General Overview

[0080] 2. Hardware Overview

[0081] 3. Architecture Overview

[0082] 4. Architecture and processing flow for vehicle-to-vehicle Loss communication

[0083] 5. Vehicle Driving Mode

[0084] 6. Processing Flow

[0085] 1. General Overview

[0086] When a vehicle, such as an autonomous vehicle (AV), is traversing an operating environment, one way to understand the vehicle's status is through a remote command center. This disclosure describes the use of a line-of-sight (LoS) communication device for the vehicle, enabling it to communicate with other vehicles using light as a medium. LoS communication allows AVs to interconnect and share data via local links (individual AVs) or over-the-air connections via cellular connections. LoS communication provides a means of controlling or serializing human-machine interfaces (HMIs) locally and remotely. LoS communication also facilitates the creation of "fleet" patterns for AVs to streamline driving and for inspection purposes.

[0087] Line-of-sight (LOS) communication systems, such as Li-Fi or Visible Light Communication (VLC) systems, are used to communicate vehicle status information between vehicles on a road. In some aspects of the embodiments, the primary vehicle (or lead vehicle) in a vehicle formation (e.g., a "platoon") can establish a Line-of-Sight (LOS) communication link with secondary vehicles in the formation. Furthermore, secondary vehicles can establish LOS communication with each other and with local infrastructure (e.g., a secondary vehicle outside the formation can communicate with traffic lights, a 5G edge server, etc.). The primary vehicle can also communicate with a remote command center using known communication technologies (e.g., the Internet, 5G networks). The primary vehicle can relay information between the command center and secondary vehicles, either directly or through one or more secondary vehicles (e.g., by forming a relay network and / or other types of mesh networks). In a non-limiting example, primary and secondary vehicles can form a vehicle platoon within a geofence, where these vehicles share information, streamline their movement, and otherwise work together to reach their destination safely and efficiently.

[0088] Vehicles entering and leaving the geofence are tracked by the primary vehicle, allowing for adjustments to LoS ​​communication and formation patterns in response to the acquisition of secondary vehicles from or loss of secondary vehicles from the formation. Furthermore, secondary vehicles can become primary vehicles when the primary vehicle is disabled and can no longer communicate. For example, a second vehicle can become primary based on any suitable criterion (e.g., its communication capabilities, proximity to the formation center). Then, one or more secondary vehicles in the formation adjust their respective positions within the formation so that the new primary vehicle can occupy, for example, the center position of the formation.

[0089] Advantages: LoS communication technology can be encrypted and used in electromagnetically sensitive areas without losing signal paths, thus enabling safer operation of autonomous vehicles in such areas. Furthermore, LoS communication between AVs natively considers optical transmission mobility and artificial / ambient light errors, resulting in faster, more accurate, and safer communication between vehicles, facilitating the creation and maintenance of vehicle fleets. Fleets can share information related to road conditions, traffic patterns, energy usage, and parking locations. Fleets also facilitate vehicle selection for energy conservation. Fleet creation offers the additional advantage of establishing a shared communication link with the command center, allowing a single vehicle to act as a communication gateway between the control center and other vehicles in the fleet. This shared communication link saves vehicle processing power while accelerating the transmission and processing of information and control signals.

[0090] 2. Hardware Overview

[0091] Now for reference Figure 1 Example environment 100 is illustrated, in which vehicles including autonomous systems and vehicles not including autonomous systems operate. As illustrated, environment 100 includes vehicles 102a-102n, objects 104a-104n, routes 106a-106n, area 108, vehicle-to-infrastructure (V2I) device 110, network 112, remote autonomous vehicle (AV) system 114, queue management system 116, and V2I system 118. Vehicles 102a-102n, vehicle-to-infrastructure (V2I) device 110, network 112, autonomous vehicle (AV) system 114, queue management system 116, and V2I system 118 are interconnected via wired connections, wireless connections, or a combination of wired and wireless connections (e.g., establishing connections for communication, etc.). In some embodiments, objects 104a-104n are interconnected with at least one of vehicles 102a-102n, vehicle-to-infrastructure (V2I) devices 110, network 112, autonomous vehicle (AV) system 114, queue management system 116, and V2I system 118 via wired connection, wireless connection, or a combination of wired and wireless connection.

[0092] Vehicles 102a-102n (specifically referred to as vehicle 102 and collectively as vehicle 102) include at least one device configured to transport goods and / or people. In some embodiments, vehicle 102 is configured to communicate with V2I device 110, remote AV system 114, queue management system 116 and / or V2I system 118 via network 112. In some embodiments, vehicle 102 includes cars, buses, trucks and / or trains, etc. In some embodiments, vehicle 102 is associated with vehicle 200 described herein (see...). Figure 2 The vehicles 102 are the same as or similar to autonomous vehicles 202. In some embodiments, vehicles 200 in a group of vehicles 200 are associated with an autonomous queue manager. In some embodiments, as described herein, vehicles 102 travel along corresponding routes 106a-106n (each individually referred to as route 106 and collectively as route 106). In some embodiments, one or more vehicles 102 include an autonomous system (e.g., an autonomous system that is the same as or similar to autonomous system 202).

[0093] Objects 104a-104n (each individually referred to as object 104 and collectively as object 104) include, for example, at least one vehicle, at least one pedestrian, at least one cyclist, and / or at least one structure (e.g., a building, a sign, a fire hydrant, etc.). Each object 104 (e.g., located at a fixed location and for a period of time) is stationary or (e.g., has a speed and is associated with at least one trajectory) moving. In some embodiments, object 104 is associated with a corresponding location in area 108.

[0094] Routes 106a-106n (each individually referred to as Route 106 and collectively as Route 106) are each associated with (e.g., defining) a series of actions (also referred to as trajectories) along which the connecting AV can navigate. Each Route 106 begins with an initial state (e.g., a state corresponding to a first spatiotemporal location and / or speed, etc.) and ends with a final target state (e.g., a state corresponding to a second spatiotemporal location different from the first spatiotemporal location) or a target area (e.g., a subspace of an acceptable state (e.g., a termination state)). In some embodiments, a first state includes a location where one or more individuals will board the AV, and a second state or area includes a location where one or more individuals boarding the AV will disembark. In some embodiments, Route 106 includes multiple acceptable state sequences (e.g., multiple spatiotemporal location sequences) associated with (e.g., defining multiple trajectories). In the example, Route 106 includes only high-level actions or imprecise state locations, such as a series of connecting roads indicating a change of direction at a roadway intersection. Additionally or alternatively, route 106 may include more precise actions or states, such as, for example, specific target lanes or precise locations within a lane area and target rates at those locations. In the example, route 106 includes multiple precise state sequences along at least one high-level action with a finite look-ahead horizon leading to an intermediate target, wherein the cumulative combination of successive iterations of the finite horizon state sequences corresponds to multiple trajectories that collectively form a high-level route terminating at a final target state or region.

[0095] Region 108 includes a physical area (e.g., a geographic region) that the vehicle 102 can navigate. In the example, region 108 includes at least one state (e.g., a country, a province, a single state among multiple states included in a country, etc.), at least a portion of a state, at least one city, at least a portion of a city, etc. In some embodiments, region 108 includes at least one named arterial road (referred to herein as a "road"), such as a highway, interstate highway, park road, city street, etc. Additionally or alternatively, in some examples, region 108 includes at least one unnamed road, such as a driving lane, a section of a parking lot, a section of vacant land and / or undeveloped area, dirt road, etc. In some embodiments, a road includes at least one lane (e.g., a portion of the road that the vehicle 102 can traverse). In the example, a road includes at least one lane associated with at least one lane marking (e.g., identified based on at least one lane marking).

[0096] The Vehicle-to-Infrastructure (V2I) device 110 (sometimes referred to as a Vehicle-to-Everything (V2X) device) includes at least one device configured to communicate with vehicle 102 and / or V2I infrastructure system 118. In some embodiments, the V2I device 110 is configured to communicate with vehicle 102, remote AV system 114, queue management system 116, and / or V2I system 118 via network 112. In some embodiments, the V2I device 110 includes radio frequency identification (RFID) devices, signs, cameras (e.g., two-dimensional (2D) and / or three-dimensional (3D) cameras), lane markings, streetlights, parking meters, etc. In some embodiments, the V2I device 110 is configured to communicate directly with vehicle 102. Additionally or alternatively, in some embodiments, the V2I device 110 is configured to communicate with vehicle 102, remote AV system 114, and / or queue management system 116 via V2I system 118. In some embodiments, V2I device 110 is configured to communicate with V2I system 118 via network 112.

[0097] Network 112 includes one or more wired and / or wireless networks. In the example, network 112 includes cellular networks (e.g., Long Term Evolution (LTE) networks, 3rd generation (3G) networks, 4th generation (4G) networks, 5th generation (5G) networks, Code Division Multiple Access (CDMA) networks, etc.), Public Land Mobile Networks (PLMNs), Local Area Networks (LANs), Wide Area Networks (WANs), Metropolitan Area Networks (MANs), telephone networks (e.g., Public Switched Telephone Networks (PSTN)), private networks, self-organizing networks, intranets, the Internet, fiber-based networks, cloud computing networks, etc., and / or combinations of some or all of these networks. In some embodiments, network 112 supports autonomous services, such as queued autonomous services (FAS) supported by cloud-based services.

[0098] The remote AV system 114 includes at least one device configured to communicate with vehicle 102, V2I device 110, network 112, queue management system 116, and / or V2I system 118 via network 112. In examples, the remote AV system 114 includes servers, server groups, and / or other similar devices. In some embodiments, the remote AV system 114 is located in the same location as the queue management system 116. In some embodiments, the remote AV system 114 participates in the installation of some or all of the components of the vehicle, including autonomous systems, autonomous vehicle computing, and / or software implemented by autonomous vehicle computing. In some embodiments, the remote AV system 114 maintains (e.g., updates and / or replaces) these components and / or software during the lifespan of the vehicle. In some embodiments, the remote AV system 114 may act as a command center for AV. For example, the remote AV system 114 may include a radio wave-based communication system to transmit information to the vehicle. The radio wave-based communication system may include hardware and software for encoding data packets for transmission according to wired and wireless communication protocols such as cellular protocols. The remote AV system 114 may include a memory for storing instructions and information. The remote AV system 114 may include one or more hardware processors for executing instructions to perform operations such as: receiving, using a radio wave-based communication system, an encrypted handshake verification request message from a primary vehicle for a handshake process performed by the primary and secondary vehicles to form a convoy; and transmitting, using the radio wave-based communication system, a handshake verification response message to the primary vehicle verifying the handshake process between the primary and secondary vehicles, which facilitates convoy formation.

