Vehicle message filtering

Abstract

The present disclosure provides "vehicle message filtering". Filtering of the V2X messages is performed by the self-aware vehicle. A travel speed of the self-aware vehicle is identified. One or more distance thresholds of the dynamic filtering criteria are adjusted according to the identified speed. A vehicle-to-everything (V2X) message is received via a transceiver of the self-aware vehicle. A location of a remote road entity of the V2X message is identified from the V2X message. The V2X message is filtered based on whether the location of the remote road entity is within the one or more distance thresholds. And only when the V2X message is not filtered, the V2X message is processed, so that resource use caused by the filtered V2X message is reduced.

Description

Technical Field

[0001] Aspects of the present disclosure are generally directed to filtering vehicle-to-external (V2X) messages using dynamic filtering criteria and / or signal strength. Background Art

[0002] V2X allows vehicles to exchange information with other vehicles, as well as with infrastructure, pedestrians, networks and other devices. Vehicle-to-Infrastructure (V2I) communications enable applications to facilitate and accelerate communications or transactions between vehicles and infrastructure. In a vehicle telematics system, the Telematics Control Unit (TCU) can be used for various remote control services, such as over-the-air (OTA) software downloads, emergency calls and turn-by-turn navigation. Summary of the invention

[0003] In one or more illustrative examples, a self-aware road entity for performing filtering of V2X messages includes a transceiver and one or more controllers. The one or more controllers are configured to identify a travel speed of the self-aware road entity, adjust one or more distance thresholds of a dynamic filtering criterion based on the identified speed, receive a V2X message via the transceiver, identify from the V2X message a location of a remote road entity indicated by the V2X message, filter the V2X message based on whether the location of the remote road entity is within the one or more distance thresholds, and process the V2X message only if the V2X message is not filtered out.

[0004] In one or more illustrative examples, a method for filtering V2X messages is performed by a self-aware road entity. A travel speed of the self-aware road entity is identified. One or more distance thresholds of a dynamic filtering criterion are adjusted based on the identified speed. A V2X message is received via a transceiver of the self-aware road entity. A location of a remote road entity of the V2X message is identified from the V2X message. The V2X message is filtered based on whether the location of the remote road entity is within the one or more distance thresholds. The V2X message is processed only if the V2X message is not filtered out.

[0005] In one or more illustrative examples, a non-transitory computer-readable medium includes instructions for filtering V2X messages by an autonomously aware vehicle, which when executed by one or more controllers cause the one or more controllers to perform operations including: identifying a travel speed of the self-aware vehicle; adjusting one or more distance thresholds of a dynamic filtering criterion based on the identified speed; receiving a V2X message via a transceiver of the self-aware vehicle; identifying from the V2X message a location of a remote road entity indicated by the V2X message; deriving a statistical measure of received signal strength indicators (RSSIs) of other V2X messages from the remote road entity within a time period; filtering out the V2X message in response to the statistical measure not satisfying a threshold within the time period, wherein the statistical measure is a mean, median, or maximum RSSI within the time period; filtering out the V2X message based on whether the location of the remote road entity is within the one or more distance thresholds, and processing the V2X message only if the V2X message is not filtered out. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 An exemplary system for performing filtering of V2X messages using dynamic filtering criteria and / or signal strength is illustrated;

[0007] Figure 2 An example of filtering V2X messages from road entities based on location and direction of travel is shown;

[0008] Figure 3 An example of filtering V2X messages from road entities based on distance is shown;

[0009] Figure 4 An example of filtering V2X messages from a roadside unit (RSU) managing an intersection is shown;

[0010] Figure 5 An example of filtering V2X messages based on signal strength is shown;

[0011] Figure 6 An exemplary process for performing filtering of V2X messages using dynamic filtering criteria is shown;

[0012] Figure 7 An exemplary process for performing filtering of V2X messages using signal strength is shown; and

[0013] Figure 8 An example of a computing device for performing filtering of V2X messages using dynamic filtering criteria and / or signal strength is shown. DETAILED DESCRIPTION

[0014] As required, detailed embodiments of the present disclosure are disclosed herein; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be implemented in various and alternative forms. The drawings are not necessarily drawn to scale; some features may be enlarged or minimized to show details of particular components. Therefore, the specific structural details and functional details disclosed herein should not be interpreted as limiting, but merely as a representative basis for teaching those skilled in the art to adopt the present disclosure in different ways.

[0015] Connected vehicles can use V2X communications to broadcast their location, speed, heading, and other information. This information can be broadcast to allow other traffic participants to be aware of the vehicle's presence. For example, other traffic participants can use the information to make decisions when traveling along the road.

[0016] However, connected vehicles may coexist with older vehicles that may not have communication capabilities. In addition, some road users (such as pedestrians and cyclists) may not have V2X capabilities. Therefore, such road users cannot share their information with other road users.

[0017] Some vehicles are equipped with sensor systems that can identify objects in the surrounding environment. Connected and sensor-equipped smart infrastructure can also perceive surrounding information and share said information with connected road users. Through a collaborative sensor data sharing system, connected and sensor-equipped vehicles and infrastructure can share their perceived information with other connected road users.

[0018] Therefore, at any given time, there may be multiple sensor-equipped vehicles and infrastructure entities (e.g., roadside units at intersections) sharing their sensor data via sensor sharing messages. This may result in broadcast duplication and excessive amounts of information. Processing duplicate and excessive sensor information may overload the application processor at the receiver end and lead to inefficient use of available communication and computing resources.

[0019] This can be particularly problematic in a vicinity with multiple animals, pedestrians, or unequipped vehicles, such that each unique object is simultaneously detected by multiple vehicles and infrastructure elements broadcasting their respective information. Typically, vehicles may simply duplicate information about a commonly detected object and share it with each other when they know about the object.

[0020] Various aspects of the present disclosure propose conditions for filtering excessive and duplicate sensor information passed to downstream applications hosted by a self-aware vehicle. As used herein, the term self-aware vehicle or self-aware road entity refers to a vehicle or road entity that is a recipient of a V2X message. In some examples, the self-aware road entity may be a vehicle, an RSU, but may be any other road entity with communication and processing capabilities for participating in V2X communications. If the received V2X message satisfies one or more of the conditions defined herein, the self-aware road entity may discard the received V2X message. The conditions may be defined based on the instantaneous position of the self-aware road entity, its direction of travel, and the presence of nearby connected intersections that broadcast V2X messages near the self-aware road entity.

[0021] For the purposes of this article's explanation, it may be assumed that V2X messages are not encrypted and that the receiving road entity may first use the V2X message fields in a preliminary stage to calculate distances before passing the packet to the application layer for extensive processing. For many examples, it may also be assumed that application layer processing of V2X messages is more computationally intensive than lower link layer processing. Therefore, the resource utilization savings of not performing application layer processing for filtered messages may be useful and important to self-aware road entities.

