System and method for distributing channel load

Abstract

The present disclosure provides a system and method for distributing channel loads. A method includes: receiving a grouping request; identifying a channel load threshold; determining whether a vehicle of the one or more vehicles satisfies a distribution-related criterion; and allocating the vehicle to a roadside unit in a plurality of roadside units. The allocation is based at least on a determination that a communication load of the roadside unit is below a channel load threshold.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to managing channel load associated with wayside units. More specifically, the present disclosure controls distribution of one or more messages transmitted to one or more vehicles. BACKGROUND

[0002] The statements in this section merely provide background information related to the present disclosure and can not constitute prior art.

[0003] Automated vehicle consist generally relies on short-range vehicle-to-infrastructure communication methods. For infrastructure to remotely control vehicles, the infrastructure generates commands and transmits the commands to the vehicles via wayside units. When multiple vehicles are being consigned, the infrastructure needs to transmit multiple commands to all vehicles. However, channel load associated with wayside units is limited by standards defined by the Society of Automotive Engineers, which limits the functionality of wayside units by forcing wayside units to drop data packets instead of delivering the data packets to vehicles when data congestion occurs.

[0004] The present disclosure addresses these and other issues related to managing channel load associated with wayside units. SUMMARY

[0005] This section provides a general summary of the present disclosure and is not a comprehensive disclosure of its full scope or all of its features.

[0006] The present disclosure provides a method comprising: receiving a grouping request from a first vehicle of one or more vehicles; identifying a channel load threshold for a roadside unit of a plurality of roadside units; determining whether the first vehicle satisfies a distribution-related criterion based on the grouping request; and assigning the first vehicle to the roadside unit of the plurality of roadside units, wherein the assignment of the first vehicle is based on a determination that a communication load of the roadside unit is below a channel load threshold and a determination that the first vehicle satisfies the distribution-related criterion; wherein the assignment of the first vehicle is determined based at least in part on using an algorithm configured to maximize a number of vehicles assigned to the roadside unit of the plurality of roadside units; wherein the channel load threshold indicates a capability of the roadside unit of the plurality of roadside units to support communication with the first vehicle; wherein the distribution-related criterion comprises a distance of the first vehicle from the roadside unit of the plurality of roadside units, a message priority, a received signal strength indicator, a signal quality at the roadside unit of the plurality of roadside units, or a combination thereof; the method further comprising: updating one or more priorities associated with grouping of a second vehicle of the one or more vehicles; identifying a channel load threshold for the roadside unit of the plurality of roadside units based on the updated one or more priorities and a grouping request received from the second vehicle; determining whether the second vehicle satisfies the distribution-related criterion based on the updated one or more priorities; assigning the second vehicle to an alternative roadside unit of the plurality of roadside units, wherein the assignment is based on a determination that a communication load of the roadside unit meets or exceeds the channel load threshold and a determination that the second vehicle satisfies the distribution-related criterion; wherein the assignment of the second vehicle is further based on the channel load threshold of the alternative roadside unit of the plurality of roadside units being below the channel load threshold; and wherein the one or more priorities are determined based at least on priorities associated with the channel load threshold and the distribution-related criterion.

[0007] The present disclosure provides a method comprising: for each message of one or more messages, calculating a message ranking score based on one or more distribution-related criteria; ordering the one or more messages in a plurality of virtual queues based on the message ranking score of each message of the one or more messages; determining a number of messages that each road-side unit of a plurality of road-side units can transmit to one or more vehicles based on a congestion limit associated with each road-side unit of the plurality of road-side units; and assigning each vehicle of the one or more vehicles to a respective road-side unit of the plurality of road-side units, wherein the assigning is based on the determination of the number of messages that each road-side unit of the plurality of road-side units can transmit to the one or more vehicles and an order in which the one or more messages are ordered; wherein the assigning is determined based at least in part on using an algorithm configured to maximize a number of vehicles of the one or more vehicles assigned to each road-side unit of the plurality of road-side units; wherein each virtual queue of the plurality of virtual queues is associated with a respective road-side unit of the plurality of road-side units; wherein the one or more distribution-related criteria comprises a distance of each vehicle of the one or more vehicles from each road-side unit of the plurality of road-side units, a message priority, a received signal strength indicator, a signal quality at each road-side unit of the plurality of road-side units, or a combination thereof; wherein determining the number of messages that each road-side unit of the plurality of road-side units can transmit to the one or more vehicles further comprises: identifying, in each virtual queue of the plurality of virtual queues, which of the virtual queues have at least one instance of a message of the one or more messages that is below a congestion limit; identifying, in any virtual queue of the plurality of virtual queues, any duplicate messages of the one or more messages; removing an identified duplicate message having a lowest message ranking score; and transmitting the removed duplicate message to one or more virtual queues of the plurality of virtual queues that do not have at least one instance of the message of the one or more messages that is below the congestion limit; and the method further comprises: identifying, in any virtual queue of the plurality of virtual queues, an identified duplicate message having a highest message ranking score; and preserving, based on each virtual queue of the plurality of virtual queues having at least one instance of the message of the one or more messages that is below the congestion limit, the identified duplicate message having the highest message ranking score in the virtual queue having the identified duplicate message.