[0099] As an illustrative example, vehicle 102b may be the first vehicle and designated as the lead vehicle. Vehicle 102b may communicate with a remote AV system 114 (which may be used as a command center) via network 112. Vehicle 102b may establish a Low-Order (LoS) communication link with vehicle 102a. Using the LoS communication link, vehicle 102b may relay information to and from the command center to vehicle 102a. Vehicles 102a and 102b may also form a convoy, as described in more detail below.

[0100] The queue management system 116 includes at least one device configured to communicate with vehicle 102, V2I device 110, remote AV system 114, and / or V2I infrastructure system 118. In examples, the queue management system 116 includes servers, server groups, and / or other similar devices. In some embodiments, the queue management system 116 is associated with a ride-sharing company (e.g., an organization for controlling the operation of multiple vehicles (e.g., vehicles including and / or not including autonomous systems)).

[0101] In some embodiments, the V2I system 118 includes at least one device configured to communicate with the vehicle 102, the V2I device 110, the remote AV system 114, and / or the queue management system 116 via a network 112. In some examples, the V2I system 118 is configured to communicate with the V2I device 110 via a connection different from the network 112. In some embodiments, the V2I system 118 includes a server, a server group, and / or other similar devices. In some embodiments, the V2I system 118 is associated with a municipality or private entity (e.g., a private entity maintaining the V2I device 110).

[0102] supply Figure 1 The number and arrangement of the elements are shown as examples. (and) Figure 1 Compared to the illustrated elements, there may be additional elements, fewer elements, different elements, and / or elements arranged differently. Additionally or alternatively, at least one element of environment 100 may be described as being composed of… Figure 1 One or more functions performed by at least one different element of environment 100. Additionally or alternatively, at least one group of elements of environment 100 may perform one or more functions described as performed by at least one different group of elements of environment 100.

[0103] Now for reference Figure 2 The vehicle 200 includes an autonomous system 202, a powertrain control system 204, a steering control system 206, and a braking system 208. In some embodiments, the vehicle 200 and the vehicle 102 (see...) Figure 1The vehicle 200 is similar to or the same as the vehicle in the above-mentioned vehicles. In some embodiments, the vehicle 200 has autonomous capabilities (e.g., implementing at least one function, feature, and / or device that enables the vehicle 200 to operate partially or fully without human intervention, including but not limited to fully autonomous vehicles (e.g., vehicles that abandon human intervention) and / or highly autonomous vehicles (e.g., vehicles that abandon human intervention in certain situations)). For a detailed description of fully autonomous vehicles and highly autonomous vehicles, refer to SAE International's standard J3016: Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems, the entire contents of which are incorporated herein by reference. In some embodiments, the vehicle 200 is associated with an autonomous queue manager and / or a ride-sharing company.

[0104] Autonomous system 202 includes a sensor suite comprising one or more devices such as camera 202a, LiDAR sensor 202b, radar sensor 202c, and microphone 202d. In some embodiments, autonomous system 202 may include more or fewer devices and / or different devices (e.g., ultrasonic sensors, inertial sensors, GPS receivers (discussed below), and / or odometer sensors for generating data associated with an indication of the distance traveled by vehicle 200). In some embodiments, autonomous system 202 uses one or more devices included in autonomous system 202 to generate data associated with environment 100 as described herein. The data generated by one or more devices of autonomous system 202 may be used by one or more systems as described herein to observe the environment in which vehicle 200 is located (e.g., environment 100). In some embodiments, autonomous system 202 includes communication device 202e, autonomous vehicle computing 202f, and drive-by-wire (DBW) system 202h.

[0105] Camera 202a includes components configured to communicate with communication device 202e, autonomous vehicle computing 202f, and / or safety controller 202g via a bus (e.g., with...). Figure 3At least one means of communicating with the same or similar bus as bus 302. Camera 202a includes at least one camera (e.g., a digital camera using a light sensor such as a charge-coupled device (CCD), a thermal camera, an infrared (IR) camera, and / or an event camera, etc.) for capturing images of physical objects (e.g., cars, buses, curbs, and / or people, etc.). In some embodiments, camera 202a generates camera data as output. In some examples, camera 202a generates camera data including image data associated with an image. In this example, the image data may specify at least one parameter corresponding to the image (e.g., image characteristics such as exposure, brightness, etc., and / or image timestamp, etc.). In such examples, the image may be in a format (e.g., RAW, JPEG, and / or PNG, etc.). In some embodiments, camera 202a includes multiple independent cameras configured (e.g., positioned on) a vehicle to capture images for stereoscopic imaging (stereoscopic vision). In some examples, camera 202a includes generating image data and transmitting the image data to an autonomous vehicle computing 202f and / or a queue management system (e.g., with...). Figure 1 The queue management system 116 (same as or similar to a queue management system) has multiple cameras. In such an example, the autonomous vehicle calculation 202f determines the depth of one or more objects in the fields of view of at least two of the multiple cameras based on image data from at least two cameras. In some embodiments, camera 202a is configured to capture images of objects within a distance relative to camera 202a (e.g., up to 100 meters and / or up to 1 kilometer, etc.). Therefore, camera 202a includes features such as sensors and lenses optimized for sensing objects at one or more distances relative to camera 202a.

[0106] In embodiments, camera 202a includes at least one camera configured to capture one or more images associated with one or more traffic lights, street signs, and / or other physical objects providing visual navigation information. In some embodiments, camera 202a generates traffic light data associated with one or more images. In some examples, camera 202a generates TLD data associated with one or more images, including formats such as RAW, JPEG, and / or PNG. In some embodiments, camera 202a, which generates TLD data, differs from other camera-included systems described herein in that camera 202a may include one or more cameras with a wide field of view (e.g., wide-angle lens, fisheye lens, and / or a lens with an angle of view of about 120 degrees or greater) to generate images associated with as many physical objects as possible.

[0107] The laser detection and ranging (LiDAR) sensor 202b includes components configured to communicate with a communication device 202e, an autonomous vehicle computing unit 202f, and / or a safety controller 202g via a bus (e.g., with...). Figure 3 At least one device that communicates with the same or similar bus (bus 302). The LiDAR sensor 202b includes a system configured to emit light from a emitter (e.g., a laser emitter). The light emitted by the LiDAR sensor 202b includes light outside the visible spectrum (e.g., infrared light, etc.). In some embodiments, during operation, the light emitted by the LiDAR sensor 202b encounters a physical object (e.g., a vehicle) and is reflected back to the LiDAR sensor 202b. In some embodiments, the light emitted by the LiDAR sensor 202b does not penetrate the physical object it encounters. The LiDAR sensor 202b also includes at least one photosensor that detects the light after it has encountered a physical object. In some embodiments, at least one data processing system associated with the LiDAR sensor 202b generates an image (e.g., point cloud and / or combined point cloud, etc.) representing objects included in the field of view of the LiDAR sensor 202b. In some examples, at least one data processing system associated with the LiDAR sensor 202b generates an image representing the boundaries of a physical object and / or the surface of the physical object (e.g., the topology of the surface). In such examples, the image is used to determine the boundaries of the physical object within the field of view of the LiDAR sensor 202b.

[0108] The radio detection and ranging (radar) sensor 202c includes components configured to communicate with the communication device 202e, the autonomous vehicle computing 202f, and / or the safety controller 202g via a bus (e.g., with...). Figure 3 At least one device that communicates with the same or similar bus (bus 302). The radar sensor 202c includes a system configured to emit (pulsed or continuous) radio waves. The radio waves emitted by the radar sensor 202c include radio waves within a predetermined spectrum. In some embodiments, during operation, the radio waves emitted by the radar sensor 202c encounter a physical object and are reflected back to the radar sensor 202c. In some embodiments, the radio waves emitted by the radar sensor 202c are not reflected by some objects. In some embodiments, at least one data processing system associated with the radar sensor 202c generates a signal representing objects included in the field of view of the radar sensor 202c. For example, at least one data processing system associated with the radar sensor 202c generates an image representing the boundaries of physical objects and / or the surfaces of physical objects (e.g., surface topology). In some examples, this image is used to determine the boundaries of physical objects in the field of view of the radar sensor 202c.

[0109] Microphone 202d includes components configured to communicate with communication device 202e, autonomous vehicle computing 202f, and / or safety controller 202g via a bus (e.g., with...). Figure 3 At least one device that communicates with the same or similar bus as bus 302. Microphone 202d includes one or more microphones (e.g., array microphones and / or external microphones, etc.) that capture audio signals and generate data associated with (e.g., representing) the audio signals. In some examples, microphone 202d includes transducer devices and / or similar devices. In some embodiments, one or more systems described herein can receive data generated by microphone 202d and determine the position (e.g., distance, etc.) of an object relative to vehicle 200 based on the audio signal associated with the data.

[0110] The communication device 202e includes at least one device configured to communicate with a camera 202a, a LiDAR sensor 202b, a radar sensor 202c, a microphone 202d, an autonomous vehicle computing system 202f, a safety controller 202g, and / or a drive-by-wire (DBW) system 202h. For example, the communication device 202e may include communication with… Figure 3 The communication device 202e is the same as or similar to the communication interface 314. In some embodiments, the communication device 202e includes a vehicle-to-vehicle (V2V) communication device (e.g., a device for wireless communication of data between vehicles). In embodiments, the communication device 202e can communicate information with a command center (or remote AV system 114 or similar system) via network 112 using a radio wave-based (or over-the-air) communication protocol. The communication device 202e may include hardware and software (e.g., a protocol stack) for encoding packets with information, encrypting packets, and transmitting packets over the air, as well as hardware and software for receiving encrypted packets, decrypting these packets, and decoding these packets into usable information.

[0111] In some embodiments, the communication device 202e further includes hardware and software for encoding, encrypting and transmitting packets as light waves for transmission over a LoS communication link, as well as hardware and software for receiving packets, decrypting these packets and decoding these packets to access available information.