[0022] Figure 1 An exemplary system 100 for performing filtering of V2X messages 120 using dynamic filtering criteria and / or signal strength is shown. The system 100 may include a vehicle 102 having a controller 104 communicating via one or more vehicle buses 108. The vehicle 102 may also include a TCU 110 configured to provide communication services via a transceiver 112. The TCU 110 may include a processor 114 and a storage device 116. The TCU 110 may be used to send and receive V2X messages 120. The V2X messages 120 may relate to road entities 124 in a road 126, RSUs 130, or other objects in the environment surrounding the vehicle 102 (e.g., road signs, smart and connected infrastructure, etc.). A data filtering application 132 may be installed to the TCU 110 and may be configured to correlate and filter information in the V2X messages 120. It should be noted that the system 100 is merely an example and that a system 100 having more, fewer, and different components may be used.

[0023] Vehicle 102 may include various types of automobiles, crossover utility vehicles (CUVs), sport utility vehicles (SUVs), trucks, recreational vehicles, motorcycles, boats, airplanes, or other mobile machines for transporting people or goods. Such vehicles 102 may be human-driven or autonomous. In many cases, vehicle 102 may be powered by an internal combustion engine. As another possibility, vehicle 102 may be a battery electric vehicle powered by one or more electric motors. As another possibility, vehicle 102 may be a hybrid electric vehicle powered by both an internal combustion engine and one or more electric motors, such as a series hybrid electric vehicle, a parallel hybrid electric vehicle, or a parallel / series hybrid electric vehicle.

[0024] Vehicle 102 may be a vehicle with driver assistance features driven by a driver. In other examples, the vehicle may be a semi-autonomous vehicle (AV). These AV or driver assistance features may be supported via received V2X data and / or optical data. The level of automation may vary between different levels of driver assistance technology and fully automated unmanned vehicles. Since the type and configuration of vehicle 102 may vary, the capabilities of vehicle 102 may vary accordingly. As some other possibilities, vehicle 102 may have different capabilities in terms of passenger capacity, traction capacity and capacity, and storage. For ownership, inventory, and other purposes, vehicle 102 may be associated with a unique identifier, such as a vehicle identification number (VIN). It should be noted that although motor vehicle 102 is being used as an example of a traffic participant, other types of traffic participants, such as bicycles, scooters, and pedestrians, which may be equipped with V2X technology, may be used in addition or alternatively.

[0025] The vehicle 102 may include multiple controllers 104 configured to perform and manage various vehicle 102 functions under the power of the vehicle battery and / or drive train. As shown, the example vehicle controllers 104 are represented as discrete controllers 104 (i.e., controllers 104A to 104G). However, the vehicle controllers 104 may share physical hardware, firmware, and / or software, such that functionality from multiple controllers 104 may be integrated into a single controller 104, and the functionality of various such controllers 104 may be distributed across multiple controllers 104.

[0026] As some non-limiting examples of vehicle controllers 104: a powertrain controller 104A may be configured to provide control of engine operating components (e.g., idle control components, fuel delivery components, emission control components, etc.), and to monitor the status of such engine operating components (e.g., the status of engine codes); a body controller 104B may be configured to manage various power control functions, such as exterior lights 118, interior lighting, keyless entry, remote start, and access point status verification (e.g., the closed status of the hood, doors, and / or trunk of the vehicle 102); a radio transceiver controller 104C may be configured to communicate with a key fob, mobile device, or other local vehicle 102 device; an autonomous controller 104C may be configured to communicate with a key fob, mobile device, or other local vehicle 102 device; 4D may be configured to provide commands to control the powertrain, steering, or other aspects of the vehicle 102; the climate control management controller 104E may be configured to provide control of heating and cooling system components (e.g., compressor clutch, blower fan, temperature sensor, etc.); the global navigation satellite system (GNSS) controller 104F may be configured to provide vehicle position information; the human-machine interface (HMI) controller 104G may be configured to receive user input via various buttons or other controls, and provide vehicle status information to the driver, such as fuel level information, engine operating temperature information, and the current location of the vehicle 102; and the navigation controller 104H is configured to provide route selection services such as turn-by-turn guidance to the user.

[0027] The controller 104 of the vehicle 102 may utilize various sensors 106 in order to receive information about the surrounding environment of the vehicle 102. In one example, these sensors 106 may include one or more of a visible light sensor 106 (e.g., an advanced driver assistance system (ADAS) sensor 106), an infrared sensor 106, and / or a multi-spectral sensor 106. In some examples, the sensor 106 may include a capture device that operates using other methods, such as a radar system and / or a lidar system. In some examples, the sensor 106 may include a rolling shutter complementary metal oxide semiconductor (CMOS) sensor 106 configured to receive light-based transmissions.

[0028] The vehicle bus 108 may include various communication methods available between the vehicle controllers 104 and between the TCU 110 and the vehicle controllers 104. As some non-limiting examples, the vehicle bus 108 may include one or more of a controller area network (CAN), an Ethernet network, and a media oriented systems transport (MOST) network.

[0029] The TCU 110 may include network hardware configured to facilitate communication between the vehicle controllers 104 and with other devices of the system 100. For example, the TCU 110 may include or otherwise have access to a transceiver 112 configured to facilitate communication with other vehicles 102 or with infrastructure. The TCU 110 may be configured to communicate via a broadcast peer-to-peer protocol such as PC5 to facilitate cellular V2X (C-V2X) communications with devices such as other vehicles 102. The TCU 110 may also be configured to communicate via a cellular network to communicate with other devices over the Internet. It should be noted that these protocols are examples only and different peer-to-peer and / or cellular technologies may be used.

[0030] The TCU 110 may include various types of computing devices that support the execution of the functions of the TCU 110 described herein. In one example, the TCU 110 may include one or more processors 114 configured to execute computer instructions, and a storage device 116 medium on which computer executable instructions and / or data may be maintained. Computer-readable storage media (also referred to as processor-readable media or storage devices 116) include any non-transitory (e.g., tangible) medium that participates in providing data (e.g., instructions) that can be read by a computer (e.g., by a processor). Typically, the processor 114 receives instructions and / or data, such as from a storage device 116, etc. to a memory, and uses the data to execute instructions, thereby performing one or more processes, including one or more of the processes described herein. Computer executable instructions may be compiled or interpreted according to a computer program created using a variety of programming languages ​​and / or technologies, which include, but are not limited to, JAVA, C, C++, C#, FORTRAN, PASCAL, VISUAL BASIC, PYTHON, JAVASCRIPT, PERL, etc., individually or in combination.

