Intelligent vehicle failure and driver inappropriate behavior detection and warning

Abstract

Systems, apparatus, processes, and computer-readable media for wireless communication are disclosed. For example, an example of a process includes receiving, by an on-board unit (OBU) of a vehicle, sensor data from a plurality of sensors of the vehicle. The process may include determining, by the OBU, a rating level for an event associated with the vehicle based on the sensor data. The process may also include determining that the score level is greater than a threshold score level; and broadcasting a warning message related to the event to one or more devices based on the rating level being greater than the threshold rating level.

Description

Technical Field

[0001] The present disclosure generally relates to vehicle communications. For example, aspects of the present disclosure relate to smart vehicle fault and driver misbehavior detection and warning solutions utilizing vehicle-to-everything (V2X) communications. Background Art

[0002] Wireless communication systems are widely deployed to provide a variety of telecommunication services, such as telephony, video, data, messaging, and broadcast. Typical wireless communication systems may employ multiple access technologies capable of supporting communication with multiple users by sharing available system resources. Examples of such multiple access technologies include code division multiple access (CDMA) systems, time division multiple access (TDMA) systems, frequency division multiple access (FDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single carrier frequency division multiple access (SC-FDMA) systems, and time division synchronous code division multiple access (TD-SCDMA) systems.

[0003] These multiple access technologies have been adopted in various telecommunication standards to provide a common protocol that enables different wireless devices to communicate at a city, country, region, or even global level. An example telecommunication standard is 5G New Radio (NR). 5G NR is part of the continuous mobile broadband evolution promulgated by the Third Generation Partnership Project (3GPP) to meet new requirements associated with latency, reliability, security, scalability (e.g., with the Internet of Things (IoT)) and other requirements. 5G NR includes services associated with enhanced mobile broadband (eMBB), massive machine type communication (mMTC), and ultra-reliable low latency communication (URLLC). Certain aspects of 5G NR may be based on the 4G Long Term Evolution (LTE) standard. Various aspects of wireless communication may include direct communication between devices, such as in V2X, vehicle to vehicle (V2V), and / or device to device (D2D) communication. There is a need to further improve V2X, V2V, and / or D2D technologies. In addition, these improvements may also be applicable to other multiple access technologies and telecommunication standards that employ these technologies. Summary of the invention

[0004] The following presents a simplified summary of the invention related to one or more aspects disclosed herein. Therefore, the following summary of the invention should neither be considered as an exhaustive overview related to all conceived aspects, nor should it be considered to identify key or decisive elements related to all conceived aspects or to delineate the scope associated with any particular aspect. Therefore, the sole purpose of the following summary of the invention is to present certain concepts related to one or more aspects of the mechanisms disclosed herein in a brief form before the detailed embodiments presented below.

[0005] Systems, devices, methods, and computer-readable media for intelligent vehicle failure and driver misbehavior detection and warning (e.g., using V2X communication) are disclosed. According to at least one example, a method for wireless communication at a vehicle is provided. The method includes: receiving sensor data from a plurality of sensors of the vehicle by an onboard unit (OBU) of the vehicle; determining, by the OBU, a score level of an event associated with the vehicle based on the sensor data; determining that the score level is greater than a threshold score level; and broadcasting, by the OBU, a warning message related to the event to one or more devices based on the score level being greater than the threshold score level.

[0006] In another example, an apparatus for wireless communication is provided, the apparatus comprising at least one memory and at least one processor coupled to the at least one memory. The at least one processor is configured to: receive sensor data from a plurality of sensors of a vehicle; determine a score level of an event associated with the vehicle based on the sensor data; determine that the score level is greater than a threshold score level; and based on the score level being greater than the threshold score level, cause a warning message related to the event to be broadcast to one or more devices.

[0007] In another example, a non-transitory computer-readable medium having instructions stored thereon is provided, which instructions, when executed by one or more processors, cause the one or more processors to: receive sensor data from multiple sensors of a vehicle; determine a score level for an event associated with the vehicle based on the sensor data; determine that the score level is greater than a threshold score level; and based on the score level being greater than the threshold score level, cause a warning message related to the event to be broadcast to one or more devices.

[0008] In another example, an apparatus for wireless communication is provided. The apparatus includes: a component for receiving sensor data from a plurality of sensors of a vehicle; a component for determining a score level of an event associated with the vehicle based on the sensor data; a component for determining that the score level is greater than a threshold score level; and a component for broadcasting a warning message related to the event to one or more devices based on the score level being greater than the threshold score level.

[0009] In some aspects, the device is a vehicle (e.g., a car, truck, etc. or a component or system of a car, truck, etc.), a mobile device (e.g., a mobile phone or so-called "smartphone" or other mobile device), a wearable device, an extended reality device (e.g., a virtual reality (VR) device, an augmented reality (AR) device, or a mixed reality (MR) device), a personal computer, a laptop computer, a server computer, a robotic device, or other device, includes these devices or is a part of them. In some aspects, the device includes a radio detection and ranging (radar) for capturing radio frequency (RF) signals. In some aspects, the device includes one or more light detection and ranging (LIDAR) sensors, radar sensors, or other light-based sensors for capturing light-based (e.g., light frequency) signals. In some aspects, the device includes a camera or multiple cameras for capturing one or more images. In some aspects, the device also includes a display for displaying one or more images, notifications, and / or other displayable data. In some aspects, the above-mentioned device may include one or more sensors, which can be used to determine the location of the device, the state of the device (e.g., temperature, humidity level, and / or other state), and / or for other purposes.

[0010] This summary is neither intended to identify key features or essential features of the claimed subject matter nor is it intended to be used alone to determine the scope of the claimed subject matter. The subject matter should be understood by reference to appropriate portions of the entire specification of this patent, any or all drawings, and each claim.

[0011] Other objects and advantages associated with the various aspects disclosed herein will be apparent to those skilled in the art based on the drawings and detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Illustrative aspects of the present application are described in detail below with reference to the following drawings:

[0013] 1 is a diagram illustrating an example wireless communication system in accordance with some aspects of the present disclosure.

[0014] 2 is a diagram illustrating an example of a disaggregated base station architecture that may be used by the disclosed system for intelligent vehicle failure and driver misbehavior detection and warning in accordance with some aspects of the present disclosure.

[0015] 3 is a diagram illustrating an example of various user equipments (UEs) communicating over a direct communication interface (eg, a cellular-based PC5 sidelink interface, an 802.11p-defined DSRC interface, or other direct interface) and a wide area network (Uu) interface according to some aspects of the present disclosure.

[0016] 4 is a block diagram illustrating an example of a computing system of a vehicle according to some aspects of the present disclosure.

[0017] 5 is a block diagram illustrating an example of a computing system of a user device according to some aspects of the present disclosure.

[0018] 6 is a diagram illustrating an example of devices involved in wireless communications (eg, sidelink communications) according to some aspects of the present disclosure.

[0019] 7A-7D are diagrams illustrating examples of sensor sharing for cooperative and autonomous driving systems according to some aspects of the present disclosure.

[0020] 8 is a diagram illustrating an example of sensor sharing for cooperative and autonomous driving systems according to some aspects of the present disclosure.

[0021] 9 is a diagram illustrating an example of a system for sensor sharing in wireless communications (eg, V2X communications) according to some aspects of the present disclosure.

[0022] 10 is a diagram illustrating an example of a vehicle-based message (shown as a sensor sharing message) in accordance with some aspects of the present disclosure.

[0023] 11 is a diagram illustrating an example of a system for intelligent vehicle failure and driver misbehavior detection and warning according to some aspects of the present disclosure.

[0024] 12 is a diagram illustrating an example of a system for intelligent vehicle failure and driver misbehavior detection and warning, wherein a detected vehicle failure is reported to a service center, according to some aspects of the present disclosure.

[0025] 13 is a diagram illustrating an example of a system for intelligent vehicle malfunction and driver misbehavior detection and warning, wherein detected driver misbehavior is reported to law enforcement agencies, according to some aspects of the present disclosure.

[0026] 14 is a flow diagram illustrating an example of a process for wireless communication in accordance with some aspects of the present disclosure.

[0027] FIG. 15 illustrates an example computing system in accordance with aspects of the present disclosure. DETAILED DESCRIPTION

[0028] For illustrative purposes, some aspects of the present disclosure are provided below. Without departing from the scope of the present disclosure, alternative aspects can be designed. In addition, well-known elements of the present disclosure will not be described in detail or will be omitted, so as not to make the relevant details of the present disclosure difficult to understand. Some aspects described in this article can be applied independently, and some of them can be applied in combination, which is obvious to those skilled in the art. In the following description, specific details are set forth for explanation purposes to provide a thorough understanding of various aspects of the application. However, it is obvious that various aspects can be implemented without these specific details. Each drawing and description are not intended to be restrictive.

[0029] The following description provides only example aspects and is not intended to limit the scope, applicability or configuration of the present disclosure. On the contrary, the following description of the example aspects will provide a description that can be used to implement the example aspects to those skilled in the art. It should be understood that various changes may be made to the function and arrangement of the elements without departing from the essence and scope of the present application as set forth in the appended claims.

[0030] The terms "exemplary" and / or "example" are used herein to mean "serving as an example, instance, or illustration." Any aspect described herein as "exemplary" and / or "example" is not necessarily to be construed as preferred or advantageous over other aspects. Likewise, the term "aspects of the disclosure" does not require that all aspects of the disclosure include the discussed feature, advantage, or mode of operation.

[0031] Wireless communication systems are deployed to provide a variety of telecommunication services including telephony, video, data, messaging, broadcasting, etc. Wireless communication systems have evolved over several generations. The fifth generation (5G) mobile standard calls for higher data transfer speeds, a greater number of connections, and better coverage, among other improvements. According to the Next Generation Mobile Networks Alliance, the 5G standard (also known as "New Radio" or "NR") is designed to provide data rates of tens of megabits per second to each of tens of thousands of users.

[0032] Vehicles are examples of systems that may include wireless communication capabilities. For example, vehicles (e.g., motor vehicles, autonomous vehicles, aircraft, marine vessels, etc.) may communicate with other vehicles and / or other devices that have wireless communication capabilities. Wireless vehicle communication systems include vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-network (V2N), and vehicle-to-pedestrian (V2P) communications, which are collectively referred to as vehicle-to-everything (V2X) communications. V2X communications are vehicle communication systems that support the wireless transmission of information from a vehicle to other entities located within the traffic system that may affect the vehicle (e.g., other vehicles, pedestrians with smart phones, equipped vulnerable road users (VRUs) such as cyclists, and / or other traffic infrastructure). The main purpose of V2X technology is to improve road safety, fuel savings, and traffic efficiency.

[0033] In a V2X communication system, information is sent from vehicle sensors (and other sources) over a wireless link to allow the information to be communicated to other vehicles, pedestrians, VRUs, and / or traffic infrastructure. The information may be sent using one or more vehicle-based messages (such as cellular vehicle-to-everything (C-V2X) messages), which may include sensor data sharing messages (SDSM), basic safety messages (BSM), cooperative awareness messages (CAM), collective perception messages (CPM), or decentralized environment messages (DENM) and / or other types of vehicle-based messages. By sharing this information with other vehicles, V2X technology improves the perception of potential hazards by vehicles (and drivers), thereby helping to reduce collisions with other vehicles and entities. In addition, V2X technology improves traffic efficiency by providing vehicles with traffic warnings about upcoming potential road hazards and obstacles so that vehicles can choose alternative traffic routes.

[0034] As mentioned previously, V2X technology includes V2V communication, which may also be referred to as peer-to-peer communication. V2V communication allows vehicles to communicate wirelessly directly with each other while on the road. Using V2V communication, vehicles can gain situational awareness by receiving information about upcoming road hazards (e.g., unforeseen oncoming vehicles, accidents, and road conditions) from other vehicles.

[0035] The IEEE 802.11p standard supports (uses) a dedicated short-range communication (DSRC) interface for V2X wireless communications. Features of the IEEE 802.11p-based DSRC interface include low latency and the use of an unlicensed 5.9 gigahertz (GHz) frequency band. C-V2X is adopted as an alternative to using the IEEE 802.11p-based DSRC interface for wireless communications. The 5G Automobile Association (5GAA) supports the use of C-V2X technology. In some cases, C-V2X technology uses Long Term Evolution (LTE) as an underlying technology, and C-V2X functionality is based on LTE technology. C-V2X includes multiple operating modes. One operating mode allows wireless communications directly between vehicles via an LTE sidelink PC5 interface. Similar to the IEEE 802.11p-based DSRC interface, the LTE C-V2X sidelink PC5 interface operates on the 5.9 GHz frequency band. Vehicle-based messages, such as BSM and CAM as application layer messages, are designed to be broadcast wirelessly over the 802.11p-based DSRC interface and the LTE C-V2X sidelink PC5 interface.

[0036] Vehicle failure and driver misconduct (e.g., distracted drivers) are among the leading causes of traffic accidents and fatalities. Vehicle mechanical failures that may lead to road accidents may include, but are not limited to, tire blowouts, tire flats, brake failures, steering failures, malfunctioning headlights and / or taillights operating in poor visibility conditions, windshield wiper failures operating in heavy rain conditions, and engine failures. Driver distractions that may lead to collisions may include, but are not limited to: hands off the steering wheel for a predefined duration, frequent head turns, eating, drinking, texting, browsing, attempting to make calls on a mobile phone, looking at objects not related to driving located inside the vehicle, looking at objects not related to driving located outside the vehicle, frequent interactions with vehicle passengers, singing, moving to music, grooming, reaching for objects located inside the vehicle, sudden braking, frequent braking, and dangerous driving.

[0037] Vehicle malfunction and driver distraction increase the chance of collisions with other vehicles, pedestrians and VRUs. Not only will the struck vehicles, pedestrians and VRUs be affected by the collision, but the driver of the vehicle experiencing the malfunction and the distracted driver themselves may also be affected by the vehicle collision. The latest statistics on traffic accidents by the National Highway Traffic Safety Administration (NHTSA) of the U.S. Department of Transportation indicate that accidents caused by vehicle malfunction account for approximately twelve percent (12%) of all motor vehicle accidents in the country, and thousands of deaths are caused by driver misconduct.

[0038] Current systems are designed to broadcast warning messages (e.g., such as BSM, CAM, and DENM) only during predefined scheduled periodic broadcasts (e.g., broadcast transmissions of BSM that are repeatedly transmitted every 100 milliseconds in accordance with the Society of Automotive Engineers J2945 / 1 standard). Because these warning messages are only broadcast in previously scheduled circumstances (e.g., every 100 milliseconds), there may be many situations where the receiving vehicle (or pedestrian with a smart phone or VRU equipped with C-V2X) may not receive the warning message in time to avoid a conflict. However, if the receiving vehicle (or pedestrian with a smart phone or VRU equipped with C-V2X) is able to receive the warning message immediately after detection, rather than only during scheduled broadcast periods, many accidents are likely to be avoided. Early detection of driver distraction and vehicle malfunction combined with immediate warnings to vulnerable road users and drivers of malfunctioning vehicles (e.g., via audible and / or visual notifications) may help reduce collisions and road accidents.

[0039] Systems and techniques are provided for optimizing situational awareness of vehicle failures and driver misbehavior that may lead to traffic collisions. These systems and techniques can provide awareness to vehicles as well as pedestrians with smartphones and C-V2X equipped VRUs by detecting these hazards and broadcasting warning messages (e.g., BSM, CAM, CPM, SDSM, DENM and other types of vehicle-based messages) about these hazards with high priority immediately after an incident is detected.

[0040] In some aspects, these systems and techniques may employ various sensors located on and within a vehicle (e.g., sensors connected to tires, brake systems, steering wheels, sensors such as cameras mounted on the steering wheel and mounted at various locations inside the passenger compartment, etc.) to detect any possible vehicle failure or driver misbehavior (e.g., driver distraction). The sensors may be connected to an onboard unit within the vehicle, which may receive sensor data and process the sensor data using an algorithm to determine a score level indicating the severity level of the vehicle failure or driver misbehavior that has occurred. In some cases, the score level may be expressed as a probability or likelihood (e.g., a value between 0 and 1) that a vehicle failure or driver misbehavior has occurred. In some examples, the onboard unit may utilize a pre-trained deep learning model, such as an artificial intelligence (AI) and machine learning (ML) algorithm, to determine the score level of a vehicle failure or driver misbehavior by observing the degree to which the sensor data matches a known vehicle failure data pattern or driver misbehavior data pattern. In some aspects, the onboard unit may utilize data collected from an existing vehicle failure detection system (instead of sensor data or in combination with sensor data) to determine the score level of a vehicle failure that has occurred.