[0112] The autonomous vehicle computing 202f includes at least one device configured to communicate with a camera 202a, a LiDAR sensor 202b, a radar sensor 202c, a microphone 202d, a communication device 202e, a security controller 202g, and / or a DBW system 202h. In some examples, the autonomous vehicle computing 202f includes devices such as client devices, mobile devices (e.g., cellular phones and / or tablets) and / or servers (e.g., computing devices including one or more central processing units and / or graphics processing units). In some embodiments, the autonomous vehicle computing 202f is the same as or similar to the autonomous vehicle computing 400 described herein. Additionally or alternatively, in some embodiments, the autonomous vehicle computing 202f is configured to communicate with an autonomous vehicle system (e.g., with...). Figure 1 Remote AV systems 114 are the same as or similar to autonomous vehicle systems), queue management systems (e.g., with...). Figure 1 The queue management system 116 is the same as or similar to the queue management system 116), and V2I devices (e.g., with Figure 1 V2I devices (same as or similar to V2I devices 110) and / or V2I systems (e.g., with V2I devices 110) Figure 1 The V2I system 118 communicates with the same or similar V2I system.

[0113] The safety controller 202g includes at least one device configured to communicate with a camera 202a, a LiDAR sensor 202b, a radar sensor 202c, a microphone 202d, a communication device 202e, an autonomous vehicle computing system 202f, and / or a DBW system 202h. In some examples, the safety controller 202g includes one or more controllers (electrical controllers and / or electromechanical controllers, etc.) configured to generate and / or transmit control signals to operate the vehicle 200 (e.g., powertrain control system 204, steering control system 206, and / or braking system 208, etc.). In some embodiments, the safety controller 202g is configured to generate control signals that take precedence over (e.g., override) the control signals generated and / or transmitted by the autonomous vehicle computing system 202f.

[0114] The DBW system 202h includes at least one device configured to communicate with the communication device 202e and / or the autonomous vehicle computing 202f. In some examples, the DBW system 202h includes one or more controllers (e.g., electrical controllers and / or electromechanical controllers, etc.) configured to generate and / or transmit control signals to operate the vehicle 200, including one or more devices (e.g., powertrain control system 204, steering control system 206, and / or braking system 208, etc.). Additionally or alternatively, one or more controllers of the DBW system 202h are configured to generate and / or transmit control signals to operate at least one different device (e.g., turn signals, headlights, door locks, and / or windshield wipers, etc.) of the vehicle 200.

[0115] The powertrain control system 204 includes at least one device configured to communicate with the DBW system 202h. In some examples, the powertrain control system 204 includes at least one controller and / or actuator, etc. In some embodiments, the powertrain control system 204 receives control signals from the DBW system 202h, and the powertrain control system 204 causes the vehicle 200 to start moving forward, stop moving forward, start moving backward, stop moving backward, accelerate in a certain direction, decelerate in a certain direction, make a left turn and / or make a right turn, etc. In examples, the powertrain control system 204 increases, keeps the same, or decreases the energy (e.g., fuel and / or electricity, etc.) supplied to the motor of the vehicle, thereby causing at least one wheel of the vehicle 200 to rotate or not rotate.

[0116] The steering control system 206 includes at least one device configured to rotate one or more wheels of the vehicle 200. In some examples, the steering control system 206 includes at least one controller and / or actuator, etc. In some embodiments, the steering control system 206 causes the two front wheels and / or the two rear wheels of the vehicle 200 to turn left or right, thereby causing the vehicle 200 to turn left or right.

[0117] The braking system 208 includes at least one device configured to actuate one or more brakes to decelerate and / or keep the vehicle 200 stationary. In some examples, the braking system 208 includes at least one controller and / or actuator configured to close one or more calipers associated with one or more wheels of the vehicle 200 on the respective rotor of the vehicle 200. Additionally or alternatively, in some examples, the braking system 208 includes an automatic emergency braking (AEB) system and / or a regenerative braking system, etc.

[0118] In some embodiments, the vehicle 200 includes at least one platform sensor (not explicitly illustrated) for measuring or inferring the nature of the state or conditions of the vehicle 200. In some examples, the vehicle 200 includes platform sensors such as a Global Positioning System (GPS) receiver, an Inertial Measurement Unit (IMU), a wheel rate sensor, a wheel brake pressure sensor, a wheel torque sensor, an engine torque sensor, and / or a steering angle sensor.

[0119] Now for reference Figure 3 A schematic diagram of device 300 is illustrated. As illustrated, device 300 includes a processor 304, a memory 306, a storage component 308, an input interface 310, an output interface 312, a communication interface 314, and a bus 302. In some embodiments, device 300 corresponds to: at least one device of vehicle 102 (e.g., at least one device of system of vehicle 102); and / or one or more devices of network 112 (e.g., one or more devices of system of network 112). In some embodiments, one or more devices of vehicle 102 (e.g., one or more devices of system of vehicle 102), and / or one or more devices of network 112 (e.g., one or more devices of system of network 112) include at least one device 300 and / or at least one component of device 300. Figure 3 As shown, the device 300 includes a bus 302, a processor 304, a memory 306, a storage component 308, an input interface 310, an output interface 312, and a communication interface 314.

[0120] Bus 302 includes components for communication between the components of the licensed device 300. In some embodiments, processor 304 is implemented in hardware, software, or a combination of hardware and software. In some examples, processor 304 includes a processor (e.g., a central processing unit (CPU), graphics processing unit (GPU), and / or accelerated processing unit (APU), a microphone, a digital signal processor (DSP), and / or any processing component that can be programmed to perform at least one function (e.g., a field-programmable gate array (FPGA) and / or application-specific integrated circuit (ASIC), etc.). Memory 306 includes random access memory (RAM), read-only memory (ROM), and / or another type of dynamic and / or static storage device (e.g., flash memory, magnetic memory, and / or optical memory, etc.) that stores data and / or instructions for use by processor 304.

[0121] Storage component 308 stores data and / or software related to the operation and use of device 300. In some examples, storage component 308 includes hard disks (e.g., magnetic disks, optical disks, magneto-optical disks, and / or solid-state disks), compact discs (CDs), digital versatile discs (DVDs), floppy disks, cassette tapes, magnetic tapes, CD-ROMs, RAM, PROMs, EPROMs, FLASH-EPROMs, NV-RAMs, and / or other types of computer-readable media, and corresponding drives.

[0122] Input interface 310 includes components that enable the device 300 to receive information, such as via user input (e.g., a touchscreen display, keyboard, keypad, mouse, buttons, switches, microphone, and / or camera). Additionally or alternatively, in some embodiments, input interface 310 includes sensors for sensing information (e.g., a Global Positioning System (GPS) receiver, accelerometer, gyroscope, and / or actuator). Output interface 312 includes components for providing output information from device 300 (e.g., a display, speaker, and / or one or more light-emitting diodes (LEDs)).

[0123] In some embodiments, the communication interface 314 includes a transceiver-like component (e.g., a transceiver and / or separate receivers and transmitters, etc.) that enables the licensed device 300 to communicate with other devices via a wired connection, a wireless connection, or a combination of wired and wireless connections. In some examples, the communication interface 314 enables the licensed device 300 to receive information from and / or provide information to another device. In some examples, the communication interface 314 includes an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, a Wi-Fi® interface, and / or a cellular network interface, etc.

[0124] In some embodiments, device 300 performs one or more of the processes described herein. Device 300 performs these processes based on software instructions stored in a computer-readable medium, such as memory 306 and / or storage component 308, executed by processor 304. Computer-readable medium (e.g., non-transitory computer-readable medium) is defined herein as a non-transitory memory device. A non-transitory memory device includes storage space located within a single physical storage device or storage space distributed across multiple physical storage devices.

[0125] In some embodiments, software instructions are read from another computer-readable medium or from another device via communication interface 314 into memory 306 and / or storage component 308. When executed, the software instructions stored in memory 306 and / or storage component 308 cause processor 304 to perform one or more processes described herein. Additionally or alternatively, hard-wired circuitry may be used in place of or in combination with software instructions to perform one or more processes described herein. Therefore, unless explicitly stated otherwise, the embodiments described herein are not limited to any particular combination of hardware circuitry and software.

[0126] The memory 306 and / or storage component 308 include a data storage unit or at least one data structure (e.g., a database). The device 300 is capable of receiving information from the data storage unit or at least one data structure in the memory 306 or storage component 308, storing the information in the data storage unit or at least one data structure, communicating information to the data storage unit or at least one data structure, or searching for information stored in the data storage unit or at least one data structure. In some examples, the information includes network data, input data, output data, or any combination thereof.

[0127] In some embodiments, device 300 is configured to execute software instructions stored in the memory of memory 306 and / or another device (e.g., another device identical or similar to device 300). As used herein, the term "module" refers to at least one instruction stored in the memory of memory 306 and / or the other device, which, when executed by the processor of processor 304 and / or the processor of another device (e.g., another device identical or similar to device 300), causes device 300 (e.g., at least one component of device 300) to perform one or more processes as described herein. In some embodiments, modules are implemented in software, firmware, and / or hardware, etc.

[0128] supply Figure 3 The number and arrangement of components are illustrated as examples. In some embodiments, with Figure 3 Compared to the illustrated components, device 300 may include additional components, fewer components, different components, or components arranged differently. Additionally or alternatively, a group of components of device 300 (e.g., one or more components) may perform one or more functions described as being performed by another component or another group of components of device 300.

[0129] 3. Architecture Overview

[0130] Now for reference Figure 4The diagram illustrates an example block diagram of an autonomous vehicle computing 400 (sometimes referred to as an "AV stack"). As illustrated, the autonomous vehicle computing 400 includes a perception system 402 (sometimes referred to as a perception module), a planning system 404 (sometimes referred to as a planning module), a positioning system 406 (sometimes referred to as a positioning module), a control system 408 (sometimes referred to as a control module), and a database 410. In some embodiments, the perception system 402, planning system 404, positioning system 406, control system 408, and database 410 are included in and / or implemented in the vehicle's automatic navigation system (e.g., the autonomous vehicle computing 202f of vehicle 200). Additionally or alternatively, in some embodiments, the perception system 402, planning system 404, positioning system 406, control system 408, and database 410 are included in one or more separate systems (e.g., one or more systems that are the same as or similar to the autonomous vehicle computing 400, etc.). In some examples, the perception system 402, planning system 404, positioning system 406, control system 408, and database 41 are included in one or more independent systems located within the vehicle and / or at least one remote system as described herein. In some embodiments, any and / or all of the systems included in the autonomous vehicle computing 400 are implemented in software (e.g., software instructions stored in memory), computer hardware (e.g., via microprocessors, microcontrollers, application-specific integrated circuits (ASICs), and / or field-programmable gate arrays (FPGAs), etc.), or a combination of computer software and computer hardware. It will also be understood that in some embodiments, the autonomous vehicle computing 400 is configured to communicate with remote systems (e.g., autonomous vehicle systems identical or similar to remote AV system 114, queue management systems identical or similar to queue management systems 116, and / or V2I systems identical or similar to V2I system 118, etc.).