[0031] The TCU 110 may be configured to facilitate collection of V2X messages 120 and / or other vehicle information from vehicle controllers 104 connected to one or more vehicle buses 108 .

[0032] The V2X message 120 may include collected information retrieved from the controller 104 via the vehicle bus 108. In many examples, the collected information data may include information useful for autonomous vehicle operation or driver-assisted vehicle operation. As some non-limiting examples, the networked vehicle data information retrieved by the TCU 110 may include an identification (ID) of the sender and data about the sender, such as latitude, longitude, time, heading angle, speed, lateral speed change, longitudinal speed change, yaw rate, throttle position, brake status, steering angle, headlight status, wiper status, outside temperature, turn signal status, vehicle length, vehicle width, vehicle mass, and bumper height. The networked vehicle data information may also include weather data (such as ambient temperature, ambient air pressure, etc.), traction control status, wiper status, or other vehicle status information (such as the status of external vehicle lights, vehicle type, anti-lock braking system (ABS) system status, etc.).

[0033] The V2X message 120 may also include information about the detected road entity 124. For example, the V2X message 120 may indicate information such as the location, size, and / or profile of the detected road entity 124 along the road 126. The V2X message 120 may also indicate the type of road entity 124 (e.g., pedestrian, car, truck, debris, etc.). It should be noted that as a matter of perspective, the vehicle 102 may be a self-aware road entity 124 of other vehicles 102. Therefore, various aspects discussed with respect to the vehicle 102 may be performed by the road entity 124 from its perspective, and vice versa. In addition, operations discussed as being performed by the vehicle 102 as a self-aware road entity 124 may also be performed by other types of road entities 124 (such as by the RSU 130). The road entity 124 may then be equipped with V2X capabilities.

[0034] In some examples, the road entity 124 may involve communication via one or more RSUs 130. The RSU 130 may be a device with processing and networking capabilities and may be designed to be placed near the road 126 for communication with the vehicle 102. For example, the RSU 130 may include hardware configured to communicate via a broadcast peer-to-peer protocol (such as PC5) to facilitate C-V2X communication with the vehicle 102. In another example, a machine learning model may be hosted by the RSU 130 to allow classification of the road entity 124 without using the computing power of the vehicle 102. The RSU 130 may accordingly be able to communicate with multiple vehicles 102 along a specific road 126 or in a specific area. The RSU 130 may also have a wired or wireless backhaul capability to allow communication with other elements of the traffic control system, such as via a Uu interface, such as Ethernet or a cellular connection to a cellular network infrastructure.

[0035] While a single vehicle bus 108 is shown, it should be noted that in many examples, multiple vehicle buses 108 are included, with a subset of the controllers 104 connected to each vehicle bus 108. Thus, to access a given controller 104, the TCU 110 may be configured to maintain a mapping of which vehicle buses 108 are connected to which controllers 104, and access the corresponding vehicle bus 108 for that particular controller 104 when communication with the controller 104 is desired.

[0036] The TCU 110 may also be configured to periodically transmit V2X messages 120 for receipt by remote vehicles. The position, size, and heading of the self-aware vehicle 102 may be broadcast by the self-aware vehicle 102 in the V2X message 120. In one example, the frequency of sending the V2X message 120 may be approximately once every ten milliseconds. The V2X radio may be a relatively short-range communication unit (e.g., having a range of approximately one kilometer). In one example, the V2X radio may operate on a cellular V2X (e.g., C-V2X 3GPP). In another example, the V2X radio may operate on an Institute of Electrical and Electronics Engineers (IEEE) 802.11p dedicated short-range communication (DSRC). In one example, the V2X message 120 may take the form of a BSM message as described in the Society of Automotive Engineers (SAE) standard document J2735. In another example, the V2X message 120 may take the form of an SDSM message as described in the SAE standard document J3224.

[0037] The TCU 110 may also be configured to receive V2X messages 120 from other vehicles 102 or other road entities 124. In one example, the vehicle 102 may be referred to as a host vehicle (HV), and remote vehicles (RVs) around the HV may communicate with the vehicle 102 as road entities 124. In another example, the HV may communicate with other road entities 124, such as bicyclists, pedestrians, etc.

[0038] The management of the transmission, reception, and filtering of V2X messages 120 may be handled by a data filtering application 132 executed by the TCU 110. The data filtering application 132 may be configured to filter excessive and duplicate sensor 106 information that is passed to downstream applications hosted by the self-aware vehicle 102. The data filtering application 132 may discard a received V2X message 120 if the received V2X message 120 meets one or more of the conditions defined herein. The data filtering application 132 may be configured to filter excessive and duplicate sensor 106 information that is passed to downstream applications hosted by the self-aware vehicle 102. The data filtering application 132 may discard a received V2X message 120 based on the direction of travel of the self-aware vehicle 102 (e.g., Figure 2 ), the instantaneous position of the self-aware vehicle 102 (as shown in Figure 3 ) and / or the presence of a connected intersection RSU 130 broadcasting a V2X message 120 near the self-aware vehicle 102 (e.g. Figure 4 to define the conditions.

[0039] The dynamic filtering criteria 122 may be used to define which conditions and settings apply to the filtering of the V2X messages 120 by the data filtering application 132. The dynamic filtering criteria 122 may specify which conditions apply to the filtering of the V2X messages 120 and which thresholds apply to the conditions for filtering of the V2X messages 120. Examples of conditions and dynamic filtering criteria 122 are discussed in detail herein.

[0040] Figure 2 An example 200 of filtering V2X messages 120 from road entities 124 based on location and direction of travel is shown. A self-aware vehicle 102 is shown along a road 126. Four regions 202 are shown based on the location of the self-aware vehicle 102. The regions 202 include a first region 202A in front of the self-aware vehicle 102 in the direction of travel of the self-aware vehicle 102 (as indicated by the distance d leadsame d ), a second area 202B behind the self-aware vehicle 102 in the direction of travel of the self-aware vehicle 102 (as determined by the distance d lagsame d ), a third area 202C in front of the self-aware vehicle 102 in the opposite direction to the direction of travel of the self-aware vehicle 102 (as determined by the distance d leadopp d ) and a fourth region 202D behind the self-aware vehicle 102 in the opposite direction to the direction of travel of the self-aware vehicle 102 (as determined by the distance d lagopp definition).