[0041] After the onboard unit determines the score level of the vehicle failure or driver misconduct that has occurred, the onboard unit may determine whether the score level is greater than a threshold score level (e.g., a threshold score level greater than 0.8). When the onboard unit determines that the score level is greater than the threshold score level, the onboard unit may generate a warning message (e.g., BSM, CAM, CPM, SDSM, or DENM) that contains a warning notification about the occurrence of the vehicle failure or driver misconduct. Additionally, the warning notification may include information about the specific type of vehicle failure that has occurred. In one or more examples, the warning message (e.g., BSM, CAM, CPM, SDSM, or DENM) itself may contain an event flag that can indicate the specific type of vehicle failure or driver misconduct that has occurred.

[0042] After the on-board unit has generated the warning message, the on-board unit may broadcast (e.g., via a DSRC interface based on IEEE 802.11p and / or a PC5 interface of the LTE C-V2X side link) a warning message (e.g., a BSM, a CAM, a CPM, a SDSM, or a DENM) to vehicles (including vehicles experiencing a vehicle failure), pedestrians, VRUs, and / or traffic infrastructure within the communication range to warn of the detected vehicle failure. In some examples, the on-board unit may broadcast (e.g., via a DSRC interface based on IEEE 802.11p and / or a PC5 interface of the LTE C-V2X side link) a warning message (e.g., a BSM, a CAM, a CPM, a SDSM, or a DENM) at the maximum allowable power level of the interface for broadcasting the warning message to avoid any possible delay in the transmission of the warning message.

[0043] Additional aspects of the disclosure are described in more detail below.

[0044] As used herein, the terms "user equipment" (UE) and "network entity" are not intended to be dedicated to or otherwise limited to any particular radio access technology (RAT), unless otherwise specified. In general, a UE can be any wireless communication device (e.g., a mobile phone, a router, a tablet computer, a laptop computer, and / or a tracking device, etc.), a wearable device (e.g., a smart watch, smart glasses, a wearable ring, and / or an extended reality (XR) device (such as a virtual reality (VR) headset, an augmented reality (AR) headset or glasses, or a mixed reality (MR) headset)), a vehicle (e.g., a car, a motorcycle, a bicycle, etc.), and / or an Internet of Things (IoT) device, etc., for a user to communicate on a wireless communication network. A UE can be mobile or can be stationary (e.g., at certain times) and can communicate with a radio access network (RAN). As used herein, the term "UE" may be interchangeably referred to as an "access terminal" or "AT," "client device," "wireless device," "subscriber equipment," "subscriber terminal," "subscriber station," "user terminal" or "UT," "mobile device," "mobile terminal," "mobile station," or variations thereof. In general, a UE may communicate with a core network via the RAN, and through the core network, the UE may connect to external networks such as the Internet and to other UEs. Of course, other mechanisms for connecting to the core network and / or the Internet are also possible for the UE, such as through a wired access network, a wireless local area network (WLAN) network (e.g., based on IEEE 802.11 communication standards, etc.), and the like.

[0045] In some cases, the network entity may be implemented in a converged or monolithic base station or server architecture, or alternatively, in a disaggregated base station or server architecture, and may include one or more of a central unit (CU), a distributed unit (DU), a radio unit (RU), a near real-time (Near-RT) RAN intelligent controller (RIC), or a non-real-time (Non-RT) RIC. In some cases, the network entity may include a server device, such as a multi-access edge computing (MEC) device. A base station or server (e.g., having a converged / monolithic base station architecture or a disaggregated base station architecture) may operate according to one of several RATs to communicate with UEs, roadside units (RSUs), and / or other devices depending on the network in which the base station or server is deployed, and may alternatively be referred to as an access point (AP), a network node, a node B (NB), an evolved node B (eNB), a next generation eNB (ng-eNB), a new radio (NR) node B (also referred to as a gNB or gNodeB), etc. The base station may be primarily used to support wireless access of UEs, including supporting data, voice, and / or signaling connections for the supported UEs. In some systems, the base station may provide edge node signaling functions, while in other systems, the base station may provide additional control and / or network management functions. The communication link by which the UE can transmit signals to the base station is called an uplink (UL) channel (e.g., a reverse traffic channel, a reverse control channel, an access channel, etc.). The communication link by which the base station can transmit signals to the UE is called a downlink (DL) or forward link channel (e.g., a paging channel, a control channel, a broadcast channel, a forward traffic channel, etc.). As used herein, the term traffic channel (TCH) may refer to an uplink, a reverse or downlink, and / or a forward traffic channel.

[0046] The term "network entity" or "base station" (e.g., having an aggregated / monolithic base station architecture or a disaggregated base station architecture) may refer to a single physical TRP or multiple physical TRPs, which may or may not be co-located. For example, where the term "network entity" or "base station" refers to a single physical TRP, the physical TRP may be a base station antenna corresponding to a cell (or several cell sectors) of the base station. Where the term "network entity" or "base station" refers to multiple co-located physical TRPs, these physical TRPs may be antenna arrays of the base station (e.g., as in a multiple-input multiple-output (MIMO) system or where the base station employs beamforming). Where the term "base station" refers to multiple non-co-located physical TRPs, the physical TRP may be a distributed antenna system (DAS) (a network of spatially separated antennas connected to a common source via a transmission medium) or a remote radio head (RRH) (a remote base station connected to a serving base station). Alternatively, the non-co-located physical TRPs may be a serving base station that receives measurement reports from a UE and a neighbor base station whose reference radio frequency (RF) signal (or "reference signal" for short) the UE is measuring. Because, as used herein, a TRP is the point through which a base station transmits and receives wireless signals, references to transmitting from or receiving at a base station should be understood to refer to the specific TRP of a base station.

[0047] In some specific implementations of supporting UE positioning, a network entity or base station may not support wireless access by the UE (e.g., may not support data, voice, and / or signaling connections with respect to the UE), but may instead send a reference signal to be measured by the UE to the UE, and / or may receive and measure a signal sent by the UE. Such a base station may be referred to as a positioning beacon (e.g., in the case of sending a signal to the UE) and / or as a position measurement unit (e.g., in the case of receiving and measuring a signal from the UE).

[0048] A roadside unit (RSU) is a device that can communicate with a wireless network through a communication link or interface (e.g., cellular-based sidelink or PC5 interface, 802.11-based or WiFi-based ™ A device that sends and receives messages to and from one or more UEs, other RSUs, and / or base stations (using a dedicated short-range communication (DSRC) interface and / or other interfaces). Examples of messages that can be sent and received by an RSU include vehicle-to-everything (V2X) messages, which are described in more detail below. The RSU may be located on various transportation infrastructure systems, including roads, bridges, parking lots, toll booths, and / or other infrastructure systems. In some examples, the RSU may facilitate communications between UEs (e.g., vehicles, pedestrian user equipment, and / or other UEs) and transportation infrastructure systems. In some implementations, the RSU may communicate with a server, a base station, and / or other systems that may perform centralized management functions.

[0049] The RSU may communicate with the communication system of the UE. For example, the Intelligent Transportation System (ITS) of the UE (e.g., a vehicle and / or other UE) may be used to generate and sign messages for sending to the RSU and verify messages received from the RSU. The RSU may communicate (e.g., via a PC5 interface, a DSRC interface, etc.) with vehicles traveling along a road, bridge, or other infrastructure system to obtain traffic-related data (e.g., the time, speed, location, etc. of the vehicle). In some cases, in response to obtaining traffic-related data, the RSU may determine or estimate traffic congestion information (e.g., the start of a traffic congestion, the end of a traffic congestion, etc.), travel time, and / or other information of a specific location. In some examples, the RSU may communicate with other RSUs (e.g., via a PC5 interface, a DSRC interface, etc.) to determine traffic-related data. The RSU may send information (e.g., traffic congestion information, travel time information, and / or other information) to other vehicles, pedestrian UEs, and / or other UEs. For example, the RSU may broadcast or otherwise send information to any UE (eg, vehicles, pedestrian UEs, etc.) within the coverage area of ​​the RSU.

[0050] Radio frequency signals or "RF signals" include electromagnetic waves of a given frequency that transmit information through the space between a transmitter and a receiver. As used herein, a transmitter may transmit a single "RF signal" or multiple "RF signals" to a receiver. However, due to the propagation characteristics of RF signals through multipath channels, a receiver may receive multiple "RF signals" corresponding to each transmitted RF signal. The same transmitted RF signal on different paths between a transmitter and a receiver may be referred to as a "multipath" RF signal. As used herein, an RF signal may also be referred to as a "wireless signal" or simply a "signal" where it is clear from the context that the term "signal" refers to either a wireless signal or an RF signal.

[0051] According to various aspects, FIG. 1 illustrates an exemplary wireless communication system 100. The wireless communication system 100 (which may also be referred to as a wireless wide area network (WWAN)) may include various base stations 102 and various UEs 104. In some aspects, the base stations 102 may also be referred to as "network entities" or "network nodes". One or more of the base stations 102 may be implemented in an aggregated or monolithic base station architecture. Additionally or alternatively, one or more of the base stations 102 may be implemented in a decomposed base station architecture and may include one or more of a central unit (CU), a distributed unit (DU), a radio unit (RU), a near real-time (Near-RT) RAN intelligent controller (RIC), or a non-real-time (Non-RT) RIC. The base stations 102 may include macro cell base stations (high power cellular base stations) and / or small cell base stations (low power cellular base stations). In one aspect, the macro cell base station may include an eNB and / or an ng-eNB (where the wireless communication system 100 corresponds to a long term evolution (LTE) network), or a gNB (where the wireless communication system 100 corresponds to an NR network), or a combination of both, and the small cell base station may include a femto cell, a pico cell, a micro cell, etc.

[0052] The base stations 102 may collectively form a RAN and interface with a core network 170 (e.g., an evolved packet core (EPC) or a 5G core (5GC)) through a backhaul link 122, and interface to one or more location servers 172 (which may be part of the core network 170 or may be external to the core network 170) through the core network 170. The base stations 102 may perform functions related to one or more of the following, among other functions: delivering user data, radio channel encryption and decryption, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection establishment and release, load balancing, distribution of non-access stratum (NAS) messages, NAS node selection, synchronization, RAN sharing, multimedia broadcast multicast service (MBMS), subscriber and equipment tracking, RAN information management (RIM), paging, positioning, and delivery of warning messages. The base stations 102 may communicate with each other directly or indirectly (e.g., through the EPC or 5GC) through a backhaul link 134 (which may be wired and / or wireless).

[0053] Base station 102 may communicate wirelessly with UE 104. Each of base stations 102 may provide communication coverage for a corresponding geographic coverage area 110. In one aspect, base station 102 in each coverage area 110 may support one or more cells. A "cell" is a logical communication entity used to communicate with a base station (e.g., on a certain frequency resource, referred to as a carrier frequency, component carrier, carrier, frequency band, etc.), and may be associated with an identifier (e.g., a physical cell identifier (PCI), a virtual cell identifier (VCI), a cell global identifier (CGI)) to distinguish cells operating via the same or different carrier frequencies. In some cases, different cells may be configured according to different protocol types (e.g., machine type communication (MTC), narrowband IoT (NB-IoT), enhanced mobile broadband (eMBB), or other protocol types) that may provide access to different types of UEs. Because a cell is supported by a specific base station, the term "cell" may refer to either or both of the logical communication entity and the base station supporting it, depending on the context. In addition, because a TRP is typically a physical transmission point of a cell, the terms "cell" and "TRP" may be used interchangeably. In some cases, the term “cell” may also refer to a geographic coverage area (eg, a sector) of a base station, so long as a carrier frequency can be detected and used for communications within some portion of the geographic coverage area 110 .

[0054] Although the geographic coverage areas 110 of neighboring macrocell base stations 102 may partially overlap (e.g., in a handover area), some of the geographic coverage areas 110 may substantially overlap with the larger geographic coverage area 110. For example, a small cell base station 102' may have a coverage area 110' that substantially overlaps with the coverage areas 110 of one or more macrocell base stations 102. A network that includes both small cell base stations and macrocell base stations may be referred to as a heterogeneous network. A heterogeneous network may also include a home eNB (HeNB), which may provide services to a restricted group called a closed subscriber group (CSG).

[0055] The communication link 120 between the base station 102 and the UE 104 may include uplink (also known as reverse link) transmissions from the UE 104 to the base station 102 and / or downlink (also known as forward link) transmissions from the base station 102 to the UE 104. The communication link 120 may use MIMO antenna technology, including spatial multiplexing, beamforming, and / or transmit diversity. The communication link 120 may be over one or more carrier frequencies. The allocation of carriers may be asymmetric for the downlink and uplink (e.g., more or fewer carriers may be allocated to the downlink than to the uplink).

[0056] The wireless communication system 100 may further include a WLAN AP 150 in communication with a WLAN station (STA) 152 via a communication link 154 in an unlicensed spectrum (e.g., 5 gigahertz (GHz)). When communicating in the unlicensed spectrum, the WLAN STA 152 and / or the WLAN AP 150 may perform a clear channel assessment (CCA) or a listen-before-talk (LBT) process before communicating to determine whether the channel is available. In some examples, the wireless communication system 100 may include a device (e.g., UE, etc.) that communicates with one or more UEs 104, base stations 102, APs 150, etc. using an ultra-wideband (UWB) spectrum. The UWB spectrum may range from 3.1 GHz to 10.5 GHz.

[0057] The small cell base station 102' can operate in licensed and / or unlicensed spectrum. When operating in the unlicensed spectrum, the small cell base station 102' can adopt LTE or NR technology and use the same 5GHz unlicensed spectrum used by the WLAN AP 150. The small cell base station 102' using LTE and / or 5G in the unlicensed spectrum can boost the coverage of the access network and / or increase the capacity of the access network. NR in the unlicensed spectrum can be referred to as NR-U. LTE in the unlicensed spectrum can be referred to as LTE-U, Licensed Assisted Access (LAA) or MulteFire.

[0058] The wireless communication system 100 may also include a millimeter wave (mmW) base station 180, which may operate at mmW frequencies and / or near mmW frequencies to communicate with the UE 182. The mmW base station 180 may be implemented in an aggregated or monolithic base station architecture, or alternatively, in a decomposed base station architecture (e.g., including one or more of a CU, DU, RU, near RT RIC, or non-RT RIC). Extremely high frequency (EHF) is part of the RF in the electromagnetic spectrum. EHF has a range of 30 GHz to 300 GHz, with a wavelength between 1 mm and 10 mm. Radio waves in this band may be referred to as millimeter waves. Near mmW may extend down to a frequency of 3 GHz with a wavelength of 100 mm. The super high frequency (SHF) band extends between 3 GHz and 30 GHz, and is also referred to as centimeter waves. Communications using mmW and / or near mmW radio frequency bands have high path loss and a relatively short range. The mmW base station 180 and the UE 182 may utilize beamforming (transmit and / or receive) on the mmW communication link 184 to compensate for the extremely high path loss and short range. In addition, it should be understood that in alternative configurations, one or more base stations 102 may also transmit using mmW or near-mmW and beamforming. Therefore, it should be understood that the foregoing illustrations are merely examples and should not be construed as limiting the various aspects disclosed herein.

[0059] Transmit beamforming is a technique for focusing an RF signal in a specific direction. Traditionally, when a network node or entity (e.g., a base station) broadcasts an RF signal, it broadcasts the signal in all directions (omnidirectionally). With transmit beamforming, the network node determines where a given target device (e.g., a UE) is located (relative to the transmitting network node) and projects a stronger downlink RF signal in that specific direction, thereby providing a faster (in terms of data rate) and stronger RF signal to the receiving device. In order to change the directionality of the RF signal when transmitting, the network node can control the phase and relative amplitude of the RF signal at each of the one or more transmitters that broadcast the RF signal. For example, a network node can use an array of antennas (called a "phased array" or "antenna array") that creates an RF beam that can be "steered" to point in different directions without actually moving the antenna. Specifically, the RF current from the transmitter is fed to the individual antennas in the correct phase relationship so that the radio waves from the separate antennas are added together in the desired direction to increase the radiation, and canceled in the undesired direction to suppress the radiation.

[0060] Transmit beams can be quasi-colocated, meaning that they appear to the receiver (e.g., UE) to have the same parameters, regardless of whether the transmit antennas of the network nodes themselves are physically colocated. In NR, there are four types of quasi-colocated (QCL) relationships. Specifically, a given type of QCL relationship means that certain parameters about the second reference RF signal on the second beam can be derived based on information about the source reference RF signal on the source beam. Therefore, if the source reference RF signal is QCL type A, the receiver can use the source reference RF signal to estimate the Doppler shift, Doppler spread, average delay, and delay spread of the second reference RF signal sent on the same channel. If the source reference RF signal is QCL type B, the receiver can use the source reference RF signal to estimate the Doppler shift and Doppler spread of the second reference RF signal sent on the same channel. If the source reference RF signal is QCL type C, the receiver can use the source reference RF signal to estimate the Doppler shift and average delay of the second reference RF signal sent on the same channel. If the source reference RF signal is QCL type D, the receiver may use the source reference RF signal to estimate spatial reception parameters of a second reference RF signal transmitted on the same channel.