[0131] In some embodiments, the perception system 402 receives data associated with at least one physical object in the environment (e.g., data used by the perception system 402 to detect at least one physical object) and classifies the at least one physical object. In some examples, the perception system 402 receives image data captured by at least one camera (e.g., camera 202a) that is associated with one or more physical objects within the field of view of the at least one camera (e.g., representing the one or more physical objects). In such examples, the perception system 402 classifies at least one physical object based on one or more groups of physical objects (e.g., bicycles, vehicles, traffic signs, and / or pedestrians, etc.). In some embodiments, based on the classification of physical objects by the perception system 402, the perception system 402 transmits data associated with the classification of the physical objects to the planning system 404.

[0132] In some embodiments, the planning system 404 receives data associated with a destination and generates data associated with at least one route (e.g., route 106) along which a vehicle (e.g., vehicle 102) can travel toward the destination. In some embodiments, the planning system 404 periodically or continuously receives data from the sensing system 402 (e.g., the data associated with the classification of physical objects described above), and the planning system 404 updates at least one trajectory or generates at least one different trajectory based on the data generated by the sensing system 402. In some embodiments, the planning system 404 receives data associated with the updated location of the vehicle (e.g., vehicle 102) from the positioning system 406, and the planning system 404 updates at least one trajectory or generates at least one different trajectory based on the data generated by the positioning system 406.

[0133] In some embodiments, positioning system 406 receives data associated with (e.g., representing) a location of a vehicle (e.g., vehicle 102) in an area. In some examples, positioning system 406 receives LiDAR data associated with at least one point cloud generated by at least one LiDAR sensor (e.g., LiDAR sensor 202b). In some examples, positioning system 406 receives data associated with at least one point cloud from multiple LiDAR sensors, and positioning system 406 generates a composite point cloud based on the individual point clouds. In these examples, positioning system 406 compares the at least one point cloud or composite point cloud with a two-dimensional (2D) and / or three-dimensional (3D) map of the area stored in database 410. Then, based on the comparison of the at least one point cloud or composite point cloud with the map, positioning system 406 determines the location of the vehicle in the area. In some embodiments, the map includes a composite point cloud of the area generated prior to navigation of the vehicle. In some embodiments, the map includes, but is not limited to, a high-precision map of the geometry of the roadway, a map describing the connectivity of the road network, a map describing the physical properties of the roadway (such as traffic speed, traffic flow, the number of vehicle and bicycle lanes, lane width, lane traffic direction, or the type and location of lane markings, or combinations thereof), and a map describing the spatial locations of road features (such as pedestrian crossings, traffic signs, or various types of other traffic lights). In some embodiments, the map is generated in real time based on data received by the sensing system.

[0134] In another example, positioning system 406 receives Global Navigation Satellite System (GNSS) data generated by a Global Positioning System (GPS) receiver. In some examples, positioning system 406 receives GNSS data associated with the location of a vehicle in an area, and positioning system 406 determines the latitude and longitude of the vehicle in the area. In such examples, positioning system 406 determines the location of the vehicle in the area based on the latitude and longitude of the vehicle. In some embodiments, positioning system 406 generates data associated with the location of the vehicle. In some examples, based on the location of the vehicle determined by positioning system 406, positioning system 406 generates data associated with the location of the vehicle. In such examples, the data associated with the location of the vehicle includes data associated with one or more semantic properties corresponding to the location of the vehicle.

[0135] In some embodiments, the control system 408 receives data associated with at least one trajectory from the planning system 404, and the control system 408 controls the operation of the vehicle. In some examples, the control system 408 receives data associated with at least one trajectory from the planning system 404, and the control system 408 controls the operation of the vehicle by generating and transmitting control signals to operate the powertrain control system (e.g., DBW system 202h and / or powertrain control system 204, etc.), the steering control system (e.g., steering control system 206), and / or the braking system (e.g., braking system 208). In an example, where the trajectory includes a left turn, the control system 408 transmits control signals to cause the steering control system 206 to adjust the steering angle of the vehicle 200, thereby causing the vehicle 200 to turn left. Additionally or alternatively, the control system 408 generates and transmits control signals to change the state of other devices of the vehicle 200 (e.g., headlights, turn signals, door locks, and / or windshield wipers, etc.).

[0136] In some embodiments, the perception system 402, planning system 404, positioning system 406, and / or control system 408 implement at least one machine learning model (e.g., at least one multilayer perceptron (MLP), at least one convolutional neural network (CNN), at least one recurrent neural network (RNN), at least one autoencoder, and / or at least one transformer, etc.). In some examples, the perception system 402, planning system 404, positioning system 406, and / or control system 408 implement at least one machine learning model individually or in combination with one or more of the aforementioned systems. In some examples, the perception system 402, planning system 404, positioning system 406, and / or control system 408 implement at least one machine learning model as part of a pipeline (e.g., a pipeline for identifying one or more objects located in the environment, etc.).

[0137] Database 410 stores data transmitted to, received from, and / or updated by the sensing system 402, planning system 404, positioning system 406, and / or control system 408. In some examples, database 410 includes storage components for storing operation-related data and / or software, and for computing 400 using autonomous vehicles (e.g., with...). Figure 3(The storage component 308 is the same as or similar to the storage component 308). In some embodiments, database 410 stores data associated with 2D and / or 3D maps of at least one area. In some examples, database 410 stores data associated with 2D and / or 3D maps of a part of a city, multiple parts of multiple cities, multiple cities, counties, states, and / or countries (e.g., countries). In such examples, a vehicle (e.g., the same as or similar to vehicle 102 and / or vehicle 200) can drive along one or more drivable areas (e.g., single-lane roads, multi-lane roads, highways, remote roads, and / or off-road roads, etc.) and causes at least one LiDAR sensor (e.g., the same as or similar to LiDAR sensor 202b) to generate data associated with images representing objects included in the field of view of the at least one LiDAR sensor.

[0138] In some embodiments, database 410 may be implemented across multiple devices. In some examples, database 410 includes a vehicle (e.g., a vehicle identical or similar to vehicle 102 and / or vehicle 200), an autonomous vehicle system (e.g., an autonomous vehicle system identical or similar to remote AV system 114), and a queue management system (e.g., with...). Figure 1 Queue management system 116 (same as or similar to queue management system) and / or V2I system (e.g., with Figure 1 Among the V2I systems (118 similar to or similar V2I systems), etc.

[0139] In some example embodiments, vehicles may use LoS communication devices embedded in headlights and brake lights to securely exchange information between local vehicles by aligning in specific lane patterns. Without departing from the scope of this disclosure, LoS communication devices may also be embedded in the vehicle's LiDAR unit, fenders, rear side panels, windshield, or other locations. AV computing provides encrypted data packets available in a local optical network. AV connections can be made side-by-side or diagonally in the same lane. Once authenticated, AVs can interconnect to transfer data and form adaptive driving patterns or "fleets." When linked, internal and external HMIs can be serialized into highly visible and accessible patterns for customers and similar road users.

[0140] Figure 5This is a schematic diagram of a vehicle 502 with a Li-Fi communication system 504 according to an embodiment of the present invention. The vehicle 502 can operate in an environment 500 including a network 112 and a command center 540 (which may be similar to the remote AV system 114 described above). The vehicle 502 is similar to the vehicles 102a-102n and vehicle 200 described above. Figure 5 The following highlights non-limiting example components used in establishing and using the Loss of Space (LoS) communication link. For example, vehicle 500 includes AV computing 400, DBW system 202h, and communication interface 314 (coupled to communication device 202e, not shown). As described in more detail below, AV computing 400 may include components capable of detecting other vehicles approaching vehicle 502 and compatible with LoS communication. AV computing 400 can communicate with DBW 202h to adjust the position / trajectory of vehicle 502 within the line of sight of another vehicle to establish a LoS communication link.

[0141] Vehicle 500 includes a LoS communication system 504. The LoS communication system 504 typically includes hardware and software components for encoding / decoding packets, encrypting / decrypting packets, and converting electrical signals into optical signals for transmission / reception via a LoS communication link such as a Li-Fi link or a VLC link. In some implementations, the LoS communication system 504 may use an IEEE 802.15.7-based protocol for transmitting and receiving optical communication signals. The LoS communication system 504 may include a LoS driver / decoder 508. The LoS communication system 504 may include a digital signal processor (DSP) that receives data from one or more sources, such as an AV compute unit 400, and converts the data into digital signals. The DSP may be coupled to the LoS driver / decoder 508, which converts the digital signals into photonic signals for transmission. The LoS driver / decoder 508 may also receive photonic signals and convert them into electrical signals for processing by the DSP in the LoS communication system 504.

[0142] Vehicle 502 may include one or more optical elements (OEs) 506a-506d. OEs 506a-506d may include components for absorbing light 514a and emitting light 514b. Optical elements 506a-506d may include hardware capable of converting electrical signals into light (e.g., a light-emitting diode (LED)) and light into electrical signals (e.g., a photodiode). OEs 506a-506d may be located at the vehicle's headlights and taillights, embedded in a baffle or other body panel, in the same location as the LiDAR unit, or elsewhere that facilitates establishing a LoS communication link with other vehicles. Vehicle 502 is shown with four OEs 506a-506d, but fewer or more OEs may be used depending on the implementation choice. OEs 506a-506d can transmit and receive optically encoded encrypted data over the LoS communication link.

[0143] Vehicle 502 also includes a Human-Machine Interface (HMI) 510. As described above, HMI 510 may include an input interface 310 and an output interface 312. A LoS communication link can be used to synchronize the HMI user experience between vehicles. For example, LED strips, occupant displays, games, music, etc., can be synchronized between vehicles via a LoS communication link. In some embodiments, the LoS communication link can create a network (e.g., a mesh network or relay network) comprising one or more vehicles.

[0144] When two (or more) vehicles are interconnected, the ability to synchronize the HMI experience is facilitated. One vehicle, referred to as the guide vehicle, can act as a FAS or command center gateway for relaying information to the vehicle's local network. The local network can resemble a relay network or a mesh network. The local network can receive commands from command center 540 via network 112 for controlling the user experience (e.g., controlling LED bars, synchronizing occupant displays, enabling communication between vehicles, synchronizing gameplay between vehicles, etc.). The local network can also be used to send diagnostics and vehicle status information from the local network to the FAS cloud.