[0008] The present disclosure provides a system comprising: a central server configured to: receive a platooning request from a first vehicle of one or more vehicles; identify a channel load threshold for a roadside unit of a plurality of roadside units; determine whether the first vehicle satisfies a distribution-related criterion based on the platooning request; and assign the first vehicle to the roadside unit of the plurality of roadside units, wherein the assignment of the first vehicle is based on a determination that a communication load of the roadside unit is below a channel load threshold and a determination that the first vehicle satisfies the distribution-related criterion; and the first vehicle is configured to: transmit the platooning request to the central server; wherein the assignment of the first vehicle is determined based at least in part on using an algorithm configured to maximize a number of vehicles assigned to the roadside unit of the plurality of roadside units; wherein the channel load threshold indicates a capability of the roadside unit of the plurality of roadside units to support communication with the first vehicle; wherein the distribution-related criterion comprises a distance of the first vehicle from the roadside unit of the plurality of roadside units, a message priority, a received signal strength indicator, a signal quality at the roadside unit of the plurality of roadside units, or a combination thereof; wherein the central server is further configured to: update one or more priorities associated with platooning of a second vehicle of the one or more vehicles; identify a channel load threshold for the roadside unit of the plurality of roadside units based on the updated one or more priorities and a platooning request received from the second vehicle; determine whether the second vehicle satisfies the distribution-related criterion based on the updated one or more priorities; assign the second vehicle to an alternative roadside unit of the plurality of roadside units, wherein the assignment is based on a determination that a communication load of the roadside unit meets or exceeds the channel load threshold and a determination that the second vehicle satisfies the distribution-related criterion; wherein the assignment of the second vehicle is further based on the channel load threshold of the alternative roadside unit of the plurality of roadside units being lower than the channel load threshold; and wherein the one or more priorities are determined based at least on priorities associated with the channel load threshold and the distribution-related criterion.

[0009] Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0010] So that the disclosure can be well understood, various forms thereof will now be described, by way of example, with reference to the drawings in which:

[0011] Figure 1 A system for autonomous vehicle platooning is shown in accordance with various implementations;

[0012] Figure 2 process flows associated with algorithms for making vehicle platoons are shown in accordance with various implementations:

[0013] Figure 3 process flows associated with algorithms for making vehicle platoons are shown in accordance with various implementations: Figure 2 depicted in the algorithms;

[0014] Figure 4 example scenarios associated with vehicle platoons are shown in accordance with various implementations;

[0015] Figure 5 is a flow diagram illustrating an example method for managing distribution of one or more messages to autonomous vehicles in accordance with various implementations; and

[0016] Figure 6 is a flow diagram illustrating another example method for managing distribution of one or more messages to autonomous vehicles in accordance with various implementations.

[0017] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure in any way. DETAILED DESCRIPTION

[0018] The following description is merely exemplary in nature and is not intended to limit the disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

[0019] The present disclosure provides for a reduction in congestion of channel load associated with roadside units (RSUs) in relation to distribution of one or more messages to one or more autonomous vehicles. For example, channel load can represent a fraction of time and / or bandwidth that has been allocated to an RSU-to-vehicle link (e.g., a 5% channel limit that is allowed to be occupied by a particular link transmission). One or more examples rely on a plurality of RSUs and / or algorithms for allocating channel load such that no single RSU is responsible for sending messages within a congestion limit associated with the RSU. For example, distribution of channel load is provided as an optimization of channel quality to enhance communication between an infrastructure system and autonomous vehicles. As another example, such an optimization routine addresses any issues that arise from congestion by a single RSU when multiple autonomous vehicles are platooned. As an additional example, such an optimization routine optimizes delivery of one or more messages from a central server associated with an infrastructure system to autonomous vehicles.