[0061] In receive beamforming, a receiver uses a receive beam to amplify an RF signal detected on a given channel. For example, a receiver may increase the gain setting of an antenna array in a particular direction and / or adjust the phase setting of an antenna array in a particular direction to amplify (e.g., increase its gain level) the RF signal received from that direction. Thus, when a receiver is said to be beamforming in a certain direction, it means that the beam gain in that direction is high relative to the beam gain along other directions, or the beam gain in that direction is the highest compared to the beam gain of other receive beams available to the receiver. This results in a stronger received signal strength (e.g., reference signal received power (RSRP), reference signal received quality (RSRQ), signal to interference plus noise ratio (SINR), etc.) for the RF signal received from that direction.

[0062] The receive beams may be spatially correlated. The spatial relationship means that the parameters of the transmit beam for the second reference signal may be derived from information about the receive beam for the first reference signal. For example, the UE may receive one or more reference downlink reference signals (e.g., positioning reference signal (PRS), tracking reference signal (TRS), phase tracking reference signal (PTRS), cell-specific reference signal (CRS), channel state information reference signal (CSI-RS), primary synchronization signal (PSS), secondary synchronization signal (SSS), synchronization signal block (SSB), etc.) from a network node or entity (e.g., a base station) using a specific receive beam. The UE may then form a transmit beam based on the parameters of the receive beam for transmitting one or more uplink reference signals (e.g., uplink positioning reference signal (UL-PRS), sounding reference signal (SRS), demodulation reference signal (DMRS), PTRS, etc.) to the network node or entity (e.g., a base station).

[0063] Note that, depending on the entity forming the "downlink" beam, the beam can be a transmit beam or a receive beam. For example, if a network node or entity (e.g., a base station) is forming a downlink beam to send a reference signal to a UE, the downlink beam is a transmit beam. However, if the UE is forming a downlink beam, the downlink beam is a receive beam that receives a downlink reference signal. Similarly, depending on the entity forming the "uplink" beam, the beam can be a transmit beam or a receive beam. For example, if a network node or entity (e.g., a base station) is forming an uplink beam, the uplink beam is an uplink receive beam, and if the UE is forming an uplink beam, the uplink beam is an uplink transmit beam.

[0064] In 5G, the spectrum in which the radio network nodes or entities (e.g., base stations 102 / 180, UEs 104 / 182) operate is divided into multiple frequency ranges: FR1 (from 450 MHz to 6000 MHz), FR2 (from 24250 MHz to 52600 MHz), FR3 (above 52600 MHz), and FR4 (between FR1 and FR2). In a multi-carrier system (such as 5G), one of the carrier frequencies is referred to as a "primary carrier" or "anchor carrier" or "primary serving cell" or "PCell", and the remaining carrier frequencies are referred to as "secondary carriers" or "secondary serving cells" or "SCells". In carrier aggregation, the anchor carrier is a carrier operating on the primary frequency (e.g., FR1) used by the UE 104 / 182 and the cell in which the UE 104 / 182 performs an initial radio resource control (RRC) connection establishment procedure or initiates an RRC connection reestablishment procedure. The primary carrier carries all common and UE-specific control channels and can be a carrier in a licensed frequency (however, this is not always the case). A secondary carrier is a carrier operating on a second frequency (e.g., FR2), which can be configured and used to provide additional radio resources once an RRC connection is established between the UE 104 and the anchor carrier. In some cases, the secondary carrier may be a carrier in an unlicensed frequency. The secondary carrier may contain only necessary signaling information and signals, for example, since the primary uplink carrier and the primary downlink carrier are usually UE-specific, those signaling information and signals specific to the UE may not be present in the secondary carrier. This means that different UEs 104 / 182 in a cell may have different downlink primary carriers. This is also true for the uplink primary carrier. The network is able to change the primary carrier of any UE 104 / 182 at any time. This is done, for example, to balance the load on different carriers. Since a "serving cell" (whether PCell or SCell) corresponds to a carrier frequency or component carrier that some base stations are using to communicate, the terms "cell", "serving cell", "component carrier", "carrier frequency", etc. may be used interchangeably.

[0065] For example, still referring to FIG. 1 , one of the frequencies used by the macrocell base station 102 may be an anchor carrier (or “PCell”), and the other frequencies used by the macrocell base station 102 and / or the mmW base station 180 may be secondary carriers (“SCells”). In carrier aggregation, the base station 102 and / or the UE 104 may use spectrum with a bandwidth of up to Y MHz (e.g., 5 MHz, 10 MHz, 15 MHz, 20 MHz, 100 MHz) per carrier, with up to a total of Yx MHz (x component carriers) in each direction for transmission. The component carriers may be adjacent to each other or may not be adjacent to each other in the spectrum. The allocation of carriers may be asymmetric with respect to the downlink and uplink (e.g., more or fewer carriers may be allocated to the downlink than to the uplink). The simultaneous transmission and / or reception of multiple carriers enables the UE 104 / 182 to significantly increase its data transmission and / or reception rate. For example, two 20 MHz aggregated carriers in a multi-carrier system will theoretically result in a doubling of the data rate (i.e., 40 MHz) compared to the data rate obtained by a single 20 MHz carrier.

[0066] In order to operate on multiple carrier frequencies, the base station 102 and / or the UE 104 are equipped with multiple receivers and / or transmitters. For example, the UE 104 may have two receivers, namely "receiver 1" and "receiver 2", where "receiver 1" is a multi-band receiver that can be tuned to band (i.e., carrier frequency) "X" or band "Y", and "receiver 2" is a single-band receiver that can be tuned to only band "Z". In this example, if the UE 104 is being served in band "X", band "X" will be referred to as the PCell or active carrier frequency, and "receiver 1" will need to tune from band "X" to band "Y" (SCell) to measure band "Y" (and vice versa). In contrast, regardless of whether the UE 104 is being served in band "X" or band "Y", due to the separate "receiver 2", the UE 104 can measure band "Z" without interrupting the service on band "X" or band "Y".

[0067] The wireless communication system 100 may further include a UE 164, which may communicate with the macrocell base station 102 over the communication link 120 and / or communicate with the mmW base station 180 over the mmW communication link 184. For example, the macrocell base station 102 may support a PCell and one or more SCells for the UE 164, and the mmW base station 180 may support one or more SCells for the UE 164.

[0068] The wireless communication system 100 may also include one or more UEs, such as UE 190, which are indirectly connected to one or more communication networks via one or more device-to-device (D2D) peer-to-peer (P2P) links (referred to as "side links"). In the example of FIG. 1 , UE 190 has a D2D P2P link 192 with one of UEs 104 connected to one of base stations 102 (e.g., UE 190 may indirectly obtain cellular connectivity via the D2D P2P link), and has a D2D P2P link 194 with a WLAN STA 152 connected to a WLAN AP 150 (UE 190 may indirectly obtain WLAN-based Internet connectivity via the D2D P2P link). In an example, the D2D P2P links 192 and 194 may use any well-known D2D RAT (such as LTE Direct (LTE-D), WiFi Direct (WiFi-D), Bluetooth ® etc.) to support.

[0069] FIG2 is a diagram illustrating an example of a decomposed base station architecture that can be used by the disclosed system for intelligent vehicle failure and driver misbehavior detection and warning according to some examples. The deployment of a communication system (such as a 5G NR system) can be arranged with various components or components in a variety of ways. In a 5G NR system or network, a network node, a network entity, a mobility element of a network, a radio access network (RAN) node, a core network node, a network element or network equipment (such as a base station (BS)), or one or more units (or one or more components) that perform base station functionality can be implemented in an aggregated or decomposed architecture. For example, a BS (such as a node B (NB), an evolved NB (eNB), an NR BS, a 5G NB, an AP, a transmit receive point (TRP) or a cell, etc.) can be implemented as an aggregated base station (also referred to as a standalone BS or a monolithic BS) or a decomposed base station.

[0070] A converged base station may be configured to utilize a radio protocol stack that is physically or logically integrated within a single RAN node. A decomposed base station may be configured to utilize a protocol stack that is physically or logically distributed between two or more units, such as one or more central or centralized units (CUs), one or more distributed units (DUs), or one or more radio units (RUs). In some aspects, a CU may be implemented within a RAN node, and one or more DUs may be co-located with the CU, or alternatively, may be geographically or virtually distributed in one or more other RAN nodes. A DU may be implemented to communicate with one or more RUs. Each of the CU, DU, and RU may also be implemented as a virtual unit, namely a virtual central unit (VCU), a virtual distributed unit (VDU), or a virtual radio unit (VRU).

[0071] Base station type operations or network designs may take into account the aggregated nature of base station functionality. For example, a disaggregated base station may be utilized in an integrated access backhaul (IAB) network, an open radio access network (O-RAN (network configurations such as those initiated by the O-RAN Alliance)), or a virtualized radio access network (vRAN, also known as a cloud radio access network (C-RAN)). Disaggregation may include distributing functionality across two or more units at various physical locations, as well as virtually distributing functionality of at least one unit, which may enable flexibility in network design. Individual units of a disaggregated base station or disaggregated RAN architecture may be configured for wired or wireless communication with at least one other unit.

[0072] As previously mentioned, FIG2 shows a diagram illustrating an example decomposed base station 201 architecture. The decomposed base station 201 architecture may include one or more central units (CUs) 211 that may communicate directly with a core network 223 via a backhaul link, or indirectly with the core network 223 through one or more decomposed base station units, such as a near real-time (near-RT) RAN intelligent controller (RIC) 227 via an E2 link, or a non-real-time (non-RT) RIC 217 associated with a service management and orchestration (SMO) framework 207, or both. The CU 211 may communicate with one or more distributed units (DUs) 231 via respective midhaul links, such as an F1 interface. The DU 231 may communicate with one or more radio units (RUs) 241 via respective fronthaul links. The RU 241 may communicate with respective UEs 221 via one or more RF access links. In some implementations, a UE 221 may be served simultaneously by multiple RUs 241.

[0073] Each of these units (i.e., CU 211, DU 231, RU 241, near-RT RIC 227, non-RT RIC 217, and SMO framework 207) may include or be coupled to one or more interfaces configured to receive or send signals, data, or information (collectively referred to as signals) via a wired transmission medium or a wireless transmission medium. Each of these units or an associated processor or controller that provides instructions to the communication interface of these units may be configured to communicate with one or more of the other units via a transmission medium. For example, these units may include a wired interface configured to receive or send signals to one or more of the other units via a wired transmission medium. Additionally, the unit may include a wireless interface that may include a receiver, a transmitter, or a transceiver (such as an RF transceiver) configured to receive or send signals, or both, to one or more of the other units on a wireless transmission medium.

[0074] In some aspects, CU 211 may host one or more higher layer control functions. Such control functions may include radio resource control (RRC), packet data convergence protocol (PDCP), service data adaptation protocol (SDAP), etc. Each control function may be implemented using an interface configured to communicate signals with other control functions hosted by CU 211. CU 211 may be configured to handle user plane functionality (i.e., central unit-user plane (CU-UP)), control plane functionality (i.e., central unit-control plane (CU-CP)), or a combination thereof. In some specific implementations, CU 211 may be logically split into one or more CU-UP units and one or more CU-CP units. When implemented in an O-RAN configuration, the CU-UP unit may communicate bidirectionally with the CU-CP unit via an interface (such as an E1 interface). As needed, CU 211 may be implemented to communicate with DU 131 for network control and signaling.

[0075] DU 231 may correspond to a logical unit that includes one or more base station functions for controlling the operation of one or more RUs 241. In some aspects, DU 231 may host one or more of a radio link control (RLC) layer, a medium access control (MAC) layer, and one or more high physical (PHY) layers (such as modules for forward error correction (FEC) encoding and decoding, scrambling, modulation and demodulation, etc.) at least in part according to functional splits such as those defined by the 3rd Generation Partnership Project (3GPP). In some aspects, DU 231 may also host one or more low PHY layers. Each layer (or module) may be implemented using an interface that is configured to communicate signals with other layers (and modules) hosted by DU 231 or with control functions hosted by CU 211.

[0076] The lower layer functionality may be implemented by one or more RUs 241. In some deployments, the RU 241 controlled by the DU 231 may correspond to a logical node that hosts RF processing functions or low PHY layer functions (such as performing fast Fourier transform (FFT), inverse FFT (iFFT), digital beamforming, physical random access channel (PRACH) extraction and filtering, etc.), or both, based at least in part on functional splitting (such as lower layer functional splitting). In such an architecture, the RU 241 may be implemented to handle over-the-air (OTA) communications with one or more UEs 221. In some specific implementations, real-time and non-real-time aspects of control plane and user plane communications with the RU 241 may be controlled by the corresponding DU 231. In some scenarios, this configuration may enable the DU 231 and the CU 211 to be implemented in a cloud-based RAN architecture (such as a vRAN architecture).

[0077] The SMO framework 207 may be configured to support RAN deployment and provisioning of non-virtualized network elements and virtualized network elements. For non-virtualized network elements, the SMO framework 207 may be configured to support the deployment of dedicated physical resources for RAN coverage requirements, which may be managed via an operation and maintenance interface (such as an O1 interface). For virtualized network elements, the SMO framework 207 may be configured to interact with a cloud computing platform (such as an open cloud (O-Cloud) 291) to perform network element lifecycle management (such as instantiating virtualized network elements) via a cloud computing platform interface (such as an O2 interface). Such virtualized network elements may include, but are not limited to, CU 211, DU 231, RU 241, and near-RT RIC 227. In some specific implementations, the SMO framework 207 may communicate with hardware aspects of the 4G RAN (such as an open eNB (O-eNB) 213) via the O1 interface. Additionally, in some specific implementations, the SMO framework 207 may communicate directly with one or more RUs 241 via the O1 interface. The SMO framework 207 may also include a non-RT RIC 217 configured to support the functionality of the SMO framework 207 .

[0078] The non-RT RIC 217 may be configured to include logic functions that enable non-real-time control and optimization of RAN elements and resources, artificial intelligence / machine learning (AI / ML) workflows including model training and updating, or policy-based guidance of applications / features in the near-RT RIC 227. The non-RT RIC 217 may be coupled to or communicate with the near-RT RIC 227 (such as via an A1 interface). The near-RT RIC 227 may be configured to include logic functions that enable near-real-time control and optimization of RAN elements and resources via data collection and actions through an interface (such as via an E2 interface) that connects one or more CUs 211, one or more DUs 231, or both, and the O-eNB 213 with the near-RT RIC 227.

[0079] In some implementations, in order to generate an AI / ML model to be deployed in the near-RT RIC 227, the non-RT RIC 217 may receive parameters or external enrichment information from an external server. This information may be utilized by the near-RT RIC 227 and may be received from a non-network data source or from a network function at the SMO framework 207 or the non-RT RIC 217. In some examples, the non-RT RIC 217 or the near-RT RIC 227 may be configured to tune RAN behavior or performance. For example, the non-RT RIC 217 may monitor long-term trends and patterns of performance and employ AI / ML models to perform corrective actions through the SMO framework 207 (such as via reconfiguration of O1) or via the creation of RAN management policies (such as A1 policies).

[0080] FIG3 illustrates examples of different communication mechanisms used by various UEs. In one example of sidelink communication, FIG3 illustrates that vehicles 304, vehicles 305, and RSU 303 communicate with each other using PC5, DSRC, or other device-to-device direct signaling interfaces. In addition, vehicles 304 and vehicles 305 may communicate with base station 302 (shown as BS 302) using a network (Uu) interface. In some examples, base station 302 may include a gNB. FIG3 also illustrates that user equipment 307 communicates with base station 302 using a network (Uu) interface. As described below, functionality may be transferred from a vehicle (e.g., vehicle 304) to a user equipment (e.g., user equipment 307) based on one or more characteristics or factors (e.g., temperature, humidity, etc.). In one illustrative example, V2X functionality may be transferred from vehicle 304 to user device 307, which may then communicate with other vehicles (eg, vehicle 305) via a PC5 interface (or other device-to-device direct interface, such as a DSRC interface), as shown in FIG. 3 .

[0081] 3 illustrates a particular number of vehicles (e.g., two vehicles 304 and 305) communicating with each other, and / or with RSU 303, BS 302, and / or user equipment 307, the present disclosure is not limited thereto. For example, dozens or hundreds of such vehicles may be communicating with each other and / or with RSU 303, BS 302, and / or user equipment 307. At any given point in time, each such vehicle, RSU 303, BS 302, and / or user equipment 307 may send various types of information as messages to other nearby vehicles, resulting in each vehicle (e.g., vehicles 304 and / or 305), RSU 303, BS 302, and / or user equipment 307 receiving hundreds or thousands of messages per second from other nearby vehicles, RSUs, base stations, and / or other UEs.