[0145] As an example, HMI commands may include, but are not limited to:

[0146] Arrived →Notify when the vehicle arrives;

[0147] leave → Notify when the vehicle departs;

[0148] The ride has been cancelled. → Notify me when my ride is cancelled;

[0149] Emergency →Notify when an emergency occurs inside the cabin;

[0150] AV busy →Notify road users that the vehicle is in use;

[0151] Seating position →Notify the occupants which seat in the AV is occupied;

[0152] ham link →Voice interconnection for AV use within a local area network;

[0153] vid link →Video interconnection within the local network for passenger display;

[0154] Game Link →Game interconnection within the local network for passenger display;

[0155] Booking → Displays passenger information within the AV network.

[0156] Vehicle 502 may also include diagnostic logic 512. The diagnostic logic may include hardware and / or software for identifying and storing various core functional information related to the vehicle for diagnostic purposes. For example, diagnostic logic 512 may be used to track and store power levels, tire pressure, fluid levels, motor conditions, etc. Diagnostic information can be shared between vehicles. Diagnostic information can also be shared from a second vehicle to a first vehicle, and the first vehicle can transmit this diagnostic information to command center 540 via network 112.

[0157] Vehicle 502 can communicate with command center 540 via network 112 using communication interface 314. Command center 540 may include hardware and software components that can manage individual vehicles, groups of vehicles traveling together (e.g., a convoy), or vehicle queues. Command center 540 can coordinate vehicle routes, adjust trajectories, identify potential parking locations, track weather, manage occupant user profiles, update software, track vehicle identification and core functional information including vehicle diagnostics, etc.

[0158] In some embodiments, AV computing 400 may include logic that can encode vehicle control information for transmission to other vehicles using a LoS communication system. This provides the vehicles with the ability to simultaneously control the driving modes of other vehicles. In an embodiment, trajectory information may be provided from command center 540 to vehicle 502, and this trajectory information may be relayed to other vehicles. Each vehicle can then derive its own commands for its respective DBW 202h to execute the trajectory.

[0159] For example, command center 540 may include a radio wave-based communication system to transmit information to vehicles. The radio wave-based communication system may include hardware and software for encoding data packets for transmission according to wired and wireless communication protocols such as cellular protocols. Command center 540 may include memory for storing instructions and information. Command center 540 may include one or more hardware processors for executing instructions to perform operations such as: receiving an encrypted handshake verification request message from a primary vehicle using the radio wave-based communication system, wherein the handshake verification request message is for a handshake process performed by the primary and secondary vehicles to form a convoy. Command center may use the radio wave-based communication system to transmit a handshake verification response message to the primary vehicle verifying the handshake process between the primary and secondary vehicles, which facilitates convoy formation.

[0160] After a convoy is formed between two or more vehicles, command center 540 can use network 112 to send and receive information to and from the first vehicle (or lead vehicle), which acts as a gateway for the other vehicles in the convoy.

[0161] 4. Architecture and processing flow of vehicle-to-vehicle Loss-of-Sight (LoS) communication

[0162] Figures 6A-6C This is a schematic diagram illustrating the establishment of a line-of-sight (LoS) communication link between a first vehicle 502a and a second vehicle 502b according to an embodiment of the present invention. Vehicles 502a and 502b are similar to vehicles 102, 200, and 502 described above.

[0163] Figure 6A The first vehicle 502 actively and / or passively searches for other compatible and compliant (friendly) vehicles to establish a LoS communication link. Vehicle 502a uses one or more of camera technology (local observation), GNS technology (Global Positioning System), and LiDAR technology to locate other compatible vehicles. In some embodiments, the first vehicle will be unaware that the second vehicle is friendly until after the handshake and subsequent verification process described below. In some embodiments, a combination of camera, LiDAR, and GNS information can be used to infer that a vehicle is friendly based on stored information related to the vehicle queue or based on information received from the command center related to nearby friendly vehicles.

[0164] Figure 6BThe first vehicle 502a positions a friendly second vehicle 502b. When the two vehicles 502a and 502b are observing each other, one or both vehicles can adjust their driving modes to overlap with their respective observation circles 602a and 602b. The observation circle can be a predetermined distance around the vehicle that is the minimum distance required to establish a LoS communication link. The observation circle can also define the area used for geofencing around the vehicle.

[0165] Figure 6C Once observation circles 602a and 602b overlap and the vehicles are within a predetermined distance of each other (e.g., vehicle length relative to each other (front, adjacent, rear, diagonally),) the first vehicle 502a initiates an encrypted handshake to the second (friendly) vehicle 502b using the LoS communication system. After the handshake is sent to the cloud and verified, the LoS data pipeline (LoS communication link) 604, enabling data exchange between vehicles 502a and 502b, is opened. At this point, the first vehicle 502a and the second vehicle 502b are part of the LoS network, with the first vehicle serving as the communication point between the command center 540 and other vehicles in the LoS network.

[0166] After data pipeline 604 is opened, the first vehicle 502a that initiated the communication can be defined as the lead vehicle. If a fleet is formed, the first vehicle 502a will be the designated leader of the fleet. Alternatively, as expressed above, the first vehicle 502a acts as a communication gateway between the command center and other vehicles (502b). The lead vehicle acts as a direct link to the cloud and propagates changes to the local fleet, such as controlling the movement of specific vehicles as groups and controlling the collective HMI UX experience within the fleet. The defined lead vehicle can be changed based on which vehicle is leading a fleet or the fleet “shape factor” described below.

[0167] Figures 7A-7D This is a diagram illustrating the implementation of an architecture for vehicle-to-vehicle Li-Fi communication according to an embodiment of the present invention.

[0168] Figure 7A Figure 700 illustrates an embodiment of the present invention where two vehicles 502a and 502b are within each other's sensing distance but have not yet established a LoS communication link. Sensing distance can be determined by one or more devices (such as a camera, LiDAR, GNS, etc.) that allow the vehicles to detect the distance to another vehicle. Figure 7AExample: Vehicle 502a actively or passively searches for compatible (friendly) vehicles with which it forms a LoS communication link. Vehicle 502a continuously receives data 704 from various sources, such as camera sources, LiDAR, GPS, positioning data, and other sources that can indicate the proximity of a compatible vehicle 502b to vehicle 502a (vehicle 502b can perform a similar search). Vehicle 502a can use its sensing system 402 and positioning system 406 to locate the nearby friendly vehicle 502b (702) using one or more data factors 704 (which include data generated from camera technology, GNS, and LiDAR). Once a friendly vehicle is identified, vehicle 502a will adjust its trajectory so that its observation circle 602a overlaps with the observation circle 602b of the friendly vehicle 502b.

[0169] Figure 7B This is a schematic diagram 710 illustrating two vehicles adjusting their respective driving modes to overlap their observation circles according to an embodiment of the present invention. When the two vehicles observe each other, they adjust their driving modes to overlap their observation circles. For this purpose, AV calculation 400 uses a combination of components to cause the vehicles to adjust their paths. For example, perception system 402 can observe the location of friendly vehicle 502b (712a). Planning system 404 can create commands to cause vehicle 502a to adjust its driving mode to move vehicle 502a such that its observation circle overlaps with the observation circle 602b of the friendly vehicle (714a). Planning system 404 can transmit control signals to control system 408 (716a). Control system 408 can then command DBW 202h to execute the commands and move vehicle 502a.

[0170] Similarly, the second vehicle 502b can perform similar operations to move itself. For example, the perception system 402 can observe the location of the friendly vehicle 502a (712b). The planning system 404 can create commands to cause vehicle 502b to adjust its driving mode to move itself so that its observation circle overlaps with the observation circle 602a of the friendly vehicle (714b). The planning system 404 can transmit control signals to the control system 408 (716b). The control system 408 can then command the DBW 202h to execute the commands and move vehicle 502b. One or both vehicles can adjust their driving modes. In some cases, the first vehicle 502a, which will initiate the LoS communication link, is the moving vehicle. However, depending on the implementation scenario, both vehicles can adjust their driving modes.

[0171] Figure 7CThis is a schematic diagram 720 of the authentication process for establishing a line-of-sight communication link between a first vehicle 502a and a second vehicle 502b according to an embodiment of the present invention. Once the observation circles 602a and 602b overlap (and in some embodiments, the vehicles (in front, adjacent, diagonally, or rearward) are within each other's vehicle length), the first vehicle 502a (here, the vehicle initiating the LoS communication link) sends an encrypted handshake to the friendly vehicle 502b using the LoS communication system 504a (similar to the LoS communication system 504 described above), wherein the encrypted handshake is received by the LoS communication system 504b at the second vehicle 502b (722). The encrypted handshake process can perform many operations: First, the handshake process begins by configuring the vehicle to communicate using the LoS communication link; second, the handshake process modifies the second vehicle 502b so that the second vehicle 502b can join the fleet or perform other functions such as inspector functions; third, the handshake process provides the first vehicle 502a with information related to the second vehicle 502b (such as vehicle identification information and other information), wherein the first vehicle transmits this information to the command center 540 via network 112.

[0172] First vehicle 502a can receive encrypted handshake information from second vehicle 502b. First vehicle 502a can send the encrypted handshake information associated with both first vehicle 502a and second vehicle 502b via network 112 to a command center for verification (724). Command center 540 can verify the handshake information (726). For example, if the two vehicles are authorized to communicate with each other via a LoS communication link, and the command center is authorized to communicate with both vehicles, then command center 540 can verify the handshake. To verify the handshake, command center 540 can send an acknowledgment (ACK) message to first vehicle 502a via network 112 (728). After the handshake is sent to the cloud and verified, the data pipeline is opened, enabling data exchange between the vehicles.

[0173] Figure 7D This is a schematic diagram 730 illustrating a LoS communication link (data pipeline 732) established according to an embodiment of the present invention. The LoS communication link 732 can be a Li-Fi link, a VLC link, or other optical-based communication link. The first vehicle 502a can use one or more OEs to communicate with the second vehicle using optical signals via the data pipeline 732. The data pipeline 732 is an abstraction representing the establishment of a communication link between the first and second vehicles, and includes a coordinated encoding and decoding scheme and a coordinated encryption and decryption scheme.

[0174] The first vehicle 502a can communicate with the command center 540 via an air communication link through communication interface 314 and network 112. The first vehicle 502a can send and receive various types of information (such as instructions and diagnostic information) relative to the command center 540 (734). In some embodiments, the received information is processed by the AV calculation 400 of the first vehicle before being packaged. For example, the AV calculation 400 can derive driving modes or other route solutions for the second vehicle based on its own perception and planning system. Alternatively, the information can be sent directly to the LoS communication system 504a for packaging and transmission.