[0041] In some examples, d leadsame Can be set to be greater than d lagsame or leadopp , because the road entities 124 in the same direction of travel as the self-aware vehicle 102 may be considered more relevant than the road entities 124 in the opposite direction of travel as the self-aware vehicle 102. lagopp Can be set to be less than d lagsame , because road entities 124 that are behind the self-aware vehicle 102 and at increasing distances from the self-aware vehicle 102 may be considered less relevant than road entities 124 in the same direction of travel as the self-aware vehicle 102. As shown, the first and second regions 202A and 202B have greater distances along the road 126 in front of and behind the self-aware vehicle 102 than the third and fourth regions 202C and 202D. It should be noted that this is an example, and different sizes and arrangements of regions 202 may be used.

[0042] In other examples, d leadopp Can be set to d leadsameThe threshold d may be the same or even greater, such as for an undivided highway, because the opposing road entity 124 may be of relatively greater interest to the self-aware vehicle 102 due to the relative difference in speed. In yet other examples, the threshold d may be different for different types of road entities 124. For example, a slower moving type of road entity 124 (such as a bicycle or a stationary obstacle) may have a shorter threshold d than other types of road entities 124 (such as a remote vehicle). In one example, a slow or stationary road entity 124 may have a zero or very short d lagsame or lagopp , because such road entities 124 are unlikely to affect the forward progress of the self-aware vehicle 102.

[0043] The distance parameter d may be a configurable aspect of the dynamic filtering criteria 122. In one example, the dynamic filtering criteria 122 may specify that the distance parameter d is to be continuously calculated in real time based on the instantaneous speed or velocity of the self-aware vehicle 102. When calculating the distance d, the road topology may also be considered. For example, the distance d may therefore refer to the distance along the curvature of the road, rather than a simple straight-line distance from the self-aware vehicle 102.

[0044] Continuing with example 200, the self-aware vehicle 102 may discard a V2X message 120 that is one or more of the following: broadcast by a road entity 124 traveling in the same direction as the self-aware vehicle 102, where the road entity 124 is a distance d behind the self-aware vehicle 102. lagsame , is broadcast by a road entity 124 traveling in the same direction as the direction of the self-aware vehicle 102, where the road entity 124 is a distance d in front of the self-aware vehicle 102. leadsame , is broadcast by a road entity 124 traveling in the opposite direction to the direction of the self-aware vehicle 102, where the road entity 124 is a distance d behind the self-aware vehicle 102. lagopp d, or broadcast by a road entity 124 traveling in the opposite direction to the direction of the self-aware vehicle 102, where the road entity 124 is a distance d in front of the self-aware vehicle 102. leadopp For example, the data filtering application 132 may allow V2X messages 120 from roadway entities 124A (within the first area 202A) and 124B (within the third area 202C), but may discard V2X messages 120 from roadway entity 124C (outside of all areas 202A-D).

[0045] Figure 3An example 300 of filtering V2X messages 120 from road entities 124 based on distance is shown. Self-aware vehicles 102 are shown along road 126. V2X messages 120 may be broadcast by RSUs 130 managing intersections 302. These V2X messages 120 may be received by self-aware vehicles 102.

[0046] The region of interest 202 is defined by the distance d around the self-aware vehicle 102 region_of_interest In this example 300, V2X messages 120 broadcast by road entities 124 outside of the area 202 may be discarded. The radius of the area 202 may be a configurable parameter of the dynamic filtering criteria 122, or may be derived from the instantaneous speed or velocity of the ego-aware vehicle 102 according to the dynamic filtering criteria 122. This alternative example 300 may be used when the ego-aware vehicle 102 is near the RSUs 130 (particularly those broadcasting V2X messages 120) at the intersection 302 to continue processing V2X messages 120 broadcast by road entities 124 traveling perpendicular to the ego-aware vehicle 102.

[0047] Figure 4 An example 400 of filtering V2X messages 120 from RSUs 130 managing intersections 302 is shown. As shown, intersection 302A is downstream of the self-aware vehicle 102, while intersection 302B is upstream of the self-aware vehicle 102. Information about intersection 302A may be broadcast by a first RSU 130A near intersection 302A. Information about intersection 302B may be broadcast by a second RSU 130B near intersection 302B. V2X messages 120 may be broadcast by the first RSU 130A and the second RSU 130B. These V2X messages 120 may be received by the self-aware vehicle 102.

[0048] If the V2X message 120 is broadcast by an upstream intersection 402 that the self-aware vehicle 102 has left, the data filtering application 132 can discard the V2X message 120. In the example 400, this can include the intersection 302B. In another example, if the V2X message 120 is broadcast by an upstream intersection 402 that is farther away than the self-aware vehicle 102, the data filtering application 132 can discard the V2X message 120. downstream_intersection V2X eliminates 120.

[0049] These conditions may be particularly applicable when the self-aware vehicle 102 is traveling in an arterial corridor consisting of smart intersections 302 configured to broadcast V2X messages 120 (such as SDSM). On the other hand, if the data filtering application 132 knows the route of the self-aware vehicle 102, the data filtering application 132 may discard the V2X message 120 if the V2X message 120 is broadcast by an intersection 302 that is not along the current route of the self-aware vehicle 102. In yet another example, similar to Figure 3 As shown, a fixed or speed-derived radius may be used to define the area 202. In this case, if a V2X message 120 is broadcast by an intersection 302 outside the area 202, the data filtering application 132 may discard the V2X message 120.

[0050] Figure 5 An example 500 of filtering V2X messages 120 based on signal strength is shown. In one example, the self-aware vehicle 102 can use a received signal strength indicator (RSSI) of the V2X messages 120 to discard V2X messages 120 received with an RSSI below a predefined threshold strength because these V2X messages 120 may be associated with a longer distance.

[0051] The self-aware vehicle 102 may utilize the transceiver 112 to scan and accept multiple V2X messages 120 from a single source for application processing within a short interval (such as one second or less). However, after the interval has passed, the data filtering application 132 may derive a statistical measure of the RSSI of the received V2X messages 120. As some non-limiting examples, the statistical measure may include a mean, median, or maximum RSSI. In response to the statistical measure not satisfying a minimum threshold, other V2X messages 120 from the source (e.g., the road entity 124 or RSU 130) may not be processed unless the RSSI measure crosses the threshold.

[0052] Additional criteria may also be used to filter the V2X messages 120. In one example, the V2X message 120 may include information about one or more objects detected by the road entity 124 or the sensor 106 of the RSU 130. Filtering criteria may additionally be applied by the data filtering application 132 to individual objects contained within the V2X message 120. For example, sensed objects outside of the area 202 may be discarded to reduce processing overhead.

[0053] In yet another example, filtering of V2X messages 120 may also be combined with packet byte size or equivalent C-V2X resource blocks, where large V2X message 120 packets may contain information about multiple objects (e.g., more than one) and are therefore more valuable to process than those with a single object (e.g., smaller V2X message 120 packets or fewer radio level C-V2X resource blocks).