[0082] Although a PC5 interface is shown in FIG3 , various UEs (e.g., vehicles, user equipment, etc.) and RSUs may communicate directly using any suitable type of direct interface such as an 802.11 DSRC interface, a Bluetooth™ interface, and / or other interfaces. For example, a vehicle may communicate with a user equipment via a direct communication interface (e.g., using PC5 and / or DSRC), a vehicle may communicate with another vehicle via a direct communication interface, a user equipment may communicate with another user equipment via a direct communication interface, a UE (e.g., vehicle, user equipment, etc.) may communicate with an RSU via a direct communication interface, an RSU may communicate with another RSU via a direct communication interface, and the like.

[0083] FIG4 is a block diagram illustrating an example of a vehicle computing system 450 of a vehicle 404. The vehicle 404 is an example of a UE that can communicate with a network (e.g., eNB, gNB, location beacon, position measurement unit, and / or other network entities) via a Uu interface and can communicate with other UEs using V2X communication via a PC5 interface (or other device-to-device direct interface, such as a DSRC interface). As shown, the vehicle computing system 450 may include at least a power management system 451, a control system 452, an infotainment system 454, an intelligent transport system (ITS) 455, one or more sensor systems 456, and a communication system 458. In some cases, the vehicle computing system 450 may include or may be implemented using any type of processing device or system, such as one or more central processing units (CPUs), digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), application processors (APs), graphics processing units (GPUs), visual processing units (VPUs), neural network signal processors (NSPs), microcontrollers, dedicated hardware, any combination thereof, and / or other processing devices or systems.

[0084] The control system 452 may be configured to control one or more operations of the vehicle 404, the power management system 451, the computing system 450, the infotainment system 454, the ITS 455, and / or one or more other systems of the vehicle 404 (e.g., a braking system, a steering system, a safety system other than the ITS 455, a cabin system, and / or other systems). In some examples, the control system 452 may include one or more electronic control units (ECUs). An ECU may control one or more electrical systems or subsystems in a vehicle. Examples of specific ECUs that may be included as part of the control system 452 include an engine control module (ECM), a powertrain control module (PCM), a transmission control module (TCM), a brake control module (BCM), a central control module (CCM), a central timing module (CTM), and the like. In some cases, the control system 452 may receive sensor signals from one or more sensor systems 456 and may communicate with other systems of the vehicle computing system 450 to operate the vehicle 404.

[0085] The vehicle computing system 450 also includes a power management system 451. In some implementations, the power management system 451 may include a power management integrated circuit (PMIC), a backup battery, and / or other components. In some cases, other systems of the vehicle computing system 450 may include one or more PMICs, batteries, and / or other components. The power management system 451 may perform power management functions for the vehicle 404, such as managing the power supply of the computing system 450 and / or other parts of the vehicle. For example, the power management system 451 may provide a stable power supply in view of power fluctuations (such as based on starting the engine of the vehicle). In another example, the power management system 451 may perform thermal monitoring operations, such as by checking the ambient and / or transistor junction temperature. In another example, the power management system 451 may perform a function based on detecting a certain temperature level, such as causing a cooling system (e.g., one or more fans, an air conditioning system, etc.) to cool certain components of the vehicle computing system 450 (e.g., the control system 452, such as one or more ECUs), shutting down certain functionality of the vehicle computing system 450 (e.g., limiting the infotainment system 454, such as by turning off one or more displays, disconnecting from a wireless network, etc.), and other functions.

[0086] The vehicle computing system 450 also includes a communication system 458. The communication system 458 may include both software and hardware components for sending and receiving signals to and from a network (e.g., from a gNB or other network entity via a Uu interface) and / or to other UEs (e.g., to another vehicle or UE via a PC5 interface, a WiFi interface (e.g., DSRC), a Bluetooth™ interface, and / or other wireless and / or wired interfaces). For example, the communication system 458 is configured to send and receive information wirelessly via any suitable wireless network (e.g., a 3G network, a 4G network, a 5G network, a WiFi network, a Bluetooth™ network, and / or other networks). The communication system 458 includes various components or devices for performing wireless communication functionality, including an original equipment manufacturer (OEM) subscriber identity module (referred to as a SIM or SIM card) 460, a user SIM 462, and a modem 464. Although the vehicle computing system 450 is shown as having two SIMs and one modem, in some implementations, the computing system 450 can have any number of SIMs (e.g., one SIM or more than two SIMs) and any number of modems (e.g., one modem, two modems, or more than two modems).

[0087] A SIM is a device (e.g., an integrated circuit) that can securely store an International Mobile Subscriber Identity (IMSI) number and associated keys (e.g., encryption-decryption keys) of a particular subscriber or user. The IMSI and keys can be used to identify and authenticate a subscriber on a particular UE. The OEM SIM 460 can be used by the communication system 458 to establish a wireless connection for vehicle-based operations, such as for emergency call (eCall) functions, for communicating with the vehicle manufacturer's communication system (e.g., for software updates, etc.), and other operations. The OEM SIM 460 can be very important for the OEM SIM to support critical services, such as eCall for making emergency calls in the event of a car accident or other emergency. For example, eCall can include services that automatically dial an emergency number (e.g., "9-1-1" in the United States, "1-1-2" in Europe, etc.) in the event of a vehicle accident, and communicate the location of the vehicle to emergency services (such as police, fire, etc.).

[0088] The user SIM 462 may be used by the communication system 458 to perform wireless network access functions to support user data connections (e.g., for making phone calls, messaging, infotainment-related services, etc.). In some cases, the user's user device may be connected to the vehicle computing system 450 via an interface (e.g., via PC5, Bluetooth™, WiFI™ (e.g., DSRC), a universal serial bus (USB) port, and / or other wireless or wired interfaces). Once connected, the user device may pass the wireless network access functionality from the user device to the communication system 458 of the vehicle, in which case the user device may stop performing the wireless network access functionality (e.g., during the time period when the communication system 458 is performing the wireless access functionality). The communication system 458 may begin interacting with a base station to perform one or more wireless communication operations, such as facilitating a phone call, sending and / or receiving data (e.g., messaging, video, audio, etc.), and other operations. In such a case, other components of the vehicle computing system 450 may be used to output data received by the communication system 458. For example, infotainment system 454 (described below) may display video received by communication system 458 on one or more displays and / or may output audio received by communication system 458 using one or more speakers.

[0089] A modem is a device that modulates one or more carrier signals to encode digital information for transmission, and demodulates the signals to decode the transmitted information. Modem 464 (and / or one or more other modems of communication system 458) may be used for data communication of OEM SIM 460 and / or user SIM 462. In some examples, modem 464 may include a 4G (or LTE) modem, and another modem (not shown) of communication system 458 may include a 5G (or NR) modem. In some examples, communication system 458 may include one or more Bluetooth TM modems (e.g., for Bluetooth TM Low Energy (BLE) or other types of Bluetooth communications), one or more WiFi TM modems (e.g., for DSRC communications and / or other WiFi communications), broadband modems (e.g., ultra-wideband (UWB) modems), any combination thereof, and / or other types of modems.

[0090] In some cases, modem 464 (and / or one or more other modems of communication system 458) may be used to perform V2X communications (e.g., with other vehicles for V2V communications, with other devices for D2D communications, with infrastructure systems for V2I communications, with pedestrian UEs for V2P communications, etc.). In some examples, communication system 458 may include a V2X modem for performing V2X communications (e.g., sidelink communications over a PC5 interface or a DSRC interface), in which case the V2X modem may be separate from one or more modems used for wireless network access functions (e.g., for network communications over a network / Uu interface and / or sidelink communications in addition to V2X communications).

[0091] In some examples, the communication system 458 may be or may include a telematics control unit (TCU). In some implementations, the TCU may include a network access device (NAD) (also referred to as a network control unit or NCU in some cases). The NAD may include a modem 464, any other modem not shown in FIG. 4, an OEM SIM 460, a user SIM 462, and / or other components for wireless communication. In some examples, the communication system 458 may include a global navigation satellite system (GNSS). In some cases, the GNSS may be part of one or more sensor systems 456, as described below. The GNSS may provide the vehicle computing system 450 with the ability to perform one or more location services, navigation services, and / or other services that may utilize GNSS functionality.

[0092] In some cases, the communication system 458 may also include one or more wireless interfaces for sending and receiving wireless communications (e.g., including one or more transceivers and one or more baseband processors for each wireless interface), one or more wired interfaces for performing communications via one or more hardwired connections (e.g., serial interfaces such as universal serial bus (USB) inputs, lighting connectors, and / or other wired interfaces), and / or other components that may allow the vehicle 404 to communicate with a network and / or other UEs.

[0093] The vehicle computing system 450 may also include an infotainment system 454 that can control content and one or more output devices of the vehicle 404 that can be used to output content. The infotainment system 454 may also be referred to as an in-vehicle infotainment (IVI) system or an in-car entertainment (ICE) system. The content may include navigation content, media content (e.g., video content, music or other audio content, and / or other media content), and other content. The one or more output devices may include one or more graphical user interfaces, one or more displays, one or more speakers, one or more extended reality devices (e.g., VR, AR, and / or MR headsets), one or more tactile feedback devices (e.g., one or more devices configured to vibrate seats, steering wheels, and / or other parts of the vehicle 404), and / or other output devices.

[0094] In some examples, computing system 450 may include intelligent transport system (ITS) 455. In some examples, ITS 455 may be used to implement V2X communication. For example, an ITS stack of ITS 455 may generate V2X messages based on information from an application layer of the ITS. In some cases, the application layer may determine whether certain conditions have been met to generate messages for use by ITS 455 and / or generate messages to be transmitted to other vehicles (for V2V communication), pedestrian UEs (for V2P communication), and / or infrastructure systems (for V2I communication). In some cases, communication system 458 and / or ITS 455 may obtain vehicle access network (CAN) information (e.g., from other components of the vehicle via a CAN bus). In some examples, communication system 458 (e.g., TCU NAD) may obtain CAN information via a CAN bus and may transmit the CAN information to the PHY / MAC layer of ITS 455. ITS 455 may provide CAN information to the ITS stack of ITS 455. The CAN information may include vehicle related information such as the vehicle's heading, the vehicle's speed, braking information, and other information. The CAN information may be provided to the ITS 455 continuously or periodically (eg, every 1 millisecond (ms), every 10 ms, etc.).

[0095] The conditions for determining whether to generate a message may be determined based on safety-related applications and / or other applications (including applications related to road safety, traffic efficiency, infotainment, business, and / or other applications) using CAN information. In an illustrative example, ITS 455 may perform lane change assistance or negotiation. For example, using CAN information, ITS 455 may determine that the driver of vehicle 404 is attempting to change lanes from the current lane to an adjacent lane (e.g., based on flashing lights being activated, based on the user turning or turning to an adjacent lane, etc.). Based on determining that vehicle 404 is attempting to change lanes, ITS 455 may determine that a lane change condition has been met, which is associated with a message to be transmitted to other vehicles near the vehicle in the adjacent lane. ITS 455 may trigger the ITS stack to generate one or more messages to send to other vehicles, which may be used to negotiate lane changes with other vehicles. Other examples of applications include forward collision warning, automatic emergency braking, lane departure warning, pedestrian avoidance or protection (e.g., when a pedestrian is detected near the vehicle 404, such as based on V2P communication with the user's UE), traffic sign recognition, etc.

[0096] The ITS 455 may generate messages (e.g., V2X messages) using any suitable protocol. Examples of protocols that the ITS 455 may use include one or more Society of Automotive Engineering (SAE) standards (such as SAE J2735, SAE J2945, SAE J3161, and / or other standards), which are hereby incorporated by reference in their entirety and for all purposes.

[0097] The security layer of ITS 455 can be used to securely sign messages from the ITS stack that are transmitted to and verified by other UEs configured for V2X communication, such as other vehicles, pedestrian UEs, and / or infrastructure systems. The security layer can also verify messages received from such other UEs. In some specific implementations, the signing and verification process can be based on the security context of the vehicle. In some examples, the security context may include one or more encryption-decryption algorithms, public and / or private keys used to generate signatures using encryption-decryption algorithms, and / or other information. For example, each ITS message generated by ITS 455 can be signed by the security layer of ITS 455. The signature can be derived using a public key and an encryption-decryption algorithm. The vehicle, pedestrian UE, and / or infrastructure system that receives the signed message can verify the signature to ensure that the message comes from an authorized vehicle. In some examples, the one or more encryption-decryption algorithms may include one or more symmetric encryption algorithms (e.g., Advanced Encryption Standard (AES), Data Encryption Standard (DES), and / or other symmetric encryption algorithms), one or more asymmetric encryption algorithms using public and private keys (e.g., Levitt-Shamir-Adleman (RSA) and / or other asymmetric encryption algorithms), and / or other encryption-decryption algorithms.

[0098] In some examples, the ITS 455 may determine certain operations to be performed (e.g., V2X-based operations) based on messages received from other UEs. These operations may include safety-related and / or other operations, such as operations for road safety, traffic efficiency, infotainment, business, and / or other applications. In some examples, these operations may include causing the vehicle (e.g., the control system 452) to perform automatic functions, such as automatic braking, automatic steering (e.g., maintaining a forward direction in a particular lane), automatic lane change negotiation with other vehicles, and other automatic functions. In an illustrative example, the communication system 458 may receive a message from another vehicle (e.g., via a PC5 interface, a DSRC interface, or other device-to-device direct interface) indicating that the other vehicle is about to stop suddenly. In response to receiving the message, the ITS stack may generate a message or instruction, and may transmit the message or instruction to the control system 452, which may cause the control system 452 to automatically brake the vehicle 404 so that it stops before colliding with the other vehicle. In other illustrative examples, these operations may include triggering the display of a message warning the driver that another vehicle is in a lane adjacent to the vehicle, a message warning the driver to stop the vehicle, a message warning the driver that pedestrians are at an upcoming intersection, a message warning the driver that a toll booth is within a certain distance of the vehicle (e.g., within 1 mile), and the like.

[0099] In some examples, the ITS 455 may receive a large number of messages from other UEs (e.g., vehicles, RSUs, etc.), in which case the ITS 455 will authenticate (e.g., decode and decrypt) each of the messages and / or determine which operations to perform. This large number of messages may result in a large computational load on the vehicle computing system 450. In some cases, the large computational load may result in an increase in the temperature of the computing system 450. The increase in the temperature of the components of the computing system 450 may adversely affect the ability of the computing system 450 to handle a large number of incoming messages. One or more functionalities may be transferred from the vehicle 404 to another device (e.g., user equipment, RSU, etc.) based on the temperature of the vehicle computing system 450 (or its components) exceeding or approaching one or more thermal levels. Transferring one or more functionalities may reduce the computational load on the vehicle 404, helping to reduce the temperature of the components. A thermal load balancer may be provided that enables the vehicle computing system 450 to perform thermal-based load balancing to control the processing load, depending on the temperature of the computing system 450 and the processing capacity of the vehicle computing system 450.

[0100] The computing system 450 also includes one or more sensor systems 456 (e.g., a first sensor system to an Nth sensor system, where N is a value equal to or greater than 0). When multiple sensor systems are included, the sensor systems 456 may include different types of sensor systems that may be arranged on or in different parts of the vehicle 404. The sensor systems 456 may include one or more camera sensor systems, LIDAR sensor systems, radio detection and ranging (RADAR) sensor systems, electromagnetic detection and ranging (EmDAR) sensor systems, sound navigation and ranging (SONAR) sensor systems, sound detection and ranging (SODAR) sensor systems, global navigation satellite systems (GNSS) receiver systems (e.g., one or more global positioning system (GPS) receiver systems), accelerometers, gyroscopes, inertial measurement units (IMUs), infrared sensor systems, laser rangefinder systems, ultrasonic sensor systems, infrasound sensor systems, microphones, any combination thereof, and / or other sensor systems. It should be understood that any number of sensors or sensor systems may be included as part of the computing system 450 of the vehicle 404.

[0101] Although the vehicle computing system 450 is shown as including certain components and / or systems, it will be appreciated by those skilled in the art that the vehicle computing system 450 may include more or fewer components than those shown in FIG. 4 . For example, the vehicle computing system 450 may also include one or more input devices and one or more output devices (not shown). In some implementations, the vehicle computing system 450 may also include (e.g., as part of or separate from the control system 452 , the infotainment system 454 , the communication system 458 , and / or the sensor system 456 ) at least one processor and at least one memory having computer executable instructions executed by the at least one processor. The at least one processor communicates with and / or is electrically connected to (referred to as “coupled to” or “communicatively coupled to”) the at least one memory. The at least one processor may include, for example, one or more microcontrollers, one or more central processing units (CPUs), one or more field programmable gate arrays (FPGAs), one or more graphics processing units (GPUs), one or more application processors (e.g., for running or executing one or more software applications), and / or other processors. The at least one memory may include, for example, a read-only memory (ROM), a random access memory (RAM) (e.g., a static RAM (SRAM)), an electrically erasable programmable read-only memory (EEPROM), flash memory, one or more buffers, one or more databases, and / or other memory. Computer-executable instructions stored in or on at least the memory may be executed to perform one or more functions or operations described herein.