[0020] Figure 1An organization system 100 that facilitates engagement of one or more autonomous vehicles 102a-102e with infrastructure systems (not shown) is shown. Generally, an automated vehicle organization (AVM) central server edge 104 (e.g., an edge processor) is connected to one or more RSUs 106a-106c. For example, the AVM central server edge 104 is connected to the one or more RSUs 106a-106c through a wireless device, a wired device, or a combination thereof. The AVM central server edge 104 is also connected to one or more sensor infrastructures 108a-108e. For example, the AVM central server edge 104 is connected to the one or more sensor infrastructures 108a-108e through a wireless device, a wired device, or a combination thereof.

[0021] The AVM central server edge 104 is configured to determine a location of any of the one or more autonomous vehicles 102a-102e with sensor data received from the one or more sensor infrastructures 108a-108e. Each of the one or more sensor infrastructures 108a-108e includes a set of infrastructure sensors 110, such as, for example, two-dimensional (2D) cameras, three-dimensional (3D) cameras, infrared sensors, radar scanners, laser scanners, light detection and ranging (lidar) sensors, ultrasonic sensors, and the like. The set of infrastructure sensors 110 monitors movement of each of the one or more autonomous vehicles 102a-102e as the one or more autonomous vehicles 102a-102e move through an environment (e.g., a manufacturing environment or a parking lot).

[0022] In one or more examples, the sensor data is generated based on a type of monitoring performed by the set of infrastructure sensors 110 (e.g., movement of each of the one or more autonomous vehicles 102a-102e or the environment itself). In one form, the one or more sensor infrastructures 108a-108e provide pose, route, and obstacle data of the environment to the AVM central server edge 104.

[0023] The AVM central server edge 104 is also configured to utilize the one or more RSUs 106a-106c to facilitate communication between the AVM central server edge 104 and any of the one or more autonomous vehicles 102a-102e. The one or more RSUs 106a-106c are equipped with cellular vehicle-to-infrastructure communication systems (referred to as “CV2X systems”). As one example, the one or more RSUs 106a-106c are equipped with PC5-based CV2X that employs radio frequency sidelink communication to enable low-latency vehicle sensor connectivity.

[0024] Each of the one or more RSUs 106a-106c is configured to receive one or more infrastructure-side data packets from the AVM central server edge 104. Generally, each of the one or more RSUs 106a-106c can include various means for performing the operations described herein, such as but not limited to a transceiver, a processor circuit, a memory circuit, a router, and / or input / output interface hardware. For example, the one or more infrastructure-side data packets can include one or more instructions, one or more signals, or a combination thereof. Each of the one or more RSUs 106a-106c is further configured to broadcast the one or more infrastructure-side data packets to any of the one or more autonomous vehicles 102a-102e within a range of the one or more RSUs 106a-106c. As another example, the one or more infrastructure-side data packets are generated in accordance with one or more marshalling infrastructure messages (MIMs). As another example, each of the one or more RSUs 106a-106c is configured to broadcast the one or more infrastructure-side data packets via one or more wireless communication protocols, such as a CV2X protocol, a dedicated and / or public cellular protocol, a Wi-Fi protocol, a Long Range (LoRA) signal protocol, a Bluetooth protocol, and / or a UWB protocol.

[0025] Each of the one or more RSUs 106a-106c is further configured to receive one or more vehicle-side data packets including one or more marshalling vehicle messages (MVMs) from any of the one or more autonomous vehicles 102a-102e. Each of the one or more RSUs 106a-106c is additionally configured to forward the one or more vehicle-side data packets to the AVM central server edge 104.