[0054] Figure 6 An exemplary process 600 is shown for performing filtering of V2X messages 120 using dynamic filtering criteria 122 . In one example, the process 600 may be performed by a data filtering application 132 executed by a TCU 110 of a self-aware vehicle 102 .

[0055] At operation 602, the self-aware vehicle 102 identifies the location and travel speed of the self-aware vehicle 102. In one example, the TCU 110 may determine the speed of the self-aware vehicle 102 based on information captured from the controller 104 via one or more vehicle buses 108. For example, the powertrain controller 104A may make information such as road speed or engine speed available to the TCU 110. In another example, the vehicle location may be captured by the TCU 110 from the GNSS controller 104F, and / or the speed from the change in location determined by the GNSS controller 104F. In yet another example, the speed and / or location information may be received from the navigation controller 104H of the self-aware vehicle 102.

[0056] At operation 604, the self-aware vehicle 102 adjusts the distance threshold of the dynamic filtering criteria 122 of the self-aware vehicle 102. In one example, the region of interest 202 may be defined by a distance d around the location of the self-aware vehicle 102. region_of_interest The radius is limited. The distance d region_of_interest May increase as the speed of the self-aware vehicle 102 increases.

[0057] In another example, a set of regions 202 may be defined relative to the position of the self-aware vehicle 102. The set of regions 202 may include a first region 202A (e.g., a region 202B) in front of the self-aware vehicle 102 in the direction of travel of the self-aware vehicle 102. leadsame d ), a second area 202B behind the self-aware vehicle 102 in the direction of travel of the self-aware vehicle 102 (as determined by the distance d lagsame d ), a third area 202C in front of the self-aware vehicle 102 in the opposite direction to the direction of travel of the self-aware vehicle 102 (as determined by the distance d leadoppd ) and a fourth region 202D behind the self-aware vehicle 102 in the opposite direction to the direction of travel of the self-aware vehicle 102 (as determined by the distance d lagopp definition).

[0058] Each of these distances d may be adjusted based on the speed of the self-aware vehicle 102. In one example, the self-aware vehicle 102 may adjust the distances d by increasing d as the speed of the self-aware vehicle 102 increases. leadsame d lagsame d leadopp and d lagopp The self-aware vehicle 102 may adjust one or more distance thresholds d by increasing d leadsame and d leadopp d , because at higher speeds, road entities 124 in the direction of travel of the self-aware vehicle 102 may be considered more relevant. In another example, the self-aware vehicle 102 may adjust one or more distance thresholds by increasing d leadsame and d leadopp Each of the but reducing d lagsame and d lagopp , because at higher speeds, the road entity 124 behind the self-aware vehicle 102 may be less important.

[0059] Regarding the amount of change in distance d, in one example, the amount of increase in one or more distance thresholds may be proportional to the distance traveled per unit time by the self-aware vehicle 102. For example, at thirty miles per hour, the self-aware vehicle 102 may be traveling at approximately forty-four feet per second, while at sixty miles per hour, the self-aware vehicle 102 may be traveling at approximately eighty-eight feet per second. Thus, the distance d may be doubled at sixty miles per hour and thirty miles per hour to provide the same amount of time in processing the V2X message 120 from the upcoming road entity 124.

[0060] At operation 606, the self-aware vehicle 102 receives a V2X message 120. In one example, the TCU 110 may receive the V2X message 120 from a road entity 124, such as a remote vehicle or bicycle. In another example, the TCU 110 may receive the V2X message 120 from an RSU 130 that may be managing an intersection 302 along a road 126. The V2X message 120 may take various forms. In one example, the V2X message 120 may take the form of a BSM message as described in SAE standard document J2735. In another example, the V2X message 120 may take the form of a SDSM message as described in SAE standard document J3224.

[0061] At operation 608, the self-aware vehicle 102 identifies the locations of the road entities 124 based on the V2X message 120. In one example, the V2X message 120 may specify the locations of the sender in the V2X message 120. These may be used as the locations of such road entities 124. In another example, the V2X message 120 may specify the locations of the road entities 124 rather than the sender of the V2X message 120. For example, the RSU 130 may indicate the locations of pedestrians, potholes, or other road entities 124. In such an example, the locations of the road entities 124 may be considered rather than the locations of the senders, which may be less relevant.

[0062] At operation 610, the self-aware vehicle 102 filters the V2X message 120 by location. For example, if the location of the sender specified by the V2X message 120 as determined in operation 608 is within one or more areas 202 adjusted at operation 604, the V2X message 120 may pass. Otherwise, the V2X message 120 may be filtered out.

[0063] At operation 612, the self-aware vehicle 102 optionally performs non-location-based filtering on the V2X message 120. In one example, non-location-based filtering may include filtering based on signal strength. Figure 7 Other aspects of this approach are discussed.

[0064] At operation 614, the self-aware vehicle 102 processes the V2X message 120 as filtered. This may include, for example, passing the V2X message 120 to the autonomous controller 104D to assist in driving the self-aware vehicle 102. In another example, this may include passing the V2X message 120 to the navigation controller 104H and / or the HMI controller 104G for display to the vehicle occupants. In yet another example, this may include, for example, rebroadcasting information about the road entity 124 to other traffic participants using the transceiver 112. After operation 614, the process 600 ends.

[0065] Figure 7 An exemplary process 700 for performing filtering of V2X messages 120 using signal strength is shown. In one example, the process 700 may be performed by a data filtering application 132 executed by a TCU 110 of a self-aware vehicle 102 .

[0066] At operation 702, the self-aware vehicle 102 initializes filtering statistical metrics. This may include initializing to allow all V2X messages 120 from all senders to pass through. In another example, this may include initializing to allow all V2X messages 120 from all senders from which the self-aware vehicle 102 has not received any V2X messages 120 (or has not received a V2X message 120 within a predefined time period) to pass through.

[0067] At operation 704, the self-aware vehicle 102 collects the V2X messages 120. In one example, the self-aware vehicle 102 may utilize the transceiver 112 to scan and accept a plurality of V2X messages 120. At operation 706, the self-aware vehicle 102 identifies the signal strength of the received V2X messages 120. The RSSI may be determined based on the RF energy received by the transceiver 112.

[0068] At operation 708, the self-aware vehicle 102 filters the V2X messages 120 according to the statistical metric. For example, if the V2X messages 120 from a sender do not satisfy the statistical metric calculated for the sender, the V2X messages 120 from the sender may be filtered out and not processed. For example, if the mean, median, or maximum RSSI of the sender does not satisfy a predefined mean, median, and or maximum RSSI threshold for the sender, the V2X messages 120 from the sender may be filtered out. Thus, in response to the statistical metric not satisfying the minimum threshold, other V2X messages 120 from the source (e.g., the road entity 124 or RSU 130) may not be processed unless the RSSI metric crosses the threshold. However, if the mean, median, or maximum RSSI of the sender exceeds the threshold, the V2X messages 120 from the sender may be processed. Moreover, if the information received from the sender is insufficient to calculate the statistical metric for the sender, the V2X messages 120 may also be allowed to be processed.