[0102] FIG. 5 illustrates an example of a computing system 570 of a user device 507. The user device 507 is an example of a UE that can be used by an end user. For example, the user device 507 may include a mobile phone, a router, a tablet computer, a laptop computer, a tracking device, a wearable device (e.g., a smart watch, glasses, an XR device, etc.), an Internet of Things (IoT) device, and / or other devices that a user uses to communicate through a wireless communication network. The computing system 570 includes software and hardware components that can be electrically coupled or communicatively coupled (or can communicate in other ways, as the case may be) via a bus 589. For example, the computing system 570 includes one or more processors 584. The one or more processors 584 may include one or more CPUs, ASICs, FPGAs, APs, GPUs, VPUs, NSPs, microcontrollers, dedicated hardware, any combination thereof, and / or other processing devices or systems. The bus 589 may be used by one or more processors 584 to communicate between cores and / or with one or more memory devices 586.

[0103] The computing system 570 may also include one or more memory devices 586, one or more digital signal processors (DSPs) 582, one or more SIMs 574, one or more modems 576, one or more wireless transceivers 578, an antenna 587, one or more input devices 572 (e.g., a camera, a mouse, a keyboard, a touch-sensitive screen, a touchpad, a keypad, a microphone, etc.), and one or more output devices 580 (e.g., a display, a speaker, a printer, etc.).

[0104] One or more wireless transceivers 578 may receive wireless signals (e.g., signal 588) from one or more other devices (such as other user devices, vehicles (e.g., vehicle 404 of FIG. 4 above), network devices (e.g., base stations such as eNBs and / or gNBs, WiFI routers, etc.), cloud networks, etc.) via antennas 587. In some examples, computing system 570 may include multiple antennas. Wireless signal 588 may be sent via a wireless network. The wireless network may be any wireless network, such as a cellular or telecommunications network (e.g., 3G, 4G, 5G, etc.), a wireless local area network (e.g., a WiFi network), a Bluetooth™ network, and / or other networks. In some examples, one or more wireless transceivers 578 may include an RF front end that includes one or more components, such as an amplifier, a mixer for down-converting a signal (also known as a signal multiplier), a frequency synthesizer (also known as an oscillator) that provides a signal to the mixer, a baseband filter, an analog-to-digital converter (ADC), one or more power amplifiers, and other components. The RF front end generally handles the selection of wireless signals 588 and conversion of the wireless signals to baseband or intermediate frequencies, and may convert the RF signals to the digital domain.

[0105] In some cases, computing system 570 may include a coding-decoding device (or CODEC) configured to encode and / or decode data transmitted and / or received using one or more wireless transceivers 578. In some cases, computing system 570 may include an encryption-decryption device or component configured to encrypt and / or decrypt (e.g., in accordance with the AES and / or DES standards) data transmitted and / or received by one or more wireless transceivers 578.

[0106] The one or more SIMs 574 can each securely store an IMSI number and associated keys assigned to a user of the user device 507. As noted above, the IMSI and keys can be used to identify and authenticate a subscriber when accessing a network provided by a network service provider or operator associated with the one or more SIMs 574. The one or more modems 576 can modulate one or more signals to encode information for transmission using one or more wireless transceivers 578. The one or more modems 576 can also demodulate signals received by the one or more wireless transceivers 578 in order to decode the transmitted information. In some examples, the one or more modems 576 may include a 4G (or LTE) modem, a 5G (or NR) modem, a modem configured for V2X communication, and / or other types of modems. The one or more modems 576 and the one or more wireless transceivers 578 can be used to communicate data of the one or more SIMs 574.

[0107] The computing system 570 may also include (and / or be in communication with) one or more non-transitory machine-readable storage media or storage devices (e.g., one or more memory devices 586), which may include, but are not limited to, local and / or network accessible storage, disk drives, drive arrays, optical storage devices, solid-state storage devices (such as RAM and / or ROM), which may be programmable, flash-updatable, and / or the like. Such storage devices may be configured to implement any suitable data storage, including, but not limited to, various file systems, database structures, etc.

[0108] In various aspects, the functionality may be stored as one or more computer program products (e.g., instructions or code) in the memory device 586 and executed by the one or more processors 584 and / or the one or more DSPs 582. The computing system 570 may also include software elements (e.g., located within the one or more memory devices 586) including, for example, an operating system, device drivers, executable libraries, and / or other code, such as one or more applications, which may include computer programs that implement the functionality provided by various aspects, and / or may be designed to implement methods and / or configure systems, as described herein.

[0109] 6 illustrates an example 600 of wireless communication between devices based on sidelink communication (such as V2X or other D2D communication). The communication may be based on a time slot structure. For example, a transmitting UE 602 may transmit a transmission 614 that may be received by a receiving UE 604, 606, 608, which may include, for example, a control channel and / or a corresponding data channel. At least one UE may include an autonomous vehicle or an unmanned aerial vehicle. The control channel may include information for decoding the data channel and may also be used by the receiving device to avoid interference by avoiding transmission on the occupied resources during data transmission. The number of TTIs and RBs occupied by the data transmission may be indicated in a control message from the transmitting device. In addition to operating as a receiving device, each of the UEs 602, 604, 606, 608 may also be capable of operating as a transmitting device. Therefore, the UEs 606, 608 are illustrated as transmitting 616, 620. The transmissions 614, 616, 620 (and 618 by the RSU 607) may be broadcast or multicast to nearby devices. For example, the UE 614 may transmit communications intended to be received by other UEs within range 601 of the UE 614. Additionally / alternatively, the RSU 607 may receive communications 618 from and / or transmit communications to the UEs 602, 604, 606, 608. The UE 602, 604, 606, 608 or the RSU 607 may include a detection component. The UE 602, 604, 606, 608 or the RSU 607 may also include a BSM or mitigation component.

[0110] In wireless communication (such as V2X communication), V2X entities may perform sensor sharing with other V2X entities to achieve cooperation and autonomous driving. For example, referring to diagram 700 of FIG. 7A , a host vehicle (HV) 702 may detect multiple items within its environment. For example, at box 732, HV 702 may detect the presence of a non-V2X entity (NV) 706. HV 702 may notify other entities (such as a first remote vehicle (RV1) 704 or a roadside unit (RSU) 708) of the presence of NV 706, provided that RV1 704 and / or RSU 708 itself cannot detect NV 706. HV 702 notifies RV1 704 and / or RSU 708 that NV 706 is a sharing of sensor information. Referring to diagram 710 of FIG. 7B , the HV 702 may detect a physical obstacle 712 (such as a pothole, debris, or an object that may be an obstacle in the path of the HV 702 and / or RV1 704 that has not yet been detected by RV1 704 and / or RSU 708). The HV 702 may notify RV1 and / or RSU 708 of the obstacle 712 so that the obstacle 712 may be avoided. Referring to diagram 720 of FIG. 7C , the HV 702 may detect the presence of a vulnerable road user (VRU) 722 and may share the detection of the VRU 722 with RV1 704 and RSU 708 in instances where the RSU 708 and / or RV1 704 may not be able to detect the VRU 722. Referring to diagram 730 of FIG. 7D , the HV may send a sensor data sharing message (SDSM) 734 to the RV and / or RSU when detecting a nearby entity (e.g., NV, VRU, obstacle) to share the detection of the entity. The SDSM 734 may be a broadcast message so that any receiving device near the HV may receive the message. In some instances, the shared information may be relayed to other entities, such as the RV. For example, referring to diagram 800 of FIG. 8 , the HV 802 may detect the presence of the NV 806 and / or VRU 822. The HV 802 may broadcast the SDSM 810 to the RSU 808 to report the detection of the NV 806 and / or VRU 822. The RSU 808 may relay the SDSM 810 received from the HV 802 to the remote vehicle so that the remote vehicle knows the presence of the NV 806 and / or VRU 822. For example, the RSU 808 may send the SDSM 812 to the RV1 804 , wherein the SDSM 812 includes information related to the detection of the NV 806 and / or the VRU 822 .

[0111] FIG. 9 is a diagram illustrating an example of a system 900 for sensor sharing in wireless communication (e.g., V2X communication) according to some aspects of the present disclosure. In FIG. 9 , the system 900 is shown to include a plurality of equipped (e.g., V2X-capable) network devices. The plurality of equipped network devices include vehicles (e.g., cars) 910a, 910b, 910c, 910d, and RSU 905. A plurality of unequipped network devices are also shown, including unequipped vehicles 920, VRUs (e.g., cyclists) 930, and pedestrians 940. The system 900 may include more or fewer equipped network devices and / or more or fewer unequipped network devices than shown in FIG. 9 . In addition, the system 900 may include more or fewer different types of equipped network devices (e.g., which may include equipped UEs) and / or more or fewer different types of unequipped network devices (e.g., which may include unequipped UEs) than shown in FIG. Additionally, in one or more examples, the equipped network devices may be equipped with heterogeneous capabilities that may include, but are not limited to, C-V2X / DSRC capabilities, 4G / 5G cellular connectivity, GPS capabilities, camera capabilities, radar capabilities, and / or LIDAR capabilities.

[0112] Multiple equipped network devices may be able to perform V2X communications. In addition, at least some of the equipped network devices are configured to send and receive sensing signals for radar (e.g., RF sensing signals) and / or sensing signals for LIDAR (e.g., optical sensing signals) to detect nearby vehicles and / or objects. Additionally or alternatively, in some cases, at least some of the equipped network devices are configured to use one or more cameras to detect nearby vehicles and / or objects (e.g., by processing images captured by the one or more cameras to detect these vehicles / objects). In one or more examples, vehicles 910a, 910b, 910c, 910d and RSU 905 may be configured to send and receive certain sensing signals (e.g., radar and / or LIDAR sensing signals).

[0113] In some examples, some of the equipped network devices may have higher-capability sensors (e.g., GPS receivers, cameras, RF antennas, and / or optical lasers and / or optical sensors) than other equipped network devices of the system 900. For example, the vehicle 910b may be a luxury vehicle and therefore have more expensive, higher-capability sensors than other vehicles that are economy vehicles. In an illustrative example, the vehicle 910b may have one or more LIDAR sensors (e.g., high-capability optical lasers and optical sensors) that are higher-capable than other equipped network devices in the system 900. In an illustrative example, the LIDAR of the vehicle 910b may be able to detect a VRU (e.g., a cyclist) 930 and / or a pedestrian 940 with a large confidence (e.g., seventy percent confidence). In another example, the vehicle 910b may have a higher-capability radar (e.g., a high-capability RF antenna) than other equipped network devices in the system 900. For example, the radar of vehicle 910b may be able to detect VRU (e.g., bicyclist) 930 and / or pedestrian 940 with a certain confidence level (e.g., eighty-five percent confidence level). In another example, vehicle 910b may have a higher-capable camera (e.g., having higher resolution capabilities, higher frame rate capabilities, better lenses, etc.) than other equipped network devices in system 900.

[0114] During operation of the system 900, the equipped network devices (e.g., at least one of the vehicles 910a, 910b, 910c, 910d and / or the RSU 905) may send and / or receive sensing signals (e.g., RF and / or optical signals) to sense and detect vehicles (e.g., vehicles 910a, 910b, 910c, 910d, and 920) and / or objects (e.g., VRU 930 and pedestrian 940) located in and around the road. The equipped network devices (e.g., at least one of the vehicles 910a, 910b, 910c, 910d and / or the RSU 905) may then use the sensing signals to determine the characteristics (e.g., motion, size, type, heading, and speed) of the detected vehicles and / or objects. An equipped network device (e.g., at least one of the vehicles 910a, 910b, 910c, 910d and / or the RSU 905) may generate at least one vehicle-based message 915 (e.g., a V2X message such as a sensor data sharing message (SDSM), a basic safety message (BSM), a collaborative awareness message (CAM), a collective perception message (CPM), and / or other types of messages) that includes information related to the determined characteristics of the detected vehicles and / or objects.

[0115] The vehicle-based message 915 may include information related to the detected vehicle or object (e.g., the location of the vehicle or object, the accuracy of the location, the speed of the vehicle or object, the direction in which the vehicle or object is traveling, and / or other information related to the vehicle or object), traffic conditions (e.g., low-speed and / or dense traffic, high-speed traffic, information related to accidents, etc.), weather conditions (e.g., rain, snow, etc.), message type (e.g., emergency message, non-emergency or "regular" message, etc.), road topology (line of sight (LOS) or non-LOS (NLOS), etc.), any combination thereof, and / or other information. In some examples, the vehicle-based message 915 may also include information about the preferences of the equipped network device for receiving vehicle-based messages from certain other equipped network devices. In some cases, the vehicle-based message 915 may include the current capabilities of the equipped network devices (e.g., vehicles 910a, 910b, 910c, 910d), such as the sensing capabilities of the equipped network devices (which may affect the accuracy with which the equipped network devices sense the vehicle and / or objects), the processing capabilities, the thermal state of the equipped network devices (which may affect the ability of the vehicle to process data), and the health status of the equipped network devices.

[0116] In some aspects, the vehicle-based message 915 may include a dynamic neighbor list (also referred to as a local dynamic map (LDM) or dynamic surrounding map) for each of the equipped network devices (e.g., vehicles 910a, 910b, 910c, 910d and RSU 905). For example, each dynamic neighbor list may include a list of all vehicles and / or objects located within a specific predetermined distance (or distance radius) from the corresponding equipped network device. In some cases, each dynamic neighbor list includes a map of all vehicles and / or objects located within a specific predetermined distance (or distance radius) from the corresponding equipped network device, which may include road and terrain topology.

[0117] In some implementations, the vehicle-based message 915 may include a specific use case or safety warning related to the current status of the equipped network device (e.g., vehicles 910a, 910b, 910c, 910d), such as a Do Not Pass Warning (DNPW) or a Forward Collision Warning (FCW). In some examples, the vehicle-based message 915 may take the form of a standard Basic Safety Message (BSM), a Collaborative Awareness Message (CAM), a Collective Perception Message (CPM), a Sensor Data Sharing Message (SDSM) (e.g., SAE J3224 SDSM), and / or other formats.

[0118] FIG. 10 is a diagram 1000 illustrating an example of a vehicle-based message (e.g., the vehicle-based message 915 of FIG. 9 ) according to some aspects of the present disclosure. The vehicle-based message 915 is shown as a sensor sharing message (e.g., an SDSM), but may include a BSM, CAM, CPM, or other vehicle-based message as described herein. In FIG. 10 , the vehicle-based message 915 is shown as including host data 1020 and detected object data 1010 a, 1010 b. The host data 1020 of the vehicle-based message 915 may include information related to the sending device of the vehicle-based message 915 (e.g., a sending-equipped network entity such as the RSU 905 or an on-board unit (OBU) such as on the vehicles 910 a, 910 b, 910 c, 910 d). The detected object data 1010a, 1010b of the vehicle-based message 915 may include information related to the detected vehicle or object (e.g., static or dynamic characteristics related to the detected vehicle or object, and / or other information related to the detected vehicle or object). Specifically, the detected object data 1010a, 1010b may include detected object CommonData, detected object VehicleData, detected object VRUData, detected obstacle ObstacleData, and detected object MisbehavingVehicleData.

[0119] These vehicle-based messages 915 are beneficial because they can provide equipped network devices (eg, vehicles 910a, 910b, 910c, 910d of FIG. 9) with awareness and understanding of upcoming potential road hazards (eg, unforeseen oncoming vehicles, accidents, and road conditions).

[0120] As previously mentioned, vehicle failure and driver misconduct (e.g., distracted drivers) are one of the leading causes of traffic accidents and deaths. Vehicle mechanical failures that may lead to road accidents may include, but are not limited to, tire blowouts, tire flats, brake failures, steering failures, malfunctioning headlights and / or taillights operating under poor visibility conditions, windshield wiper failures operating under heavy rain conditions, and engine failures. Driver distractions that may lead to collisions may include, but are not limited to: hands not on the steering wheel for a predefined duration, frequent head turns, eating, drinking, texting, browsing, attempting to make calls with a mobile phone, looking at objects located inside the vehicle that are not related to driving, looking at objects located outside the vehicle that are not related to driving, frequent interactions with passengers of the vehicle, singing, moving to music, grooming, reaching for objects located inside the vehicle, sudden braking, frequent braking, and dangerous driving.

[0121] Vehicle breakdown and driver distraction increase the chance of collision with other vehicles, pedestrians and VRUs. Not only will the struck vehicles, pedestrians and VRUs be affected by the collision, but the driver of the vehicle experiencing the breakdown and the distracted driver themselves may also be affected by the vehicle collision.

[0122] As previously described, current systems broadcast warning messages (e.g., such as BSM, CAM, and DENM) only during predefined scheduled periodic broadcasts (e.g., broadcast transmissions of BSM that are repeatedly transmitted every 100 milliseconds in accordance with the Society of Automotive Engineers J2945 / 1 standard). Since these warning messages are only broadcast in previously scheduled circumstances (e.g., every 100 milliseconds), there may be many situations where the receiving vehicle (or pedestrian with a smart phone or VRU equipped with C-V2X) may not receive the warning message in time to avoid a conflict. However, if the receiving vehicle (or pedestrian with a smart phone or VRU equipped with C-V2X) is able to receive the warning message immediately after detection, rather than only during the scheduled broadcast period, many accidents are likely to be avoided. Early detection of driver distraction and vehicle failure combined with immediate warning to vulnerable road users and drivers of failed vehicles (e.g., via audible and / or visual notifications) may help reduce collisions and road accidents.