[0175] The first vehicle 502a uses its LoS communication system 504a to encode and encrypt data packets for use light (e.g., light emitted from an optical element such as an LED) transmitted to the second vehicle 502b (736). The second vehicle 502b may, for example, receive optical signals from the first vehicle 502a at a photodiode, convert the optical signals into electrical signals, and decrypt and decode these signals into information, commands, or other data for use by AV calculations, HMIs, or other components (738). Similarly, the second vehicle 502b may encode and encrypt data packets for use light (e.g., light emitted from an optical element such as an LED) transmitted to the first vehicle 502a (740). The first vehicle 502a may, for example, receive optical signals from the second vehicle 502b at a photodiode, convert the optical signals into electrical signals, and decrypt and decode these signals into information, commands, or other data (742).

[0176] The types of information 744 that the command center 540 can store and exchange with the first vehicle (and indirectly with other vehicles in the network) include:

[0177] 1) Vehicle identification information – This enables the command center 540 to know which vehicles are connected to the network. The vehicle identification information can also be used by the command center to identify vehicle capabilities, vehicle preferences, routes, cargo / manifestations, authentication information, etc.

[0178] 2) Vehicle status and core functions - The command center stores vehicle status and core function information, including power level, air pressure, weight, speed, liquid level, mileage or other core function information;

[0179] 3) Origin / Destination - Command Center 540 can store origin and destination information for each vehicle;

[0180] 4) Route preferences - Command Center 540 can store route preferences, such as whether highways are preferable to remote roads, whether to avoid tolls, and whether speed takes priority over distance.

[0181] 5) Cargo / Manifest Information - Command Center 540 can store information about what the vehicle is carrying and / or who the vehicle is carrying; if the vehicle is carrying occupants, it can also store occupant preferences and relay those preferences to the network;

[0182] 6) Authentication Information - Command Center 540 can store authentication information to verify vehicles joining the network (e.g., through the handshake process described above);

[0183] 7) HMI / UX preferences - Command Center 540 can store HMI and user experience preferences, which can be used to synchronize between vehicles when appropriate;

[0184] 8) Vehicle Capability Information - Command center 540 can store vehicle capability information, which it can use to coordinate performance metrics among vehicles. For example, if a vehicle's maximum speed is lower than that of other vehicles, that maximum speed can be used as the maximum speed of vehicles in the network. Vehicle capability information can also be used by command center 540 to determine the lead vehicle and backup lead vehicle. For example, if the lead vehicle leaves the network, another vehicle will need to be assigned as the lead vehicle.

[0185] 9) Fleet Position Information - Command Center 540 can store fleet position information, allowing it to know the location of each vehicle within the fleet. This information can be used by Command Center 540 for purposes such as spare lead vehicle selection, inspector assignment, VIP protection assignment, power-saving selection assignment, and reassignment of vehicles preparing to leave the network. For example, if a vehicle is in a lane far from the exit lane but is leaving, Command Center 540 can arrange for it to exchange positions with another vehicle to allow the departing vehicle time to prepare for departure.

[0186] This list is an example list and does not imply exhaustive enumeration.

[0187] The command center 540 can also store information 746 used by the guide vehicle. For example, the command center can store:

[0188] 1) Fleet shape factor information - This information is used to determine which vehicle can become the lead vehicle and which vehicles are being selected relative to other vehicles. If a vehicle joins or leaves the network, the shape factor information is also used to re-establish the fleet shape factor.

[0189] 2) Inspector Assignment – ​​If a vehicle is acting as an inspector, the location of each vehicle in the network can be tracked, allowing inspection information to be accumulated and analyzed in a useful manner. Furthermore, each vehicle can be responsible for collecting different types of data: one vehicle can be responsible for traffic pattern data, while another can be responsible for collecting data related to road conditions.

[0190] 3) Inspector data;

[0191] 4) Backup Guide Vehicle Assignment - In some cases, the command center 540 can store backup guide vehicle assignments so that a backup guide vehicle can be immediately established if the primary guide vehicle leaves the network.

[0192] 5) VIP Assignment and List - Since privacy is likely to be paramount when escorting VIPs, the lead vehicle should be the only vehicle with a list of VIP occupants, even if a backup lead vehicle is assigned.

[0193] Command Center 540 can also store other types of data.

[0194] At this point, the vehicle that initiated the contact (here, the first vehicle 502a) is defined as the lead vehicle, which serves as the communication point between the command center 540 and other vehicles in the LoS network. In some use cases, the LoS network can be used to establish a fleet of vehicles, where the lead vehicle is the designated leader of the fleet. Therefore, the lead vehicle acts as a direct link to the cloud and propagates changes to the local fleet, such as controlling the movement of specific vehicles as a group and controlling the collective HMI UX experience within the fleet. The defined lead vehicle can be changed based on which vehicle is leading a fleet or the fleet's "shape factor."

[0195] 5. Vehicle Driving Mode

[0196] Figures 8A-8E This is a diagram illustrating an example fleet mode according to an embodiment of the present invention. After establishing a link, the AV driving mode is synchronized within the local network. A fleet can be defined as a vehicle network, thereby communicating with each other using a LoS communication link in a synchronized or cooperative driving mode. A fleet includes a lead vehicle and secondary vehicles. Vehicles work together as a single driving unit and can use synchronized HMI features to communicate between vehicles and with road users. Dashed arrows indicate LoS communication links between vehicles. Vehicle control commands include:

[0197] Connect → Establish vehicle interconnection

[0198] Disconnect → Disconnect vehicle interconnection

[0199] ping → Locate the vehicle within the local network

[0200] Deceleration → Global Deceleration

[0201] Acceleration → Global Acceleration

[0202] Emergency braking → Global emergency braking

[0203] Group consciousness → Using AV webcams to cultivate consciousness within their environment.

[0204] Figure 8A This illustrates a straight-line platooning pattern 800. In straight-line platooning, one vehicle is lined up in front of (or behind) another vehicle in a single lane on the road. Figure 8B The image shows a side-by-side mode 810, in which two vehicles are adjacent to each other, thus occupying adjacent lanes. Figure 8C Branching pattern 820 is shown. This branching pattern involves a single vehicle identifying a vehicle in an adjacent lane that is diagonally opposite to that single vehicle. Branching pattern 820 may include two or more vehicles. Figure 8D The diagram shows serpentine mode 830. In serpentine mode 830, vehicles can occupy different lanes, but a large interval is maintained between vehicles in the same lane. Figure 8E The VIP mode 840 is shown, in which the VIP vehicle is surrounded by other vehicles in terms of protective details.

[0205] Figures 9A-9C This is a diagram illustrating an example inspector mode according to an embodiment of the present invention. Dashed arrows indicate Loss of Space (LoS) communication links between vehicles. In inspector mode, vehicles interconnect and work together to inspect their environment in real time by collecting data within a target location using their sensor networks. Figure 9A The straight-line inspector pattern 900 is shown. Figure 9B The side-by-side inspector pattern is shown. Figure 9C This illustrates the branch inspector pattern. The triangular blocks represent the focal points for data collection from the sensing and positioning systems of each vehicle. The inspector pattern can be used, for example, to record traffic patterns and observe and communicate real-time road conditions / changes (construction, accidents, etc.).

[0206] 6. Processing Flow

[0207] Figure 10This is a flowchart 1000 of a process for establishing a Line-of-Sight (LoS) communication link between a vehicle and another vehicle according to an embodiment of the present invention. A first vehicle can actively or passively search for and subsequently detect a second vehicle with which it has a line-of-sight (LoS) communication link (1002). The first vehicle can use camera technology, LiDAR, GNS, or other technologies to locate the other vehicle used to form the LoS communication link. The first vehicle can adjust its path to move closer to the second vehicle (1004). In some embodiments, both vehicles can adjust their relative positions, or only one vehicle (such as the vehicle initiating the LoS communication link) can adjust its relative position. The first vehicle can move such that its observation circle overlaps with the observation circle of the second vehicle. In some embodiments, the first vehicle moves within the length of the second vehicle. In some embodiments, the first vehicle moves within the line of sight of the second vehicle.

[0208] The first vehicle can establish a line-of-sight communication channel with the second vehicle (1006). The first vehicle can perform this operation by first using a LoS communication system to handshake (e.g., by transmitting coded optical signals to the second vehicle). The handshake can be used to verify the vehicle and set up the LoS communication channel and protocol.

[0209] Once the LoS communication channel is established, the first and second vehicles can exchange information using the LoS communication channel. This can be achieved by encoding and encrypting optical signals with information (1008) and transmitting the encoded and encrypted optical signals using the LoS communication channel (1010). The first vehicle can also use the LoS communication channel to receive encoded and encrypted optical signals from other vehicles (1012).

[0210] Figure 11 This is a flowchart 1100 of a process for a second vehicle leaving a convoy according to an embodiment of the present invention. A first vehicle can determine that the second vehicle is leaving the network or convoy (1102). The first vehicle can, for example, receive an indication from the second vehicle that the second vehicle intends to leave the network and terminate the LoS communication link. The first vehicle can then terminate the LoS communication link with the second vehicle (1104). The first vehicle can send a vehicle departure message to the command center via an air communication link, the vehicle departure message indicating the identification information of the second vehicle and an indication that the second vehicle has left the network or convoy.

[0211] In some embodiments, the first vehicle can detect that the second vehicle is moving outside a predetermined radius from the first vehicle. The first vehicle can determine whether the second vehicle is intentionally leaving the network or fleet, or whether the second vehicle is unintentionally deviating. If the Loss of Line of Service (LoS) communication link remains active (e.g., maintaining line of sight), the first vehicle can do so by requesting a departure message from the second vehicle. If the second vehicle confirms departure, the first vehicle can, as described above, terminate the LoS communication link and send an instruction to the command center.

[0212] If the second vehicle does not respond or send a negative acknowledgment in response to the first vehicle's request for a leave message, the first vehicle can maintain the handshake and establish communication even if the second vehicle loses line of sight. Thus, if the second vehicle regains line of sight with the first vehicle, the first vehicle can quickly re-establish the LoS communication link with the second vehicle.

[0213] The predetermined radius from the first vehicle may include the distance defining the geofence. If the second vehicle exits the geofence and loses line of sight, the first vehicle may maintain the LoS connection handshake authentication and link establishment protocol and information for the second vehicle for a predetermined amount of time. If the second vehicle re-enters the geofence within the predetermined amount of time, the timer may be reset even if the second vehicle does not re-establish line of sight with the first vehicle. If the second vehicle does re-establish line of sight with the first vehicle, the first vehicle may re-establish the LoS communication channel with the second vehicle.