[0069] At operation 710, the self-aware vehicle 102 determines whether a collection period has elapsed. In one example, the self-aware vehicle 102 may collect V2X messages 120 from each source within an interval (such as one second or less) for application processing. In response to the collection period being completed (e.g., every second), control passes to operation 712. Otherwise, control returns to operation 704 to continue collecting V2X messages 120.

[0070] At operation 712, the self-aware vehicle 102 updates the statistical metric. In one example, for each uniquely identified sender (e.g., road entity 124) in the collected V2X messages 120, the data filtering application 132 can derive a statistical metric of the RSSI of the received V2X messages 120. As some non-limiting examples, the statistical metric can include a mean, a median, or a maximum RSSI. The statistical metric can then be used to process the V2X messages 120 in future collection periods. In some examples, if insufficient V2X messages 120 were received from a sender that previously had a recorded statistical metric, all messages from that V2X message 120 can be allowed again. After operation 712, the process 700 returns to operation 702.

[0071] Additional criteria may also be used to filter the V2X messages 120. In one example, the V2X message 120 may include information about one or more objects detected by the road entity 124 or the sensor 106 of the RSU 130. Filtering criteria may additionally be applied by the data filtering application 132 to individual objects contained within the V2X message 120. For example, sensed objects outside of the area 202 may be discarded to reduce processing overhead.

[0072] Therefore, the disclosed method for filtering V2X messages 120 collaboratively combines V2X messages 120 from multiple broadcasters without duplication of information and loss of critical information. Moreover, the disclosed method reduces the computational load of consumers of V2X message 120 applications on the self-aware vehicle 102.

[0073] Variations of the disclosed method are contemplated. In one example, the process 700 may be used to first filter the V2X messages 120 by signal strength, and then only the V2X messages 120 that meet the filter may be processed by the process 600 according to the dynamic filtering criteria 122 .

[0074] Figure 8 An example 800 of a computing device 802 for performing filtering of V2X messages 120 using dynamic filtering criteria 122 is shown. Figure 8 , and refer to Figures 1 to 7 , the self-aware vehicle 102, the controller 104, the TCU 110, the transceiver 112, the processor 114, the road entity 124, and the RSU 130 may be examples of such a computing device 802. As shown, the computing device 802 includes a processor 804, which is operatively connected to a storage device 806, a network device 808, an output device 810, and an input device 812. It should be noted that this is merely an example, and a computing device 802 having more, fewer, or different components may be used.

[0075] The processor 804 may include one or more integrated circuits that implement the functions of a central processing unit (CPU) and / or a graphics processing unit (GPU). In some examples, the processor 804 is a system on a chip (SoC) that integrates the functions of a CPU and a GPU. The SoC may optionally include other components (e.g., such as a storage device 806 and a network device 808) into a single integrated device. In other examples, the CPU and GPU are connected to each other via a peripheral connection device (such as a peripheral component interconnect (PCI) express) or another suitable peripheral data connection. In one example, the CPU is a commercially available central processing device that implements an instruction set, such as one of the x86, ARM, Power, or microprocessor (MIPS) instruction set families without interlocked pipeline stages.

[0076] Regardless of the details, during operation, the processor 804 executes stored program instructions, such as those of the data filtering application 132, retrieved from the storage device 806. The stored program instructions accordingly include software that controls the operation of the processor 804 to perform the operations described herein. The storage device 806 may include both non-volatile memory devices and volatile memory devices. Non-volatile memory includes solid-state memory, such as NAND flash memory, magnetic storage media, and optical storage media, or any other suitable data storage device that retains data when the system is disabled or loses power. Volatile memory includes static and dynamic random access memory (RAM) that stores program instructions and data during operation of the system 100. Examples of data stored to the storage device 806 may include V2X messages 120, dynamic filtering criteria 122, etc.

[0077] The GPU may include hardware and software for displaying at least two-dimensional (2D) and optionally three-dimensional (3D) graphics to an output device 810. The output device 810 may include a graphics or visual display device, such as an electronic display screen, a projector, a printer, or any other suitable device for reproducing a graphical display. As another example, the output device 810 may include an audio device, such as a speaker or headphones. As yet another example, the output device 810 may include a tactile device, such as a mechanically elevable device, which in one example may be configured to display Braille or another physical output that may be touched to provide information to a user.

[0078] Input device 812 may include any of a variety of devices that enable computing device 802 to receive control input from a user. Examples of suitable input devices that receive human interface input may include a keyboard, mouse, trackball, touch screen, voice input device, graphics tablet, etc.

[0079] The network devices 808 may each include any of a variety of devices that enable the vehicle 102 and the road entity 124 to send and / or receive data from an external device over a network. Examples of suitable network devices 808 include an Ethernet interface, a Wi-Fi transceiver, a cellular transceiver, or a Bluetooth or Bluetooth Low Energy (BLE) transceiver, an ultra-wideband (UWB) transceiver, or other network adapters or peripheral interconnect devices that receive data from another computer or external data storage device, which may be used to receive large data sets in an efficient manner.

[0080] The process, method or algorithm disclosed herein may be delivered to / implemented by a processing device, a controller or a computer, which may include any existing programmable electronic control unit or a dedicated electronic control unit. Similarly, the process, method or algorithm may be stored as data and instructions that can be executed by a controller or a computer in many forms, including but not limited to information permanently stored on a non-writable storage medium such as a read-only memory (ROM) device and information that can be modified and stored on a writable storage medium such as a floppy disk, a tape, a compact disk (CD), a RAM device and other magnetic and optical media. The process, method or algorithm may also be implemented as a software executable object. Alternatively, the process, method or algorithm may be embodied in whole or in part using a suitable hardware component or a combination of hardware, software and firmware components, such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a state machine, a controller or other hardware component or device.

[0081] Although exemplary embodiments are described above, these embodiments are not intended to describe all possible forms covered by the claims. The words used in the specification are descriptive words rather than restrictive words, and it should be understood that various changes can be made without departing from the spirit and scope of the present disclosure. As previously described, the features of various embodiments can be combined to form other embodiments of the present invention that may not be explicitly described or shown. Although various embodiments may have been described as providing advantages or being superior to other embodiments or prior art implementations in terms of one or more desired characteristics, it should be recognized by those of ordinary skill in the art that one or more features or characteristics can be compromised to achieve the desired overall system properties, depending on the specific application and implementation. These properties may include, but are not limited to, strength, durability, life cycle, marketability, appearance, packaging, size, serviceability, weight, manufacturability, ease of assembly, etc. For this reason, in terms of one or more characteristics, to the extent that any embodiment is described as less than other embodiments or prior art implementations are ideal, these embodiments are not outside the scope of the present disclosure and may be desired for specific applications.