[0123] The disclosed systems and techniques can provide awareness to vehicles as well as pedestrians with smart phones and C-V2X equipped VRUs by detecting these hazards and broadcasting warning messages (e.g., BSM, CAM, CPM, SDSM, DENM, and other types of vehicle-based messages) about these hazards with high priority (e.g., at maximum transmit power level) immediately after an incident is detected.

[0124] FIG. 11 is a diagram illustrating an example of a system 1100 for intelligent vehicle failure and driver misbehavior detection and warning. In FIG. 11 , the system 1100 is shown as including a plurality of equipped (e.g., V2X-capable) network devices. The plurality of equipped network devices may include vehicles (e.g., cars) 1110a, 1110b, 1110c, 1110d, 1110e, equipped traffic structures 1160 (e.g., equipped stop lights), base stations 1150a, 1150b (e.g., gNB or eNB), RSUs 1120a, 1120b, 1120c, and pedestrians 1130a, 1130b, 1130c with smart phones. The system also includes a plurality of unequipped network entities, which may include VRUs 1140 (e.g., cyclists) and pedestrians. The disclosed system 1100 may include more or fewer equipped network devices and / or more or fewer unequipped network entities than shown in FIG. 11 . Additionally, the disclosed system 1100 may include more or fewer different types of equipped network devices (e.g., which may include equipped structures) and / or more or fewer different types of non-equipped network entities than shown in FIG 11. Additionally, in one or more examples, the equipped network devices may be equipped with a variety of capabilities, which may include, but are not limited to, C-V2X / DSRC capabilities, 4G / 5G cellular connectivity, radar capabilities, and / or LIDAR capabilities.

[0125] In one or more examples, a plurality of equipped network devices are capable of performing V2X communications. In addition, at least some of the equipped network devices are capable of sending and receiving sensing signals for radar (e.g., RF sensing signals) and / or sensing signals for LIDAR (e.g., optical sensing signals). In one or more examples, vehicles 1110a, 1110b, 1110c, 1110d, 1110e, base stations 1150a, 1150b (e.g., gNB or eNB), RSUs 1120a, 1120b, 1120c, and / or traffic structures 1160 (e.g., parking lights) may be capable of sending and receiving certain sensing signals (e.g., radar and / or LIDAR sensing signals).

[0126] In one or more aspects, each vehicle 1110a, 1110b, 1110c, 1110d, 1110e may employ sensors (e.g., sensors connected to tires, brake systems, steering wheels, etc.) to detect any possible vehicle failures. Vehicle mechanical failures that may lead to road accidents that may be detected by these sensors may include, but are not limited to, tire blowouts, tire flats, brake failures, steering failures, malfunctioning headlights and / or taillights operating in poor visibility conditions, windshield wiper failures operating in heavy rain conditions, and engine failures.

[0127] In some aspects, sensors may be located inside the passenger compartment of each vehicle 1110a, 1110b, 1110c, 1110d, 1110e to detect any possible driver misconduct (e.g., driver distraction). The sensors may include one or more cameras, one or more depth-based or range-finding sensors (e.g., LIDAR sensors, radar sensors, etc.), and / or other types of sensors. For example, a sensor (e.g., one or more cameras, LIDAR sensors, radar sensors, etc.) may be mounted on the steering wheel of the vehicle and / or a sensor (e.g., a camera, LIDAR sensor, radar sensor, etc.) may be mounted at one or more other locations inside the passenger compartment of the vehicle (e.g., on the dashboard, on one or more doors, on an entertainment console, and / or other locations). Driver distractions that may result in a collision detectable by sensors may include, but are not limited to: hands off the steering wheel for a predefined duration, frequent head turning, eating, drinking, texting, browsing, attempting to make calls on a mobile phone, looking at objects not related to driving located inside the vehicle, looking at objects not related to driving located outside the vehicle, frequent interaction with passengers of the vehicle, singing, moving to music, preening, reaching for objects located inside the vehicle, sudden braking, frequent braking, and dangerous driving.

[0128] The sensor may be connected to an onboard unit (e.g., located within the vehicle 1110a, 1110b, 1110c, 1110d, 1110e), such as an onboard telematics unit, which may receive sensor data and process the sensor data using an algorithm to determine a score level indicating a severity level of a vehicle failure or driver misbehavior that has occurred. In some examples, the onboard unit may utilize pre-trained deep learning models, such as artificial intelligence (AI) and machine learning (ML) algorithms, to determine a score level of a vehicle failure or driver misbehavior by observing how well the sensor data matches known vehicle failure data patterns or known driver misbehavior data patterns. In some aspects, the onboard unit may utilize data collected from an existing vehicle failure detection system (instead of or in conjunction with the sensor data) to determine a score level of a vehicle failure that has occurred.

[0129] After the onboard unit determines the scoring level of the vehicle failure or driver misconduct that has occurred, the onboard unit may determine whether the scoring level is greater than a threshold scoring level. When the onboard unit determines that the scoring level is greater than the threshold scoring level, the onboard unit may generate a warning message (e.g., BSM, CAM, CPM, SDSM, or DENM) that contains a warning notification about the occurrence of the vehicle failure or driver misconduct. Additionally, the warning notification may include information about a specific type of vehicle failure or driver misconduct that has occurred. In one or more examples, the warning message (e.g., BSM, CAM, CPM, SDSM, or DENM) itself may contain an event flag that can indicate a specific type of vehicle failure or driver misconduct that has occurred.

[0130] After the on-board unit has generated the warning message, the on-board unit of the vehicle 1110a, 1110b, 1110c, 1110d, 1110e may broadcast (e.g., via a DSRC interface based on IEEE 802.11p and / or an LTE C-V2X side link PC5 interface) a warning message (e.g., BSM, CAM, CPM, SDSM, or DENM) to vehicles 1110a, 1110b, 1110c, 1110d, 1110e within communication range (including vehicles experiencing a vehicle failure and / or vehicles whose drivers exhibit driver misconduct), pedestrians 1130a, 1130b, 1130c with smart phones, equipped VRUs (e.g., cyclists with smart phones), RSUs 1120a, 1120b, 1120c, and / or traffic infrastructure 1160 (e.g., equipped stop lights) to warn of the detected vehicle failure or driver misconduct.

[0131] In some aspects, the onboard unit may broadcast (e.g., via an IEEE 802.11p-based DSRC interface and / or an LTE C-V2X sidelink PC5 interface) a warning message (e.g., a BSM, CAM, CPM, SDSM, or DENM) at a maximum allowable power level (e.g., 33 dBm) of the interface used to broadcast the warning message to avoid any possible delays in the delivery of the warning message. For example, for the transmission of a BSM utilizing C-V2X, the nominal radiated transmit power level is 20 decibel-milliwatts (dBm), and the maximum radiated transmit power level for transmitting messages related to critical event conditions is 33 dBm.

[0132] In one or more aspects, equipped traffic infrastructure (e.g., RSUs 1120a, 1120b, 1120c or network-connected traffic lights 1160) may receive a broadcasted warning message (e.g., a warning of a vehicle malfunction or driver misconduct) from an onboard unit of a vehicle 1110a, 1110b, 1110c, 1110d, 1110e that originally generated the warning message. After receiving the warning message, the traffic infrastructure may then broadcast (e.g., via an IEEE802.11p-based DSRC interface and / or an LTE C-V2X sidelink PC5 interface) a warning message (e.g., BSM, CAM, CPM, SDSM, or DENM) to other vehicles 1110a, 1110b, 1110c, 1110d, 1110e, pedestrians with smart phones 1130a, 1130b, 1130c, equipped VRUs (e.g., cyclists with smart phones), and / or equipped traffic infrastructure (e.g., equipped stop lights 1160). Those receiving vehicles 1110a, 1110b, 1110c, 1110d, 1110e, pedestrians with smart phones 1130a, 1130b, 1130c, equipped VRUs and / or equipped traffic infrastructure may also then broadcast (e.g., via an IEEE 802.11p-based DSRC interface and / or an LTE C-V2X sidelink PC5 interface) warning messages (e.g., BSM, CAM, CPM, SDSM, or DENM) to other vehicles 1110a, 1110b, 1110c, 1110d, 1110e, pedestrians with smart phones 1130a, 1130b, 1130c, equipped VRUs and / or equipped traffic infrastructure. In one or more examples, the broadcast of the warning message may continue to be repeated in a multi-hop manner.

[0133] In some aspects, when a warning message is received by a vehicle 1110a, 1110b, 1110c, 1110d, 1110e, a dashboard of the vehicle 1110a, 1110b, 1110c, 1110d, 1110e may display a visual warning (e.g., a text warning and / or a symbolic warning, such as an icon or color), and / or a speaker of the vehicle 1110a, 1110b, 1110c, 1110d, 1110e may emit an auditory warning (e.g., a verbal warning and / or a sound warning) to notify the driver of the vehicle 1110a, 1110b, 1110c, 1110d, 1110e of the specific vehicle fault and / or driver misconduct that has been detected. In one or more examples, when a smart wearable (e.g., equipped with a PC5 interface for V2P) (e.g., a smart phone) associated with a pedestrian 1130a, 1130b, 1130c (or an equipped VRU, such as a cyclist with a smart phone) receives a warning message, the display of the smart wearable may display a visual warning (e.g., a text warning and / or a symbolic warning, such as an icon or color), and / or a speaker of the smart wearable may emit an audible warning (e.g., a verbal warning and / or a sound warning), notifying the pedestrian 1130a, 1130b, 1130c (or the equipped VRU) of the specific vehicle fault and / or driver misconduct that has been detected. In some examples, when a warning message is received by a traffic infrastructure (e.g., RSU 1120a, 1120b, 1120c or an equipped traffic light 1160), a speaker associated with the traffic infrastructure may emit a loud auditory warning (e.g., a verbal warning and / or an audible warning, such as a siren) to notify people in and around nearby schools, shopping malls, and / or buildings of a specific vehicle failure and / or driver misconduct.

[0134] In one or more examples, a device equipped with a VRU (e.g., a mobile phone or a network-connected wearable device for a pedestrian walking or riding a bicycle, etc.) may employ a filtering algorithm to filter out any unnecessary warning messages. In some examples, the filtering algorithm may determine to filter out (or not filter out) certain warning messages based on the location, heading, and / or speed of the vehicle 1110a, 1110b, 1110c, 1110d, 1110e that originally generated the warning message and based on the location, heading, and / or speed of the device equipped with the VRU. In some examples, when the filtering algorithm determines that the pedestrian 1130a, 1130b, 1130c (or equipped VRU) is likely to be unaffected by (e.g., will not come into contact with) the vehicle 1110a, 1110b, 1110c, 1110d, 1110e that initially generated the warning message, the filtering algorithm may determine to filter out the warning message, and therefore not notify the pedestrian 1130a, 1130b, 1130c (or equipped VRU) (e.g., via a visual warning and / or an audible warning) of the warning message.

[0135] During operation of the system 1100, for example, sensors located inside and / or outside the vehicle 1110a may detect (sense) a vehicle failure (e.g., a tire blowout) or driver misbehavior (e.g., texting) of a driver of the vehicle 1110a. The sensor may send sensor data (e.g., related to the vehicle failure or driver misbehavior) to an onboard unit in the vehicle 1110a. The onboard unit of the vehicle 1110a may process the sensor data using an algorithm to determine a score level indicating a severity level of the vehicle failure or driver misbehavior. The onboard unit of the vehicle 1110a may use a pre-trained deep learning model (e.g., AI and ML algorithms) to determine a score level of the vehicle failure or driver misbehavior by observing the degree of matching of the sensor data with a known vehicle failure data pattern or a known driver misbehavior data pattern. For a vehicle failure, the onboard unit of the vehicle 1110a may use (e.g., instead of the sensor data or in combination with the sensor data) data collected from an existing vehicle failure detection system on the vehicle 1110a to determine a score level for the vehicle failure that has occurred.

[0136] After the onboard unit of the vehicle 1110a has determined the scoring level of the vehicle failure or driver misconduct, the onboard unit of the vehicle 1110a may determine whether the determined scoring level is greater than a threshold scoring level (e.g., a predetermined threshold scoring level). If the onboard unit of the vehicle 1110a determines that the determined scoring level is higher than the threshold scoring level, the onboard unit of the vehicle 1110a may generate a warning message (e.g., BSM, CAM, CPM, SDSM, or DENM) containing a warning notification about the occurrence of the vehicle failure or driver misconduct. The warning notification may include information about a specific type of vehicle failure (e.g., a tire blowout) or driver misconduct (e.g., texting). In some cases, the warning message itself may contain an event flag indicating the specific type of vehicle failure or driver misconduct that occurred.

[0137] After the on-board unit of the vehicle 1110a has generated the warning message, the on-board unit of the vehicle 1110a may broadcast (e.g., via a DSRC interface based on IEEE 802.11p and / or an LTE C-V2X side link PC5 interface) a warning message (e.g., BSM, CAM, CPM, SDSM, or DENM) to the vehicles 1110a, 1110b (including the vehicle 1110a itself, which is experiencing a vehicle failure and / or causing the driver to exhibit driver misbehavior) and RSUs 1120a located within the communication range via signals 1170a, 1170g to warn of the detected vehicle failure or driver misbehavior. The on-board unit of the vehicle 1110a may broadcast the signals 1170a, 1170g containing the warning message (e.g., BSM) at a maximum allowable power level (e.g., 33 dB-mW) for sending the warning message (e.g., BSM) to avoid any possible delay in the transmission of the warning message.

[0138] After the on-board unit of vehicle 1110a has broadcast the warning message by signals 1170a, 1170b, RSU 1120a and vehicle 1110b may receive the warning message. After RSU 1120a has received the warning message, RSU 1120a may then broadcast the warning message to vehicle 1110c and RSU 1120b via signals 1170b, 1170c. After vehicle 1110b has received the warning message, vehicle 1110b may then broadcast the warning message to pedestrian 1130a with a smart phone via signal 1170h.

[0139] After RSU 1120b has received the warning message, RSU 1120b may then broadcast the warning message to RSU 1120c and vehicle 1110d via signals 1170d, 1170i. After RSU 1120c has received the warning message, RSU 1120c may then broadcast the warning message to pedestrians 1130b, 1130c with smartphones via signals 1170e, 1170f.

[0140] After the vehicle 1110a, 1110b, 1110c, 1110d, 1110e and the pedestrian 1130a, 1130b, 1130c with a smart phone have received the warning message, a display (e.g., on the dashboard of the vehicle or on the screen of the smart phone) may display a visual warning (e.g., a text warning and / or a symbolic warning, such as an icon or color) and / or a speaker (e.g., located in the passenger compartment of the vehicle or on the smart phone) may issue an auditory warning (e.g., a verbal warning and / or a sound warning) to notify the driver or pedestrian of the specific vehicle fault and / or driver misconduct that has been detected.

[0141] After the RSUs 1120a, 1120b, 1120c have received the warning message, external speakers associated with the RSUs 1120a, 1120b, 1120c may emit a loud auditory warning (e.g., a verbal warning and / or an audible warning, such as a siren) to notify nearby unequipped pedestrians and / or unequipped VRUs of a particular vehicle failure and / or driver misconduct. In one or more examples, after the vehicle 1110e has received the warning message, external speakers on the vehicle 1110e may emit a loud auditory warning (e.g., a verbal warning and / or an audible warning, such as a siren) to notify nearby unequipped VRUs (e.g., unequipped cyclists 1140) of a particular vehicle failure and / or driver misconduct.

[0142] In one or more examples, the smart phone of pedestrian 1130c may include a filtering algorithm to filter out any unnecessary warning messages. Unnecessary warning messages are warning messages related to vehicle failures or driver misconduct of vehicle 1110a that may not affect pedestrian 1130c. The filtering algorithm may determine to filter out certain warning messages based on the position, heading, and / or speed of vehicle 1110a that initially generated the warning message and based on the position, heading, and / or speed of pedestrian 1130c. If the filtering algorithm determines that pedestrian 1130c may not be affected by vehicle 1110a (e.g., will not experience a collision with the vehicle), the filtering algorithm may choose to filter out the warning message, and therefore not notify pedestrian 1130c of the warning message (e.g., through a visual and / or audible warning).

[0143] FIG12 is a diagram illustrating an example of a system 1200 for intelligent vehicle failure and driver misbehavior detection and warning, wherein a detected vehicle failure is reported to a service center 1220a, 1220b, 1220c. The system 1200 of FIG12 is similar to the system 1100 of FIG11, except that the system 1200 of FIG12 additionally includes an infrastructure control unit (ICU) 1210 and service centers 1220a, 1220b, 1220c (e.g., a vehicle service center).