[0026] Figure 1 A plurality of RSU network zones 112a-112c are further shown. It should be appreciated that there can be any number of RSU network zones. Each of the plurality of RSU network zones 112a-112c provides network coverage with an overlap region corresponding to at least a midpoint between each of the one or more RSUs 106a-106c. For example, the RSU network zone 112a provides network coverage with an overlap region corresponding to at least a midpoint between the RSU 106a and the RSU 106b. As another example, the RSU network zone 112b provides network coverage with an overlap region corresponding to at least a midpoint between the RSU 106a and the RSU 106b and a midpoint between the RSU 106b and the RSU 106c. As yet another example, the RSU network zone 112c provides network coverage with an overlap region corresponding to at least a midpoint between the RSU 106b and the RSU 106c.

[0027] However, each of the plurality of RSU network zones 112a-112c helps support network coverage for each of the one or more autonomous vehicles 102a-102e. For example, in a case where an autonomous vehicle of the one or more autonomous vehicles 102a-102e travels away from the RSU 106a and toward the RSU 106b covering the overlapping handoff zone 114a, both RSUs 106a, 106b transmit one or more infrastructure-side data packets to the autonomous vehicle of the one or more autonomous vehicles 102a-102e for best coverage. As another example, in a case where an autonomous vehicle of the one or more autonomous vehicles 102a-102e travels away from the RSU 106b and toward the RSU 106c covering the overlapping handoff zone 114b, both RSUs 106b, 106c transmit one or more infrastructure-side data packets to the autonomous vehicle of the one or more autonomous vehicles 102a-102e for best coverage. As yet another example, either of the RSU pairs 106a, 106b and / or 106b, 106c supplements the respective network coverage provided by each of the one or more RSUs 106a-106c to any of the one or more autonomous vehicles 102a-102e. As one example, each of the one or more autonomous vehicles 102a-102e is configured to transmit one or more vehicle-side data packets back to the one or more RSUs 106a-106c.

[0028] The AVM central server edge 104 is additionally configured to determine a precise location of any of the one or more autonomous vehicles 102a-102e. For example, the AVM central server edge 104 can determine the precise location of any of the one or more autonomous vehicles 102a-102e based at least on the sensor data and / or the one or more vehicle-side data packets. It should be appreciated that each of the one or more vehicle-side data packets can include a received signal strength indicator (RSSI) associated with an originating autonomous vehicle of the one or more autonomous vehicles 102a-102e. The AVM central server edge 104 is further configured to determine a RSU of the one or more RSUs 106a-106c that is closest (e.g., in distance) to any of the one or more autonomous vehicles 102a-102e. For example, the AVM central server edge 104 can determine the RSU of the one or more RSUs 106a-106c that is closest (e.g., in distance) to any of the one or more autonomous vehicles 102a-102e based at least on the sensor data and / or the one or more vehicle-side data packets.

[0029] The AVM central server edge 104 is further configured to generate a combined RSU selection metric to assign one or more infrastructure-side data packets to a particular RSU of the one or more RSUs 106a-106c. For example, the AVM central server edge 104 can generate the combined RSU selection metric based on a distance from a particular autonomous vehicle of the one or more autonomous vehicles 102a-102e and / or an RSSI.

[0030] The AVM central server edge 104 is configured to run an optimization routine to facilitate distribution and assignment of the one or more infrastructure-side data packets on each of the one or more RSUs 106a-106c as each of the one or more autonomous vehicles 102a-102e platoons in the environment. For example, the AVM central server edge 104 is configured to maximize distribution of the one or more infrastructure-side data packets on each of the one or more RSUs 106a-106c. However, satisfying one or more constraints can be a prerequisite for any of the one or more autonomous vehicles 102a-102e to be assigned to a RSU of the one or more RSUs 106a-106c. For example, in a case where the one or more constraints are not satisfied, any of the one or more autonomous vehicles 102a-102e can be assigned to a RSU of the one or more RSUs 106a-106c and will continue to wait for a platooning instruction from the AVM central server edge 104.

[0031] The one or more constraints can include, for example, a channel load capacity and / or a distance threshold. More specifically, in some examples, a channel load capacity of each of the RSUs of the one or more RSUs 106a-106c will be less than a maximum value defined by the Society of Automotive Engineers (SAE). Additionally, the distance threshold will be less than a predefined distance between any of the RSUs of the one or more RSUs 106a-106c and any of the one or more autonomous vehicles 102a-102e. As an example, the distance threshold is a range of distances that any of the one or more autonomous vehicles 102a-102e can be from a RSU of the one or more RSUs 106a-106c to receive the one or more infrastructure-side data packets.