[0082] With respect to the processes, systems, methods, heuristics, etc. described herein, it should be understood that although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes may be practiced by performing the described steps in an order different from that described herein. It should also be understood that certain steps may be performed simultaneously, other steps may be added, or certain steps described herein may be omitted. In other words, the description of the processes herein is provided for the purpose of illustrating certain embodiments and should in no way be construed as limiting the claims.

[0083] Therefore, it should be understood that the above description is intended to be illustrative and not restrictive. Upon reading the above description, many embodiments and applications other than the examples provided will be apparent. The scope should not be determined with reference to the above description, but should be determined with reference to the entire scope of the appended claims and equivalents to which such claims are entitled. It is expected and anticipated that the technology discussed herein will develop in the future, and the disclosed systems and methods will be incorporated into such future embodiments. In short, it should be understood that the present application is capable of modification and variation.

[0084] All terms used in the claims are intended to be given their broadest reasonable constructions and their ordinary meanings as understood by persons skilled in the art described herein unless an explicit indication to the contrary is given herein. Specifically, use of singular articles such as "a," "an," "the," and "said" should be construed to recite one or more of the indicated elements unless a claim recites an explicit limitation to the contrary.

[0085] An abstract of the present disclosure is provided to allow the reader to quickly determine the nature of the technical disclosure. It should be understood that the abstract will not be used to interpret or limit the scope or meaning of the claims. In addition, in the aforementioned detailed description, it can be seen that various features are grouped together in various embodiments for the purpose of making the text of the present disclosure flow smoothly. This method of the present disclosure should not be interpreted as reflecting the intention that the claimed embodiments require more features than the features explicitly recited in each claim. Instead, as reflected in the attached claims, the inventive subject matter lies in less than all the features of a single disclosed embodiment. Therefore, the attached claims are hereby incorporated into the detailed description, with each claim itself as a separately claimed subject matter.

[0086] Although exemplary embodiments are described above, these embodiments are not intended to describe all possible forms of the present invention. Rather, the words used in the specification are descriptive rather than restrictive terms, and it should be understood that various changes may be made without departing from the spirit and scope of the present invention. In addition, the features of the various embodiments of implementation may be combined to form other embodiments of the present invention.

[0087] According to the present invention, a self-aware road entity for performing filtering of vehicle-to-everything (V2X) messages is provided, which comprises: a transceiver; and one or more controllers of the self-aware road entity, the one or more controllers being configured to identify the travel speed of the self-aware road entity, adjust one or more distance thresholds of a dynamic filtering criterion according to the identified speed, receive vehicle-to-everything (V2X) messages via the transceiver, identify the position of a remote road entity indicated by the V2X message from the V2X message, filter the V2X message based on whether the position of the remote road entity is within the one or more distance thresholds, and process the V2X message only if the V2X message is not filtered out.

[0088] According to an embodiment, processing the V2X message only if the V2X message is not filtered reduces resource usage due to the filtered V2X messages.

[0089] According to an embodiment, the one or more controllers are further configured to: identify a route of the self-aware road entity; and calculate the one or more distance thresholds based on a distance from the self-aware road entity to the position of the remote road entity along the route.

[0090] According to an embodiment, the one or more distance thresholds comprise a radial distance around the self-aware road entity.

[0091] According to an embodiment, the one or more distance thresholds include: a first distance threshold, which is defined as a first area in front of the self-awareness road entity in the direction of travel of the self-awareness road entity; a second distance threshold, which is defined as a second area behind the self-awareness road entity in the direction of travel of the self-awareness road entity; a third distance threshold, which is defined as a third area in front of the self-awareness road entity in the opposite direction to the direction of travel of the self-awareness road entity; and a fourth distance threshold, which is defined as a fourth area behind the self-awareness road entity in the opposite direction to the direction of travel of the self-awareness road entity.

[0092] According to an embodiment, adjusting the one or more distance thresholds comprises increasing each of the first distance threshold, the second distance threshold, the third distance threshold, and the fourth distance threshold as the speed of the self-aware road entity increases.

[0093] According to an embodiment, adjusting the one or more distance thresholds comprises increasing the first and third distance thresholds as the speed of the self-aware road entity increases.

[0094] According to an embodiment, adjusting the one or more distance thresholds comprises decreasing the second distance threshold and a fourth distance threshold as the speed of the self-aware road entity increases.

[0095] According to an embodiment, the amount by which the one or more distance thresholds are increased is proportional to the distance travelled by the self-aware road entity per unit time.

[0096] According to an embodiment, the one or more controllers are also configured to: receive a V2X message from the remote road entity within a predefined time period; derive a statistical measure of a received signal strength indicator (RSSI) of the V2X message within the time period; and filter out the V2X message in response to the statistical measure not satisfying a threshold within the time period.

[0097] According to an embodiment, the statistical measure is the mean, median or maximum RSSI over the time period.

[0098] According to an embodiment, the self-aware road entity is a self-aware vehicle.

[0099] According to an embodiment, the self-aware road entity is a roadside unit (RSU).

[0100] According to the present invention, a method for performing filtering of V2X messages by a self-aware road entity includes: identifying the travel speed of the self-aware road entity; adjusting one or more distance thresholds of a dynamic filtering criterion according to the identified speed; receiving a vehicle-to-the-world (V2X) message via a transceiver of the self-aware road entity; identifying the position of a remote road entity indicated by the V2X message from the V2X message; filtering the V2X message based on whether the position of the remote road entity is within the one or more distance thresholds; and processing the V2X message only if the V2X message is not filtered out.

[0101] In one aspect of the invention, performing application layer processing of the V2X message only if the V2X message is not filtered reduces resource usage of the self-aware road entity.

[0102] In one aspect of the invention, the method comprises: identifying a route of a self-aware road entity; and calculating the one or more distance thresholds based on a distance of the self-aware road entity to the location of the remote road entity along the route.

[0103] In one aspect of the invention, the one or more distance thresholds include a radial distance around the self-aware road entity.

[0104] In one aspect of the present invention, the one or more distance thresholds include: a first distance threshold, which is defined as a first area in front of the self-awareness road entity in the direction of travel of the self-awareness road entity; a second distance threshold, which is defined as a second area behind the self-awareness road entity in the direction of travel of the self-awareness road entity; a third distance threshold, which is defined as a third area in front of the self-awareness road entity in the opposite direction to the direction of travel of the self-awareness road entity; and a fourth distance threshold, which is defined as a fourth area behind the self-awareness road entity in the opposite direction to the direction of travel of the self-awareness road entity.