[0144] In one or more aspects, when a vehicle 1110a is experiencing a vehicle failure, an onboard unit of the vehicle 1110a (e.g., an onboard unit that initially generates a vehicle failure warning message) may send a warning message (e.g., BSM, CAM, CPM, SDSM, or DENM) along with location information of the vehicle 1110a to the ICU 1210 via cellular communication using V2N communication (e.g., using signals 1270a, 1270b via base station 1150b). In some examples, the ICU 1210 may be a dedicated server running in the cloud. In one or more examples, after the ICU 1210 receives the warning message from the vehicle 1110a, the ICU 1210 may run an algorithm to process the information in the warning message, the location information of the vehicle 1110a, and the map information to determine whether there are any vehicle service centers 1220a, 1220b, 1220c near the vehicle 1110a experiencing the vehicle failure. When the ICU 1210 has determined that there are vehicle service centers 1220a, 1220b, 1220c located near the vehicle 1110a that is experiencing a vehicle breakdown, the ICU 1210 may notify (e.g., via the transmission of signals 1270c, 1270d, 1270e) those specific vehicle service centers 1220a, 1220b, 1220c of the vehicle 1110a that is experiencing a vehicle breakdown. When notified that the vehicle 1110a is experiencing a vehicle breakdown, the vehicle service center 1220a, 1220b, 1220c may then contact the vehicle 1110a to provide assistance to the vehicle 1110a regarding the vehicle breakdown (e.g., regarding repairing the vehicle 1110a).

[0145] Fig. 13 is a diagram illustrating an example of a system for intelligent vehicle failure and driver misbehavior detection and warning, wherein the detected driver misbehavior is reported to a law enforcement agency. The system 1300 of Fig. 13 is similar to the system 1200 of Fig. 12, except that the system 1300 of Fig. 13 additionally includes law enforcement agencies 1320a, 1320b instead of the service centers 1220a, 1220b, 1220c of Fig. 12.

[0146] In some aspects, when the driver of the vehicle 1110a is exhibiting driver misconduct, the onboard unit of the vehicle 1110a that initially generated the driver misconduct warning message may send (e.g., using signals 1370a, 1370b via base station 1150b) a warning message (e.g., BSM, CAM, CPM, SDSM, or DENM) along with the location information of the vehicle 1110a to the ICU 1210 via cellular communication using V2N communication. In one or more examples, after the ICU 1210 receives the warning message from the vehicle 1110a, the ICU 1210 may run an algorithm to process the information in the warning message, the location information of the vehicle 1110a, and the map information to determine nearby law enforcement agencies 1320a, 1320b (e.g., police) and / or the parents of the driver of the vehicle 1110a (in the case of a teenage driver). When the ICU 1210 has identified nearby law enforcement agencies 1320a, 1320b (and / or parents), the ICU 1210 may notify those law enforcement agencies 1320a, 1320b (and / or parents) (e.g., via transmission of signals 1370c, 1370d) of the driver misconduct of the driver of the vehicle 1110a.

[0147] FIG. 14 is a flow chart illustrating an example of a process 1400 for wireless communication. The process 1400 may be performed by a vehicle or by a component, system, or device of a vehicle (e.g., an onboard unit (OBU) of a vehicle, a chipset of a vehicle, or other components or systems of a vehicle). The operations of the process 1400 may be implemented as software components executed and run on one or more processors of a vehicle (e.g., processor 1510 of FIG. 15 or other processors). In addition, the sending and receiving of signals by a wireless communication device in the process 1400 may be enabled, for example, by one or more antennas and / or one or more transceivers (e.g., wireless transceivers) of the vehicle.

[0148] At block 1410, a vehicle (or a component, system, or device thereof) may receive sensor data from a plurality of sensors of the vehicle. For example, an OBU of the vehicle may receive the sensor data. The plurality of sensors may include at least one of a camera, a light detection and ranging (LIDAR) sensor, a radar sensor, any combination thereof, and / or other types of sensors.

[0149] At box 1420, the vehicle (or its component, system or device) can determine the rating of the event associated with the vehicle based on sensor data. For example, the OBU of the vehicle can determine the rating. In some cases, the vehicle (or its component, system or device) can use a machine learning model to determine the rating of the event, as described herein. In some respects, the event is the driver's misconduct of the driver of the vehicle failure and / or the vehicle. For example, the vehicle failure can be a tire burst, tire smoothing, brake failure, steering failure, headlight deformity under poor visibility conditions, taillight deformity under poor visibility conditions, windshield wiper failure, engine failure, any combination thereof and / or other vehicle failures. Driver misbehavior may be the driver's hands not being on the steering wheel for a predefined duration, the driver frequently turning his head, the driver eating, the driver drinking, the driver operating a computing device, the driver attempting to make one or more calls on a mobile phone, the driver looking at objects located inside the vehicle that are not related to driving, the driver looking at objects located outside the vehicle that are not related to driving, the driver frequently interacting with passengers of the vehicle, the driver singing, the driver moving to music, the driver preening his appearance, the driver reaching for objects located inside the vehicle, sudden braking, frequent braking, or frequent lane departures (e.g., the number of lane departures within a period of time is greater than a threshold amount, such as more than two lane departures within a 20 second time period), any combination thereof, and / or other driver misbehavior.

[0150] At block 1430, the vehicle (or a component, system, or device thereof) may determine that the score level is greater than a threshold score level (e.g., a threshold score level of 0.7, 0.8, 0.85, 0.9, or other threshold score level). For example, an OBU of the vehicle may determine that the score level is greater than the threshold score level.

[0151] At block 1440, the vehicle (or its components, systems or devices) may be broadcast by the OBU to one or more devices with a warning message related to the event based on the score level being greater than the threshold score level. For example, the OBU of the vehicle may cause the transceiver of the vehicle or the OBU to broadcast a warning message to one or more devices. One or more devices may include additional vehicles, roadside units (RSUs), mobile devices of pedestrians outside the vehicle, infrastructure control units (ICUs), base stations, servers associated with a vehicle service center, servers associated with law enforcement agencies, any combination thereof, and / or other devices. The warning message may include a basic safety message (BSM), a collaborative awareness message (CAM), a collective perception message (CPM), a sensor data sharing message (SDSM), a decentralized environment message (DENM), any combination thereof, and / or other warning messages. In some cases, the warning message includes information about a specific type of event associated with the vehicle. In some examples, the warning message is broadcast via side link communication. In some examples, the warning message is broadcast at a maximum power level for sending the warning message.

[0152] FIG. 15 is a block diagram illustrating an example of a computing system 1500 that can be used by the disclosed system for intelligent vehicle failure and driver misconduct detection and warning according to some aspects of the present disclosure. Specifically, FIG. 15 illustrates an example of a computing system 1500, which can be, for example, any computing device constituting an internal computing system, a remote computing system, a camera, or any component thereof, wherein the components of the system communicate with each other using connection 1505. Connection 1505 can be a physical connection using a bus, or a direct connection to a processor 1510, such as in a chipset architecture. Connection 1505 can also be a virtual connection, a networked connection, or a logical connection.

[0153] In some aspects, computing system 1500 is a distributed system in which the functionality described in the present disclosure may be distributed within a data center, multiple data centers, a peer-to-peer network, etc. In some aspects, one or more of the described system components represent a number of such components that each perform some or all of the functionality that the component is described for. In some aspects, each component may be a physical or virtual device.

[0154] Example system 1500 includes at least one processing unit (CPU or processor) 1510 and connections 1505 that communicatively couple various system components including system memory 1515, such as read only memory (ROM) 1520 and random access memory (RAM) 1525, to processor 1510. Computing system 1500 may include a cache 1512 of high-speed memory directly connected to, in close proximity to, or integrated as part of processor 1510.

[0155] Processor 1510 may include any general purpose processor and hardware or software services, such as services 1532, 1534, and 1536 stored in storage device 1530, that are configured to control processor 1510 as well as a dedicated processor where software instructions are incorporated into the actual processor design. Processor 1510 may essentially be a completely independent computing system containing multiple cores or processors, buses, memory controllers, caches, etc. Multi-core processors may be symmetric or asymmetric.

[0156] To enable user interaction, the computing system 1500 includes an input device 1545 that can represent any number of input mechanisms, such as a microphone for voice, a touch-sensitive screen for gesture or graphical input, a keyboard, a mouse, motion input, voice, etc. The computing system 1500 may also include an output device 1535 that can be one or more of a plurality of output mechanisms. In some examples, a multimodal system may enable a user to provide multiple types of input / output to communicate with the computing system 1500.

[0157] The computing system 1500 may include a communication interface 1540, which may generally govern and manage user input and system output. The communication interface may perform or facilitate receiving and / or sending wired or wireless communications using wired and / or wireless transceivers, including using an audio jack / plug, a microphone jack / plug, a Universal Serial Bus (USB) port / plug, an Apple ™ Lightning ™ Ports / plugs, Ethernet ports / plugs, Fiber optic ports / plugs, Dedicated wired ports / plugs, 3G, 4G, 5G and / or other cellular data network wireless signal delivery, Bluetooth ™ Wireless signal transmission, Bluetooth ™ Low Energy (BLE) wireless signal transmission, IBEACON ™ Wireless signaling, radio frequency identification (RFID) wireless signaling, near field communication (NFC) wireless signaling, dedicated short range communication (DSRC) wireless signaling, 802.11 Wi-Fi wireless signaling, wireless local area network (WLAN) signaling, visible light communication (VLC), Worldwide Interoperability for Microwave Access (WiMAX), infrared (IR) communication wireless signaling, public switched telephone network (PSTN) signaling, integrated services digital network (ISDN) signaling, ad hoc network signaling, radio wave signaling, microwave signaling, infrared signaling, visible light signaling, ultraviolet light signaling, wireless signaling along the electromagnetic spectrum, or some combination thereof.

[0158] The communication interface 1540 may also include one or more range finding sensors (e.g., LIDAR sensors, laser range finders, RF radars, ultrasonic sensors, and infrared (IR) sensors) configured to collect data and provide measurements to the processor 1510, whereby the processor 1510 may be configured to perform the determinations and calculations required to obtain various measurements of the one or more range finding sensors. In some examples, the measurements may include time of flight, wavelength, azimuth, elevation, distance, linear velocity, and / or angular velocity, or any combination thereof. The communication interface 1540 may also include one or more global navigation satellite system (GNSS) receivers or transceivers for determining the location of the computing system 1500 based on receiving one or more signals from one or more satellites associated with one or more GNSS systems. GNSS systems include, but are not limited to, the United States' GPS, Russia's Global Navigation Satellite System (GLONASS), China's Beidou Navigation Satellite System (BDS), and Europe's Galileo GNSS. There is no restriction to operating on any particular hardware arrangement, and thus the underlying features herein may be easily substituted for improved hardware or firmware arrangements as they are developed.

[0159] The storage device 1530 may be a non-volatile and / or non-transitory and / or computer-readable memory device and may be a hard disk or other type of computer-readable medium that can store data accessible by a computer, such as a magnetic cassette, a flash memory card, a solid-state memory device, a digital versatile disk, a cassette, a floppy disk, a floppy disk, a hard disk, a magnetic tape, a magnetic stripe / magnetic stripe, any other magnetic storage medium, flash memory, a memristor memory, any other solid-state memory, a compact disk-read only memory (CD-ROM) optical disk, a rewritable compact disk (CD) optical disk, a digital video disk (DVD) optical disk, a Blu-ray disc (BDD) optical disk, a holographic optical disk, another optical medium, a secure digital (SD) card, a micro secure digital (microSD) card, a memory stick ®card, a smart card chip, an EMV chip, a subscriber identity module (SIM) card, a mini / micro / nano / pico SIM card, another integrated circuit (IC) chip / card, a random access memory (RAM), a static RAM (SRAM), a dynamic RAM (DRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash EPROM (FLASHEPROM), a cache memory (e.g., a layer 1 (L1) cache, a layer 2 (L2) cache, a layer 3 (L3) cache, a layer 4 (L4) cache, a layer 5 (L5) cache, other (L#) cache), a resistive random access memory (RRAM / ReRAM), a phase change memory (PCM), a spin transfer torque RAM (STT-RAM), another memory chip or box, and / or a combination thereof.

[0160] Storage device 1530 may include software services, servers, services, etc., which, when the code defining such software is executed by processor 1510, causes the system to perform functions. In some aspects, hardware services that perform specific functions may include software components for performing functions stored in a computer-readable medium connected to necessary hardware components such as processor 1510, connection 1505, output device 1535, etc. The term "computer-readable medium" includes, but is not limited to, portable or non-portable storage devices, optical storage devices, and various other media capable of storing, containing or carrying instructions and / or data. Computer-readable media may include non-transitory media in which data may be stored and does not include carrier waves and / or transient electronic signals propagated wirelessly or over a wired connection. Examples of non-transitory media may include, but are not limited to, disks or tapes, optical storage media such as compact disks (CDs) or digital versatile disks (DVDs), flash memory, memory, or memory devices. A computer-readable medium may store thereon code and / or machine-executable instructions, which may represent a procedure, function, subprogram, program, routine, subroutine, module, software package, category, or any combination of instructions, data structures, or program statements. A code segment may be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, independent variables, parameters, or memory contents. Information, independent variables, parameters, data, etc. may be passed, forwarded, or sent via any suitable means, including memory sharing, message passing, token passing, network sending, etc.

[0161] Specific details are provided in the above description to provide a thorough understanding of the various aspects and each example provided herein, but those skilled in the art will recognize that the application is not limited thereto. Therefore, although the exemplary aspects of the present application have been described in detail herein, it is to be understood that each inventive concept can be implemented and adopted in various other ways, and the appended claims are not intended to be interpreted as including these variations, unless limited by the prior art. The various features and aspects of the above-mentioned applications can be used individually or jointly. In addition, without departing from the broader scope of this specification, the various aspects can be used in any number of environments and applications beyond the environment and application described herein. Therefore, the description and the accompanying drawings should be considered as illustrative rather than restrictive. For the purpose of illustration, each method is described in a specific order. It should be appreciated that, in alternative aspects, each method can be performed in an order different from the described order.

[0162] For clarity of explanation, in some instances, the present technology may be presented as including separate functional blocks, which include devices, device components, steps or routines in the method embodied in software or a combination of hardware and software. Additional components other than those components shown in the drawings and / or described herein may be used. For example, circuits, systems, networks, processes and other components may be shown as components in block diagram form to avoid confusing these aspects in unnecessary details. In other instances, well-known circuits, processes, algorithms, structures and techniques may be shown without unnecessary details to avoid confusing various aspects.

[0163] In addition, it will be appreciated by those skilled in the art that the various exemplary logic blocks, modules, circuits and algorithmic steps described in conjunction with the various aspects disclosed herein can be implemented as electronic hardware, computer software or a combination of the two. In order to clearly illustrate this interchangeability of hardware and software, various exemplary components, blocks, modules, circuits and steps have been generally described above in terms of their functionality. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints proposed to the entire system. Those skilled in the art can implement the described functionality in different ways for each specific application, but such specific implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

[0164] Various aspects may be described above as a process or method, which is depicted as a flow chart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flow chart may describe an operation as a sequential process, many of the operations in the operation may be performed in parallel or concurrently. In addition, the order of the operations may be rearranged. The process is terminated when the operations of the process are completed, but the process may have additional steps not included in the accompanying drawings. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a function, the termination of the process may correspond to the function returning to the calling function or the main function.

[0165] The processes and methods according to the above examples can be implemented using stored computer executable instructions or otherwise obtained from computer readable media. These instructions may include, for example, instructions and data that configure a general-purpose computer, a special-purpose computer, or a processing device to perform a certain function or group of functions. Parts of the computer resources used can be accessed through a network. Computer executable instructions can be, for example, binary, intermediate format instructions such as assembly language, firmware, source code. Examples of computer readable media that can be used to store instructions, information used, and / or information created during the method according to the described examples include disks or optical disks, flash memories, USB devices with non-volatile memory, networked storage devices, etc.

[0166] In some embodiments, computer-readable storage devices, media, and memories may include wired or wireless signals containing bit streams, etc. However, when referred to, non-transitory computer-readable storage media explicitly excludes media such as power consumption, carrier signals, electromagnetic waves, and signals themselves.

[0167] Those skilled in the art will appreciate that information and signals may be represented using any of a variety of different techniques and methods. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be mentioned throughout the above description may be represented by voltage, current, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof in some cases, depending in part on the specific application, in part on the desired design, in part on the corresponding technology, etc.