[0032] As another example, any of the one or more autonomous vehicles 102a-102e can request formation instructions from the AVM central server edge 104 via any of the one or more RSUs 106a- 106c. In this example, the AVM central server edge 104 can assign a priority to the autonomous vehicles 102a-102e that have requested formation instructions based on whether the requesting autonomous vehicle has been assigned to an RSU of the one or more RSUs 106a-106c. As another example, the AVM central server edge 104 can assign a priority to the autonomous vehicles 102a-102e that have requested formation instructions based on whether the requesting autonomous vehicle has been assigned to an RSU of the one or more RSUs 106a-106c. In the case where the requesting autonomous vehicle has not been assigned to an RSU of the one or more RSUs 106a-106c, the requesting autonomous vehicle is assigned a lowest priority relative to any other autonomous vehicle of the one or more autonomous vehicles that requested formation instructions. However, in the case where the requesting vehicle has been assigned to an RSU of the one or more RSUs 106a-106c, the requesting autonomous vehicle is assigned a priority based on a distance threshold.

[0033] In instances in which at least the channel load constraint and / or the distance threshold constraint are satisfied, the AVM central server edge 104 is configured to determine whether the requesting vehicle satisfies distribution-related criteria. For example, the distribution-related criteria include a particular distance from each of the one or more autonomous vehicles 102a-102e to each of the one or more RSUs 106a-106c, a particular message priority associated with each of the one or more MIMs that have been generated for transmission to the one or more autonomous vehicles 102a-102e, a received signal strength indicator associated with each of the one or more autonomous vehicles 102a-102e that is within a predefined parameter that has been identified as acceptable, a signal quality associated with RSUs of the plurality of RSUs 106a-106c that is within a predefined range, or a combination thereof. In instances in which at least the channel load constraint and / or the distance threshold constraint are satisfied and / or the requesting vehicle satisfies the distribution-related criteria, the AVM central server edge 104 is further configured to assign the requesting autonomous vehicle to a particular RSU of the one or more RSUs 106a-106c. The AVM central server edge 104 is further configured to re-run the optimization routine to re-evaluate each of the constraints associated with each of the one or more autonomous vehicles 106a-106c and each of the one or more RSUs 106a-106c. For example, the AVM central server edge 104 can re-run the optimization routine with updated priorities to adjust any assignments provided to any of the one or more autonomous vehicles 102a-102e. As another example, the AVM central server edge 104 can re-run the optimization routine at any predetermined interval. However, it should be understood that the predetermined interval can be adjusted at any time.

[0034] The AVM central server edge 104 is configured to run another optimization routine via utilization of an algorithm to facilitate distribution and assignment of the one or more infrastructure-side data packets on each of the one or more RSUs 106a-106c as each of the one or more autonomous vehicles 102a-102e is grouped in the environment. For example, Figure 2The middle depicts the scheduler 200 associated with the algorithm. Generally, the scheduler 200 illustrates the flow of one or more MIMs while the AVM central server edge 104 processes another optimization routine. As another example, the AVM central server edge 104 receives a request (e.g., at step 202) from any of the one or more autonomous vehicles 102a-102e to request grouping instructions from the AVM central server edge 104 via any of the one or more RSUs 106a- 106c. As yet another example, the AVM central server edge 104 can re-run the optimization routine (e.g., at step 202) with updated priorities to adjust any assignments provided to any of the one or more autonomous vehicles 102a-102e. In either scenario (e.g., receiving a request and / or re-running the optimization routine), the AVM central server edge 104 is configured to process any feedback (e.g., at step 204) from the one or more RSUs 106a-106c that are forwarding one or more vehicle-side data packets to the AVM central server edge 104. As an example, the feedback can be associated with (but not limited to) RSSIs associated with an originating autonomous vehicle of the one or more autonomous vehicles 102a-102e.

[0035] The AVM central server edge 104 is also configured to generate one or more MIMs (e.g., at step 206). For example, the AVM central server edge 104 can generate one or more MIMs at the same time as receiving a request or re-running an optimization routine. As another example, the AVM central server edge 104 can generate one or more MIMs at any time. As another example, the AVM central server edge 104 can generate one or more MIMs based on a request and / or based on a request history. As an additional example, in the case where the AVM central server edge 104 re-runs an optimization routine, one of the updated priorities used to adjust assignments provided to any of the one or more autonomous vehicles 102a-102e can be the request history.