[0105] In one aspect of the invention, adjusting the one or more distance thresholds includes increasing each of the first, second, third, and fourth distance thresholds as the speed of the self-aware road entity increases.

[0106] In one aspect of the invention, adjusting the one or more distance thresholds includes increasing the first and third distance thresholds as the speed of the self-aware road entity increases.

[0107] In one aspect of the invention, adjusting the one or more distance thresholds includes decreasing the second distance threshold and the fourth distance threshold as the speed of the self-aware road entity increases.

[0108] In one aspect of the invention, the amount by which the one or more distance thresholds are increased is proportional to the distance traveled by the self-aware road entity per unit time.

[0109] In one aspect of the present invention, the method includes: receiving a V2X message from the remote road entity within a predefined time period; deriving a statistical measure of a received signal strength indicator (RSSI) of the V2X message within the time period; and filtering out the V2X message in response to the statistical measure not satisfying a threshold within the time period, wherein the statistical measure is a mean, median, or maximum RSSI within the time period.

[0110] According to the present invention, a non-transitory computer-readable medium is provided, which has instructions for filtering V2X messages by an autonomous vehicle, which when executed by one or more controllers causes the one or more controllers to perform operations including the following: identifying a travel speed of the self-aware vehicle; adjusting one or more distance thresholds of a dynamic filtering criterion based on the identified speed; receiving a vehicle-to-the-world (V2X) message via a transceiver of the self-aware vehicle; identifying a position of a remote road entity indicated by the V2X message from the V2X message; deriving a statistical measure of received signal strength indicators (RSSIs) of other V2X messages from the remote road entity within a time period; filtering out the V2X message in response to the statistical measure not satisfying a threshold within the time period, wherein the statistical measure is a mean, median, or maximum RSSI within the time period; filtering out the V2X message based on whether the position of the remote road entity is within the one or more distance thresholds; and processing the V2X message only if the V2X message is not filtered out.

[0111] According to an embodiment, performing application layer processing of the V2X message only if the V2X message is not filtered reduces resource usage of the self-aware road entity.

Claims

1. A self-aware road entity for performing filtering of vehicle-to-external (V2X) messages, comprising: Transceiver; as well as one or more controllers of the self-aware road entity, the one or more controllers configured to identify a speed of travel of the self-aware road entity, adjusting one or more distance thresholds of a dynamic filtering criterion based on the identified speed, receiving a vehicle-to-everything (V2X) message via the transceiver, identifying from the V2X message a location of a remote road entity indicated by the V2X message, filtering the V2X message based on whether the location of the remote road entity is within the one or more distance thresholds, The V2X message is processed only if the V2X message is not filtered out.

2. The self-aware road entity of claim 1 , wherein processing the V2X message only if the V2X message is not filtered out reduces resource usage due to the filtered out V2X messages.

3. The self-aware road entity of claim 1, wherein the one or more controllers are further configured to: identifying a route of the self-aware road entity; and The one or more distance thresholds are calculated based on a distance of the self-aware road entity to the location of the remote road entity along the route.

4. The self-aware road entity of claim 1, wherein the one or more distance thresholds include a radial distance around the self-aware road entity.

5. The self-aware road entity of claim 1, wherein the one or more distance thresholds include: a first distance threshold, the first distance threshold being defined in a first area in front of the self-aware road entity in a direction of travel of the self-aware road entity; a second distance threshold value, the second distance threshold value defining a second area behind the self-aware road entity in the direction of travel of the self-aware road entity; a third distance threshold value, the third distance threshold value defining a third area in front of the self-aware road entity in a direction opposite to the direction of travel of the self-aware road entity; and A fourth distance threshold is defined in a fourth area behind the self-aware road entity in the opposite direction to the direction of travel of the self-aware road entity.

6. The self-aware road entity of claim 5, wherein adjusting the one or more distance thresholds comprises increasing each of the first distance threshold, the second distance threshold, the third distance threshold, and the fourth distance threshold as the speed of the self-aware road entity increases.

7. The self-aware road entity of claim 5, wherein adjusting the one or more distance thresholds comprises increasing the first distance threshold and a third distance threshold as the speed of the self-aware road entity increases.

8. The self-aware road entity of claim 7, wherein adjusting the one or more distance thresholds comprises decreasing the second distance threshold and a fourth distance threshold as the speed of the self-aware road entity increases.

9. The self-aware road entity of claim 1, wherein the amount by which the one or more distance thresholds are increased is proportional to the distance traveled by the self-aware road entity per unit time.

10. The self-aware road entity of claim 1, wherein the one or more controllers are further configured to: receiving a V2X message from the remote road entity within a predefined time period; deriving a statistical measure of a received signal strength indicator (RSSI) of the V2X message over the time period; and The V2X message is filtered out in response to the statistical metric not satisfying a threshold within the time period.

11. The self-aware road entity of claim 10, wherein the statistical measure is a mean, median, or maximum RSSI over the time period.

12. The self-aware road entity of claim 1, wherein the self-aware road entity is a self-aware vehicle.

13. The self-aware road entity of claim 1, wherein the self-aware road entity is a roadside unit (RSU).

14. A method for performing filtering of V2X messages by a self-aware road entity, comprising: identifying a travel speed of the self-aware road entity; adjusting one or more distance thresholds of a dynamic filtering criterion based on the identified speed; receiving vehicle-to-external (V2X) messages via a transceiver of the self-aware road entity; identifying, from the V2X message, a location of a remote road entity indicated by the V2X message; filtering the V2X message based on whether the location of the remote road entity is within the one or more distance thresholds; as well as The V2X message is processed only if the V2X message is not filtered out.

15. A non-transitory computer readable medium comprising instructions for filtering V2X messages by an autonomous aware vehicle, which when executed by one or more controllers cause the one or more controllers to perform operations comprising: identifying a speed of travel of the self-aware vehicle; adjusting one or more distance thresholds of a dynamic filtering criterion based on the identified speed; receiving vehicle-to-everything (V2X) messages via a transceiver of the self-aware vehicle; identifying, from the V2X message, a location of a remote road entity indicated by the V2X message; deriving a statistical measure of received signal strength indicators (RSSIs) of other V2X messages from the remote road entity over a period of time; filtering the V2X message in response to the statistical metric not satisfying a threshold within the time period, wherein the statistical metric is a mean, a median, or a maximum RSSI within the time period; filtering the V2X message based on whether the location of the remote road entity is within the one or more distance thresholds; as well as The V2X message is processed only if the V2X message is not filtered out.

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