[0168] The various illustrative logic blocks, modules, and circuits described in conjunction with the various aspects disclosed herein may be implemented or executed using hardware, software, firmware, middleware, microcode, hardware description language, or any combination thereof, and may be implemented in any of a variety of form factors. When implemented in software, firmware, middleware, or microcode, program code or code segments (e.g., computer program products) for performing necessary tasks may be stored in a computer-readable or machine-readable medium. The processor may perform the necessary tasks. Examples of form factors include: laptops, smartphones, mobile phones, tablet devices, or other small form factor personal computers, personal digital assistants, rack-mounted devices, stand-alone devices, etc. The functionality described herein may also be embodied in peripheral devices or add-in cards. By way of further example, such functionality may also be implemented on circuit boards in different chips or different processes executed on a single device.

[0169] Instructions, media for conveying such instructions, computing resources for executing them, and other structures for supporting such computing resources are example means for providing the functionality described in this disclosure.

[0170] The technology described herein may also be implemented in electronic hardware, computer software, firmware, or any combination thereof. Such technology may be implemented in any of a variety of devices, such as general-purpose computers, wireless communication devices, or integrated circuit devices with multiple uses, including applications in wireless communication devices, mobile phones, and other devices. Any features described as modules or components may be implemented together in an integrated logic device or separately as discrete but interoperable logic devices. If implemented in software, the technology may be implemented at least in part by a computer-readable data storage medium including a program code, which includes instructions for executing one or more of the above methods, algorithms, and / or operations when executed. The computer-readable data storage medium may form part of a computer program product, which may include packaging materials. The computer-readable medium may include a memory or data storage medium, such as a random access memory (RAM) (such as a synchronous dynamic random access memory (SDRAM)), a read-only memory (ROM), a non-volatile random access memory (NVRAM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic or optical data storage medium, and the like. Additionally or alternatively, the technology may be implemented at least in part by a computer-readable communication medium that carries or communicates program code in the form of instructions or data structures and that can be accessed, read, and / or executed by a computer, such as a propagated signal or wave.

[0171] The program code may be executed by a processor, which may include one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Such a processor may be configured to perform any of the techniques described in the present disclosure. A general-purpose processor may be a microprocessor; however, in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. Therefore, the term "processor" as used herein may refer to any of the foregoing structures, any combination of the foregoing structures, or any other structure or device suitable for implementing the techniques described herein.

[0172] It should be understood by those skilled in the art that the less than ("<") and greater than (">") symbols or terms used herein may be replaced by less than or equal to (" ”) and greater than or equal to (“ ”) symbol instead.

[0173] Where a component is described as being “configured to” perform certain operations, such configuration may be achieved, for example, by designing electronic circuits or other hardware to perform the operations, by programming programmable electronic circuits (e.g., a microprocessor or other suitable electronic circuits) to perform the operations, or any combination thereof.

[0174] The phrases “coupled to” or “communicatively coupled to” refer to any component being physically connected directly or indirectly to another component, and / or any component being in communication with another component directly or indirectly (e.g., connected to the other component via a wired or wireless connection and / or other suitable communication interface).

[0175] Claim language or other language reciting "at least one of" a set and / or "one or more of" a set indicates that one member of the set or multiple members of the set (in any combination) satisfies the claim. For example, claim language reciting "at least one of A and B" or "at least one of A or B" means A, B, or A and B. In another example, claim language reciting "at least one of A, B, and C" or "at least one of A, B, or C" means A, B, C, or A and B, or A and C, or B and C, or A and B and C. The language "at least one of" a set and / or "one or more of" a set does not limit the set to the items listed in the set. For example, claim language reciting "at least one of A and B" or "at least one of A or B" may mean A, B, or A and B, and may additionally include items not listed in the set of A and B.

[0176] Illustrative aspects of the present disclosure include:

[0177] Aspect 1. A method for wireless communication, the method comprising: receiving sensor data from multiple sensors of a vehicle by an on-board unit (OBU) of the vehicle; determining, by the OBU, a score level of an event associated with the vehicle based on the sensor data; determining that the score level is greater than a threshold score level; and broadcasting, by the OBU, a warning message related to the event to one or more devices based on the score level being greater than the threshold score level.

[0178] Aspect 2. The method according to aspect 1, wherein the event is one of a vehicle failure or driver misconduct of a driver of the vehicle.

[0179] Aspect 3. A method according to Aspect 2, wherein the vehicle failure is at least one of a tire blowout, a tire flat, a brake failure, a steering failure, a headlight deformity operating under poor visibility conditions, a taillight deformity operating under poor visibility conditions, a windshield wiper failure operating under heavy rain conditions, or an engine failure.

[0180] Aspect 4. A method according to any one of Aspects 2 or 3, wherein the driver misbehavior is at least one of the driver's hands not being on the steering wheel for a predefined duration, the driver frequently turning his head, the driver eating, the driver drinking, the driver operating a computing device, the driver attempting to make one or more calls with a mobile phone, the driver looking at objects located inside the vehicle that are not related to driving, the driver looking at objects located outside the vehicle that are not related to driving, the driver frequently interacting with passengers of the vehicle, the driver singing, the driver moving to music, the driver tidying up his appearance, the driver reaching for objects located inside the vehicle, sudden braking, frequent braking, or frequent lane departures.

[0181] Aspect 5. A method according to any one of Aspects 1 to 4, wherein the one or more devices include at least one of an additional vehicle, a roadside unit (RSU), a mobile device of a pedestrian outside the vehicle, an infrastructure control unit (ICU), a base station, a server associated with a vehicle service center, or a server associated with a law enforcement agency.

[0182] Aspect 6. The method according to any one of aspects 1 to 5, wherein the warning message is one of a basic safety message (BSM), a collaborative awareness message (CAM), a collective perception message (CPM), a sensor data sharing message (SDSM), or a decentralized environment message (DENM).

[0183] Aspect 7. A method according to any one of aspects 1 to 6, wherein the warning message includes information about a specific type of event associated with the vehicle.

[0184] Aspect 8. A method according to any one of Aspects 1 to 7, wherein the warning message is broadcast via sidelink communication.

[0185] Aspect 9. The method according to any one of aspects 1 to 8, wherein the warning message is broadcast at a maximum power level for sending the warning message.

[0186] Aspect 10. A method according to any one of Aspects 1 to 9, wherein the rating of the event is determined using a machine learning model.

[0187] Aspect 11. The method according to any one of aspects 1 to 10, wherein the plurality of sensors comprises at least one of a camera, a light detection and ranging (LIDAR) sensor, or a radar sensor.

[0188] Aspect 12. A device for wireless communication, the device comprising: at least one memory; and at least one processor, the at least one processor being coupled to the at least one memory and configured to: receive sensor data from multiple sensors of a vehicle; determine a score level of an event associated with the vehicle based on the sensor data; determine that the score level is greater than a threshold score level; and based on the score level being greater than the threshold score level, cause a warning message related to the event to be broadcast to one or more devices.

[0189] Aspect 13. The apparatus according to aspect 12, wherein the event is one of a vehicle failure or driver misconduct of a driver of the vehicle.

[0190] Aspect 14. An apparatus according to Aspect 13, wherein the vehicle failure is at least one of a tire blowout, a tire flat, a brake failure, a steering failure, a headlight malfunction operating under poor visibility conditions, a taillight malfunction operating under poor visibility conditions, a windshield wiper failure operating under heavy rain conditions, or an engine failure.

[0191] Aspect 15. An apparatus according to any one of Aspects 13 or 14, wherein the driver misbehavior is at least one of the driver's hands not being on the steering wheel for a predefined duration, the driver frequently turning his head, the driver eating, the driver drinking, the driver operating a computing device, the driver attempting to make one or more calls with a mobile phone, the driver looking at objects located inside the vehicle that are not related to driving, the driver looking at objects located outside the vehicle that are not related to driving, the driver frequently interacting with passengers of the vehicle, the driver singing, the driver moving to music, the driver tidying up his appearance, the driver reaching for objects located inside the vehicle, sudden braking, frequent braking, or frequent lane departures.

[0192] Aspect 16. An apparatus according to any one of Aspects 12 to 15, wherein the one or more devices include at least one of an additional vehicle, a roadside unit (RSU), a mobile device of a pedestrian outside the vehicle, an infrastructure control unit (ICU), a base station, a server associated with a vehicle service center, or a server associated with a law enforcement agency.

[0193] Aspect 17. An apparatus according to any one of aspects 12 to 16, wherein the warning message is one of a basic safety message (BSM), a collaborative awareness message (CAM), a collective sensing message (CPM), a sensor data sharing message (SDSM), or a decentralized environment message (DENM).

[0194] Aspect 18. An apparatus according to any one of aspects 12 to 17, wherein the warning message includes information about a specific type of event associated with the vehicle.

[0195] Aspect 19. An apparatus according to any one of Aspects 12 to 18, wherein the warning message is broadcast via sidelink communication.

[0196] Aspect 20. An apparatus according to any one of aspects 12 to 19, wherein the warning message is broadcast at a maximum power level for sending the warning message.

[0197] Aspect 21. An apparatus according to any one of Aspects 12 to 20, wherein the rating of the event is determined using a machine learning model.

[0198] Aspect 22. The apparatus according to any one of aspects 12 to 21, wherein the plurality of sensors comprises at least one of a camera, a light detection and ranging (LIDAR) sensor, or a radar sensor.

[0199] Aspect 23. The apparatus according to any one of aspects 12 to 22, wherein the apparatus is implemented as an on-board unit (OBU) of the vehicle.

[0200] Aspect 24. The apparatus according to Aspect 23, wherein the vehicle or OBU comprises at least one transceiver configured to broadcast the warning message to the one or more devices.

[0201] Aspect 25. A non-transitory computer-readable medium having instructions stored thereon, which, when executed by one or more processors, cause the one or more processors to perform the operations according to any one of aspects 1 to 24.

[0202] Aspect 26. An apparatus for wireless communication, the apparatus comprising one or more components for performing the operations according to any one of aspects 1 to 24.

[0203] The foregoing description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects. Therefore, the claims are not intended to be limited to the aspects shown herein, but are to be consistent with the full scope consistent with the language claims, where elements mentioned in the singular are not intended to mean "one and only one", unless specifically stated so, but rather "one or more".

Claims

1. A method for wireless communication, the method comprising: receiving, by an onboard unit (OBU) of a vehicle, sensor data from a plurality of sensors of the vehicle; determining, by the OBU, a scoring level of an event associated with the vehicle based on the sensor data; Determining that the rating level is greater than a threshold rating level; as well as A warning message related to the event is broadcasted by the OBU to one or more devices based on the score level being greater than the threshold score level. 2 . The method of claim 1 , wherein the event is one of a vehicle malfunction or driver misconduct by a driver of the vehicle.

3. The method of claim 2, wherein the vehicle failure is at least one of a tire blowout, a tire flat, a brake failure, a steering failure, a headlight malfunction operating under poor visibility conditions, a taillight malfunction operating under poor visibility conditions, a windshield wiper failure operating under heavy rain conditions, or an engine failure.

4. The method of claim 2, wherein the driver misbehavior is at least one of the driver's hands not being on the steering wheel for a predefined duration, the driver frequently turning his head, the driver eating, the driver drinking, the driver operating a computing device, the driver attempting to make one or more calls with a mobile phone, the driver looking at an object located inside the vehicle that is not related to driving, the driver looking at an object located outside the vehicle that is not related to driving, the driver frequently interacting with passengers of the vehicle, the driver singing, the driver moving to music, the driver preening his appearance, the driver reaching for an object located inside the vehicle, sudden braking, frequent braking, or frequent lane departures.

5. The method of claim 1, wherein the one or more devices include at least one of an additional vehicle, a roadside unit (RSU), a mobile device of a pedestrian outside the vehicle, an infrastructure control unit (ICU), a base station, a server associated with a vehicle service center, or a server associated with a law enforcement agency.

6. The method of claim 1, wherein the warning message is one of a basic safety message (BSM), a collaborative awareness message (CAM), a collective perception message (CPM), a sensor data sharing message (SDSM), or a decentralized environment message (DENM). The method of claim 1 , wherein the warning message includes information about a particular type of event associated with the vehicle. The method of claim 1 , wherein the warning message is broadcast via sidelink communication.

9. The method of claim 1, wherein the warning message is broadcast at a maximum power level for sending the warning message.

10. The method of claim 1, wherein the rating of the event is determined using a machine learning model.

11. The method of claim 1 , wherein the plurality of sensors comprises at least one of a camera, a light detection and ranging (LIDAR) sensor, or a radar sensor.

12. An apparatus for wireless communication, the apparatus comprising: at least one memory; and at least one processor coupled to at least one memory and configured to: receiving sensor data from a plurality of sensors of a vehicle; determining a scoring level for an event associated with the vehicle based on the sensor data; Determining that the rating level is greater than a threshold rating level; as well as Based on the score level being greater than the threshold score level, causing a warning message associated with the event to be broadcast to one or more devices.

13. The device of claim 12, wherein the event is one of a vehicle malfunction or driver misconduct by a driver of the vehicle.

14. The apparatus of claim 13, wherein the vehicle failure is at least one of a tire blowout, a tire flat, a brake failure, a steering failure, a headlight malfunction operating under poor visibility conditions, a taillight malfunction operating under poor visibility conditions, a windshield wiper failure operating under heavy rain conditions, or an engine failure.

15. The apparatus of claim 13, wherein the driver misbehavior is at least one of the driver's hands not being on the steering wheel for a predefined duration, the driver frequently turning his head, the driver eating, the driver drinking, the driver operating a computing device, the driver attempting to make one or more calls with a mobile phone, the driver looking at objects located within the vehicle that are not related to driving, the driver looking at objects located outside the vehicle that are not related to driving, the driver frequently interacting with passengers of the vehicle, the driver singing, the driver moving to music, the driver preening his appearance, the driver reaching for objects located within the vehicle, sudden braking, frequent braking, or frequent lane departures.

16. The apparatus of claim 12, wherein the one or more devices include at least one of an additional vehicle, a roadside unit (RSU), a mobile device of a pedestrian outside the vehicle, an infrastructure control unit (ICU), a base station, a server associated with a vehicle service center, or a server associated with a law enforcement agency.

17. The apparatus of claim 12, wherein the warning message is one of a basic safety message (BSM), a collaborative awareness message (CAM), a collective sensing message (CPM), a sensor data sharing message (SDSM), or a decentralized environment message (DENM).

18. The apparatus of claim 12, wherein the warning message includes information about a particular type of event associated with the vehicle.

19. The apparatus of claim 12, wherein the at least one processor is configured to cause the warning message to be broadcast via a sidelink communication.

20. The apparatus of claim 12, wherein the at least one processor is configured to cause the warning message to be broadcast at a maximum power level for sending the warning message.

21. The apparatus of claim 12, wherein the at least one processor is configured to use a machine learning model to determine the rating of the event.

22. The apparatus of claim 12, wherein the plurality of sensors comprises at least one of a camera, a light detection and ranging (LIDAR) sensor, or a radar sensor.

23. The apparatus of claim 12, wherein the apparatus is implemented as an on-board unit (OBU) of the vehicle.

24. The apparatus of claim 23, wherein the vehicle or OBU comprises at least one transceiver configured to broadcast the warning message to the one or more devices.

25. A non-transitory computer readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to: receiving sensor data from a plurality of sensors of a vehicle; determining a scoring level for an event associated with the vehicle based on the sensor data; Determining that the rating level is greater than a threshold rating level; as well as Based on the score level being greater than the threshold score level, causing a warning message associated with the event to be broadcast to one or more devices.

26. The computer-readable medium of claim 25, wherein the event is one of a vehicle failure or driver misconduct by a driver of the vehicle, wherein the vehicle failure is at least one of a tire blowout, a tire flat, a brake failure, a steering failure, a headlight deformity operating under poor visibility conditions, a taillight deformity operating under poor visibility conditions, a windshield wiper failure operating under heavy rain conditions, or an engine failure, and wherein the driver misconduct is at least one of the driver's hands not being on the steering wheel for a predefined duration, the driver frequently turning his head, the driver eating, the driver drinking, the driver operating a computing device, the driver attempting to make one or more calls with a mobile phone, the driver looking at an object located within the vehicle that is not related to driving, the driver looking at an object located outside the vehicle that is not related to driving, the driver frequently interacting with passengers of the vehicle, the driver singing, the driver moving to music, the driver preening his appearance, the driver reaching for an object located within the vehicle, sudden braking, frequent braking, or frequent lane departures.

27. The computer-readable medium of claim 25, wherein the one or more devices include at least one of an additional vehicle, a roadside unit (RSU), a mobile device of a pedestrian outside the vehicle, an infrastructure control unit (ICU), a base station, a server associated with a vehicle service center, or a server associated with a law enforcement agency.

28. The computer-readable medium of claim 25, wherein the warning message is one of a basic safety message (BSM), a collaborative awareness message (CAM), a collective sensing message (CPM), a sensor data sharing message (SDSM), or a decentralized environment message (DENM).

29. The computer-readable medium of claim 23, wherein the rating of the event is determined using a machine learning model.

30. The computer readable medium of claim 23, wherein the non-transitory computer readable medium is part of an on-board unit (OBU) of the vehicle.

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