[0214] Geofencing can also be used for other purposes. For example, if a vehicle or other object enters a geofence in inspector mode, the entering vehicle or other object can be alerted and addressed. For instance, a car might want to pass through a convoy occupying multiple lanes. The car wanting to pass can enter the geofence, which signals the guide car that the convoy pattern needs to be adjusted to allow the car to pass. Once the car leaves the geofence, the original convoy pattern can be re-established if necessary.

[0215] Figure 12This is a flowchart 1200 of a process for a lead vehicle to leave a network or fleet according to an embodiment of the present invention. In some embodiments, the lead vehicle may wish to leave the network or fleet. The lead vehicle may wish to leave for many reasons, such as route, power level, other vehicles with priority, etc. The lead vehicle or command center may determine that the lead vehicle will leave the network or fleet (1202). The lead vehicle transmits a lead vehicle departure message to the command center using an over-the-air communication link (1204). The lead vehicle may receive a lead vehicle reassignment message from the command center (1206). The lead vehicle reassignment message may include an indication of another vehicle in the network or fleet that will become the new lead vehicle. In some embodiments, an indication of a backup lead vehicle is also included. The departing lead vehicle may use a LoS communication link to transmit the lead vehicle assignment to a new lead vehicle (1208). If the new lead vehicle is within the line of sight of the departing lead vehicle, the lead vehicle may send the assignment directly to the new lead vehicle. However, if a new lead vehicle is behind other vehicles in the network or convoy, the departing lead vehicle sends an assignment to an adjacent vehicle in the network, which relays the information back into the network until the information reaches the new lead vehicle.

[0216] The departing lead vehicle can terminate its LoS communication links with other vehicles (1210) and exit the network / fleet (1212) by adjusting its route accordingly.

[0217] In the preceding description, aspects and embodiments of this disclosure have been described with reference to numerous specific details, which may vary from implementation to implementation. Therefore, the specification and drawings should be considered illustrative rather than restrictive. The sole and exclusive indication of the scope of the invention, and the applicant's expectation that the scope of the invention is encompassed by the literal and equivalent scope of the claims published from this application, including any subsequent amendments. Any definitions of terms expressly set forth herein for inclusion in such claims should be interpreted as such terms would be as they are used in the claims. Furthermore, when the term "comprising" is used in the preceding specification or appended claims, the phrase may be followed by an additional step or entity, or a sub-step / sub-entity of a previously stated step or entity.

[0218] The following examples relate to further embodiments. Details in these examples may be used anywhere in one or more embodiments. All optional features of the device described herein may also be implemented for methods or processes.

[0219] Example 1 is a method for constructing a convoy of vehicles, the method comprising: detecting a second vehicle operating in an environment using a sensing system on a first vehicle operating in the environment; and adjusting the trajectory of the first vehicle to form a convoy with the second vehicle using a control system on the first vehicle, wherein adjusting the trajectory of the first vehicle to form a convoy with the second vehicle comprises: transmitting data to move the first vehicle to a position such that the second vehicle is within the line of sight of at least one line-of-sight communication system of the first vehicle.

[0220] Example 2 may include the subject of Example 1, wherein adjusting the trajectory of the first vehicle to form a convoy with the second vehicle includes: adjusting the trajectory of the first vehicle to move the first vehicle to a position within one vehicle length of the second vehicle.

[0221] Example 3 may include the subject matter of Example 1 or 2, and further include: using the line-of-sight communication system to perform a handshake process with the second vehicle; and using a radio communication system to transmit the result of the handshake process to a remote command center for verification.

[0222] Example 4 may include the subject matter of any one of Examples 1 to 3, and further includes: using the radio communication system to receive a handshake authentication message from the remote command center; and using the line-of-sight communication system to establish a communication link with the second vehicle.

[0223] Example 5 may include the subject matter of any one of Examples 1 to 4, and further includes: using the radio communication system to receive information from the remote command center; and using the line-of-sight communication system to transmit the information to the second vehicle.

[0224] Example 6 may include the subject matter of Example 5, wherein the information includes one or more of the following: information representing the trajectory associated with the first vehicle; information representing the user experience of the user in the first vehicle; information representing vehicle diagnostics of the first vehicle; information representing the state of the first vehicle; and fleet shape factor information representing the position of one vehicle relative to another vehicle.

[0225] Example 7 may include the subject of any of Examples 1 to 6, and further includes: using the line-of-sight communication system to synchronize the driving modes of the first vehicle and the second vehicle based on a selected fleet shape factor.

[0226] Example 8 may include the subject of any one of Examples 1 to 6, and further includes: a human-machine interface scheme, i.e., an HMI scheme, for synchronizing the first vehicle and the second vehicle using the line-of-sight communication system.

[0227] Example 9 may include the subject matter of any one of Examples 1 to 6, and further includes: using the line-of-sight communication system to receive traffic mode information from the second vehicle; and using the radio communication system to transmit the traffic mode information to the remote command center.

[0228] Example 10 may include the subject matter of any one of Examples 1 to 6, and further includes: receiving an instruction that the second vehicle will leave the convoy using the line-of-sight communication system; terminating the communication link with the second vehicle; and transmitting the vehicle departure message to the remote command system using the radio communication system.

[0229] Example 11 may include the subject matter of any one of Examples 1 to 6, wherein the first vehicle is designated as the lead vehicle of the convoy, and the method further includes: determining, using a planning system on the first vehicle, that the first vehicle will leave the convoy; transmitting a lead vehicle departure message to the remote command center using the radio communication system; receiving, using the radio communication system, a lead vehicle assignment message indicating that the second vehicle will become the lead vehicle; transmitting the lead vehicle assignment message to the second vehicle using the line-of-sight communication system; terminating the communication link with the second vehicle; and using the control system on the first vehicle to adjust the position of the first vehicle so that the first vehicle moves outside the convoy.

[0230] Example 12 may include the subject of any one of Examples 1 to 6, wherein the first vehicle is designated as the lead vehicle of the convoy, and the second vehicle is designated as the backup lead vehicle; the method further includes: determining, using a planning system on the first vehicle, that the first vehicle will leave the convoy; transmitting a lead vehicle departure message indicating that the lead vehicle will leave the convoy to the backup lead vehicle using the line-of-sight communication link; transmitting the lead vehicle departure message to a remote command center using the radio communication system; terminating LoS communication with the backup lead vehicle; and using the control system on the first vehicle to adjust the position of the first vehicle so that the first vehicle moves outside the convoy.

[0231] An example is a first vehicle comprising: a perception system for: detecting a second vehicle and determining that the second vehicle is compatible with the first vehicle to form a convoy; a control system for moving the first vehicle to become within the line of sight of the second vehicle; a line-of-sight communication system for establishing a line-of-sight communication link with the second vehicle; and a radio communication system for establishing a radio communication link with a remote command center, wherein the control system is configured to adjust the trajectory of the first vehicle to move the first vehicle to a position within one vehicle length of the second vehicle, thereby forming a convoy.

[0232] Example 14 may include the subject matter of Example 13, wherein the line-of-sight communication system is configured to: transmit a handshake initiation message to the second vehicle and receive a handshake confirmation message from the second vehicle; and the radio communication link is configured to transmit the result of the handshake process to a remote command center for verification.

[0233] Example 15 may include the subject matter of Example 13 or 14, wherein the radio communication system is used to receive a handshake authentication message from the remote command center, and the line-of-sight communication system is used to establish a communication link with the second vehicle.

[0234] Example 16 may include the subject matter of Example 15, wherein the radio communication system is used to receive information from the remote command center, and the line-of-sight communication system is used to transmit the information to the second vehicle.

[0235] Example 17 may include the subject matter of Example 16, wherein the information includes one or more of the following: information representing a trajectory associated with the first vehicle; information representing the user experience of a user in the first vehicle; information representing vehicle diagnostics of the first vehicle; information representing the state of the first vehicle; and fleet shape factor information representing the position of one vehicle relative to another vehicle.

[0236] Example 18 may include the subject matter of any one of Examples 13 to 17, wherein the line-of-sight communication system includes circuitry for transmitting information to the second vehicle to synchronize the driving modes of the first vehicle and the second vehicle.

[0237] Example 19 may include the subject of any one of Examples 13 to 18, wherein the line-of-sight communication system is used to transmit information to the second vehicle to synchronize the human-machine interface scheme, i.e., the HMI scheme, of the first vehicle and the second vehicle.

[0238] Example 20 may include the subject of any one of Examples 13 to 19, wherein the line-of-sight communication system is used to receive traffic mode information from the second vehicle, and the radio communication system is used to transmit the traffic mode information to the remote command center.

[0239] Example 21 may include the subject of Example 15, wherein the line-of-sight communication system is configured to receive an instruction that the second vehicle will leave the convoy and to terminate the communication link with the second vehicle; and the radio communication system is configured to transmit the vehicle departure message to the remote command center.

[0240] Example 22 may include the subject matter of Example 15, wherein the first vehicle is designated as the lead vehicle of the convoy, the first vehicle comprising: a planning system for determining that the first vehicle will leave the convoy; a radio communication system for transmitting a lead vehicle departure message to the remote command center; and receiving a lead vehicle assignment message indicating that a second vehicle will become the lead vehicle. The line-of-sight communication system is used to transmit the lead vehicle assignment message to the second vehicle and terminate the communication link with the second vehicle; and the control system adjusts the position of the first vehicle to move it outside the convoy.

[0241] Example 23 may include the subject matter of any one of Examples 13 to 22, wherein the first vehicle is designated as the lead vehicle of the convoy and the second vehicle is designated as the backup lead vehicle; the first vehicle includes: a planning system for determining that the first vehicle will leave the convoy; a radio communication system for transmitting a lead vehicle departure message to the remote command center; a line-of-sight communication link for transmitting a lead vehicle departure message indicating that the lead vehicle will leave the convoy to the backup lead vehicle and terminating communication with the backup lead vehicle; and a control system for adjusting the position of the first vehicle to move the first vehicle outside the convoy.

[0242] Example 24 may include the subject matter of any one of Examples 13 to 23, wherein the line-of-sight communication system includes at least one of a light transmitter and receiver, a Li-Fi system, a visible light communication system (VLC system), and an LED.

[0243] Example 25 is a vehicle fleet comprising: a primary vehicle operating in an environment; and a secondary vehicle operating in the environment. The primary vehicle approaches the secondary vehicle, and the primary vehicle uses a line-of-sight communication system to control the trajectory of the secondary vehicle.

[0244] Example 26 may include the subject of Example 25, wherein the primary vehicle is positioned within the line of sight of the secondary vehicle.

[0245] Example 27 may include the subject matter of Example 25 or 26, wherein the primary vehicle is positioned within one vehicle length of the secondary vehicle.

[0246] Example 28 may include the subject matter of any one of Examples 25 to 27, wherein the primary vehicle and the secondary vehicle are in one of the same lane and adjacent lanes.

[0247] Example 29 may include the subject of any of Examples 25 to 28, wherein the primary vehicle and the secondary vehicle operate using synchronized trajectories.

[0248] Example 30 may include the subject of any one of Examples 25 to 29, wherein the primary vehicle and the secondary vehicle operate using a synchronized human-machine interface.

[0249] Example 31 may include the subject matter of any one of Examples 25 to 30, wherein the primary vehicle includes a radio wave-based communication system for communicating with a remote command center. The primary vehicle is configured to: receive vehicle trajectory information from the remote command center using the radio wave-based communication system, and transmit the vehicle trajectory information to the secondary vehicle using the line-of-sight communication system.

[0250] Example 32 may include the subject matter of any one of Examples 25 to 31, wherein the line-of-sight communication system includes at least one of a Li-Fi system, a laser-based communication system, a visible light communication system, a light-emitting diode-based communication system, and a line-of-sight communication system.

[0251] Example 33 may include the subject of any one of Examples 25 to 32, wherein the primary vehicle includes a Global Positioning System (GPS), and wherein the primary vehicle uses the GPS to establish a geofence around the secondary vehicle.

[0252] Example 34 may include the subject of Example 33, wherein the primary vehicle detects the departure of the secondary vehicle based on the departure of the secondary vehicle from the geofence.

[0253] Example 35 may include the subject of Example 33 or 34, wherein the primary vehicle or the secondary vehicle detects the entry of the third vehicle based on the entry of the third vehicle into the geofence.

[0254] Example 36 may include the subject matter of any one of Examples 25 to 35, wherein the primary vehicle forms a convoy with the secondary vehicle by: detecting the secondary vehicle using a perception system; determining, using the perception system, that the secondary vehicle is suitable for convoy formation; using a control system to position the primary vehicle to become within the line of sight of the secondary vehicle; transmitting an encrypted handshake message to the secondary vehicle using the line-of-sight communication system; receiving a handshake confirmation message using the line-of-sight communication system; transmitting a handshake verification request message to a remote command center using a radio wave-based communication system; receiving a handshake verification message from the remote command center using the radio wave-based communication system; and establishing a communication link between the primary vehicle and the secondary vehicle using the line-of-sight communication system.

[0255] Example 37 may include the subject matter of any one of Examples 25 to 36, wherein the secondary vehicle may include a perception system to detect objects along a trajectory; the secondary vehicle uses a line-of-sight communication system to transmit information relating to the perceived objects along the trajectory to the primary vehicle; the primary vehicle uses a planning system to adjust the trajectory of the primary vehicle or the secondary vehicle or both; and the primary vehicle uses the line-of-sight communication system to transmit trajectory adjustment information to the secondary vehicle.

[0256] Example 38 is a command center system comprising: a radio wave-based communication system for transmitting information to vehicles; a memory for storing instructions and information; and one or more hardware processors for executing instructions to perform operations, the operations including: receiving, using the radio wave-based communication system, an encrypted handshake verification request message from a primary vehicle, the handshake verification request message being used for a handshake process between the primary and secondary vehicles to form a convoy; and using the radio wave-based communication system, transmitting to the primary vehicle a handshake verification response message verifying the handshake process between the primary and secondary vehicles, the handshake verification response message facilitating convoy formation.

[0257] Example 39 may include the subject of Example 38, the operation including: using the radio wave-based communication system to transmit vehicle control information relating to the secondary vehicle to the primary vehicle.

[0258] Example 40 may include the subject of Example 38 or 39, the operation including: using the radio wave-based communication system to transmit vehicle interface information relating to one or both of the primary vehicle and the secondary vehicle to the primary vehicle.

[0259] Example 41 may include the subject of any one of Examples 38 to 40, the operation comprising: receiving vehicle diagnostic information relating to the secondary vehicle from the primary vehicle using the radio wave-based communication system; and transmitting vehicle system correction information of the secondary vehicle to the primary vehicle using the radio wave-based communication system based on the diagnostic information.

[0260] Example 42 may include the subject matter of any one of Examples 38 to 41, the operation comprising: receiving, using the radio wave-based communication system, traffic pattern information or lane congestion information for the route the convoy is traversing from the primary vehicle; determining, using at least one processor, alternative route information for the convoy based on at least one of the traffic pattern information and the lane congestion information; and transmitting the alternative route information for the convoy to the primary vehicle using the radio wave-based communication system.

Claims

1. A method for a vehicle, comprising: Using a sensing system on a first vehicle operating in the environment, a second vehicle operating in the environment is detected; as well as Using the control system on the first vehicle, the trajectory of the first vehicle is adjusted to form a convoy with the second vehicle, wherein adjusting the trajectory of the first vehicle to form a convoy with the second vehicle includes: Transmit data to move the first vehicle to a position such that the second vehicle is within the line of sight of at least one line-of-sight communication system of the first vehicle, wherein once the first vehicle moves to the position, the first vehicle uses the line-of-sight communication system to send an encrypted handshake to the second vehicle; In response to the encrypted handshake being sent to and verified by a remote command center via a radio communication system, a line-of-sight communication link is opened to enable the exchange of data between the first vehicle and the second vehicle, wherein the communication link includes one or more vehicle networks and synchronizes the displays of the first vehicle and the second vehicle.

2. The method according to claim 1, wherein, Adjusting the trajectory of the first vehicle to form a convoy with the second vehicle includes: The trajectory of the first vehicle is adjusted so that the first vehicle moves to a position within one vehicle length of the second vehicle.

3. The method according to claim 1, further comprising: Using the radio communication system, receive handshake verification messages from the remote command center; as well as The line-of-sight communication system is used to establish a communication link with the second vehicle.

4. The method according to claim 3, further comprising: Using the radio communication system, information is received from the remote command center; as well as The information is transmitted to the second vehicle using the line-of-sight communication system.

5. The method according to claim 4, wherein, The information includes one or more of the following: information representing the trajectory associated with the first vehicle; information representing the user experience of the user in the first vehicle; information representing the vehicle diagnostics of the first vehicle; and information representing the status of the first vehicle. And fleet shape factor information representing the position of one vehicle relative to another vehicle.

6. The method according to claim 3, further comprising: Using the line-of-sight communication system, the driving modes of the first and second vehicles are synchronized based on a selected fleet shape factor.

7. The method according to claim 3, further comprising: The human-machine interface (HMI) scheme for synchronizing the first and second vehicles using the line-of-sight communication system is described above.

8. The method according to claim 3, further comprising: Using the line-of-sight communication system, traffic mode information is received from the second vehicle. as well as The traffic pattern information is transmitted to the remote command center using the radio communication system.

9. A first vehicle, comprising: Sensing systems are used for: Inspect the second vehicle, and It was determined that the second vehicle was compatible with the first vehicle to form a convoy; A control system for moving the first vehicle to become within the line of sight of the second vehicle; A line-of-sight communication system for establishing a line-of-sight communication link with the second vehicle; as well as A radio communication system used to establish a radio communication link with a remote command center. The control system is used to adjust the trajectory of the first vehicle so that the first vehicle moves to a position within one vehicle length of the second vehicle, thereby forming a convoy. Once the first vehicle moves to the position, the first vehicle sends an encrypted handshake to the second vehicle using the line-of-sight communication system. In response to the encrypted handshake being sent to and verified by a remote command center via a radio communication system, a line-of-sight communication link is opened to enable the exchange of data between the first vehicle and the second vehicle, wherein the communication link enables one or more vehicle networks and synchronizes the displays of the first vehicle and the second vehicle.

10. The first transport vehicle according to claim 9, wherein, The line-of-sight communication system is used for: The handshake initiation message is transmitted to the second vehicle, and Receive a handshake confirmation message from the second vehicle.

11. The first vehicle according to claim 10, wherein, The radio communication system is used to receive handshake verification messages from the remote command center.

12. The first vehicle according to claim 11, wherein, The radio communication system is used to receive information from the remote command center, and The line-of-sight communication system is used to transmit the information to the second vehicle.

13. The first vehicle according to claim 12, wherein, The information includes one or more of the following: information representing the trajectory associated with the first vehicle; information representing the user experience of the user in the first vehicle; information representing the vehicle diagnostics of the first vehicle; and information representing the status of the first vehicle. And fleet shape factor information representing the position of one vehicle relative to another vehicle.

14. The first vehicle according to claim 11, wherein, The line-of-sight communication system includes circuitry for transmitting information to the second vehicle to synchronize the driving modes of the first and second vehicles.

15. The first vehicle according to claim 11, wherein, The line-of-sight communication system is used to transmit information to the second vehicle to synchronize the human-machine interface (HMI) scheme of the first and second vehicles.

16. The first vehicle according to claim 11, wherein, The line-of-sight communication system is used to receive traffic mode information from the second vehicle, and The radio communication system is used to transmit the traffic mode information to the remote command center.

17. The first vehicle according to claim 12, wherein, The line-of-sight communication system includes at least one of the following: a light transmitter and receiver, a Li-Fi system, a visible light communication system (VLC system), and an LED.

18. A fleet of vehicles, comprising: The primary vehicle operating in the environment; as well as Secondary vehicles operating in the environment, The primary vehicle approaches the secondary vehicle, and the primary vehicle uses a line-of-sight communication system to control the trajectory of the secondary vehicle. The primary vehicle uses the line-of-sight communication system to send an encrypted handshake to the secondary vehicle. In response to the encrypted handshake being sent to and verified by a remote command center via a radio communication system, a line-of-sight communication link is opened to enable the exchange of data between the primary vehicle and the secondary vehicle, wherein the communication link enables one or more vehicle networks and synchronizes the display of the primary vehicle and the secondary vehicle.

19. The vehicle fleet according to claim 18, wherein, The primary vehicle includes a radio wave-based communication system for communicating with the remote command center; and The main vehicle is used for: The vehicle trajectory information is received from the remote command center using the radio wave-based communication system. The line-of-sight communication system is used to transmit the trajectory information of the primary vehicle to the secondary vehicle.

Images