[0036] The AVM central server edge 104 is additionally configured to prioritize (e.g., at step 208) the generated one or more MIMs. For example, the AVM central server edge 104 can prioritize the generated one or more MIMs based at least on channel capacity, distance threshold, and / or virtual queues (e.g., virtual queues 300a, 300b). As an example, a virtual queue is a virtual setup in which the one or more MIMs can be digitally ordered within a computer system (e.g., a computer system associated with any of the one or more RSUs 106a-106c). For example, the AVM central server edge 104 determines one or more distribution related metrics associated with the one or more MIMs prior to transmitting each of the one or more MIMs to the one or more RSUs 106a-106c. As yet another example, the AVM central server edge 104 determines one or more distribution related metrics associated with the one or more MIMs prior to transmitting each of the one or more MIMs to the one or more RSUs 106a-106c such that the one or more MIMs can be prioritized. As another example, the determination of the metrics is based on a particular distance from each of the one or more autonomous vehicles 102a-102e to each of the one or more RSUs 106a-106c, a particular message priority associated with each of the one or more MIMs that are generated for transmission to the one or more autonomous vehicles 102a-102e, a radio frequency (RF) signal quality within a predefined range between each of the one or more autonomous vehicles 102a-102e and each of the one or more RSUs 106a-106c, a received signal strength indicator associated with each of the one or more autonomous vehicles 102a-102e that has been identified to be within a predefined parameter that is acceptable, or a combination thereof. As an additional example, the determination of the metrics is based on the following equation:

[0037] F ij = F 度量 (D ij , P i , Q ij ) = vehicle metric i at RSU j

[0038] where D ij is a distance from each of the one or more autonomous vehicles 102a-102e to each of the one or more RSUs 106a-106c, P i is a message priority associated with each of the one or more MIMs that are generated for transmission to the one or more autonomous vehicles 102a-102e, and Q ijis a radio frequency signal quality between each of the one or more autonomous vehicles 102a-102e and each of the one or more RSUs 106a-106c.

[0039] Figure 3 Each of the virtual queues 300a, 300b is depicted. Each of the virtual queues 300a, 300b illustrates an ordering of the one or more MIMs against a congestion limit 302a, 302b. For example, each of the virtual queues 300a, 300b is configured to order the one or more MIMs. As another example, the AVM central server edge 104 is configured to determine how many of the one or more MIMs do not violate the congestion limit 302a, 302b. As an additional example, the one or more MIMs 304a-304c do not violate the congestion limit because each of the one or more MIMs 304a-304d is below the congestion limit 302a, 302b. As yet another example, the one or more MIMs 304e, 304f violate the congestion limit because each of the one or more MIMs 304e, 304f exceeds the congestion limit.

[0040] For example, each of the one or more RSUs 106a-106c can have a dedicated virtual queue. The virtual queue 300a can be associated with a first RSU of the one or more RSUs 106a-106c, respectively, while the virtual queue 300b can be associated with a second RSU of the one or more RSUs 106a-106c, respectively. As another example, each of the virtual queues 300a, 300b can be associated with all of the RSUs of the one or more RSUs 106a-106c. The AVM central server edge 104 is further configured to identify any of the one or more RSUs 106a-106c that do not have a MIM that is below a congestion limit associated with a virtual queue associated with each of the one or more RSUs 106a-106c in at least one instance.

[0041] The AVM central server edge 104 is additionally configured to identify any duplicate MIMs in the virtual queue corresponding to each of the one or more RSUs 106a- 106c. The AVM central server edge 104 is further configured to remove any duplicate MIMs in the virtual queue corresponding to each of the one or more RSUs 106a-106c to accommodate any MIMs that cannot be included in the virtual queue due to, for example, capability issues. The AVM central server edge 104 is configured to determine that the virtual queue corresponding to each of the one or more RSUs 106a-106c has at least one copy of each of the MIMs below the congestion limit 302a, 302b, such that the AVM central server edge 104 can remove any remaining duplicate MIMs. For example, the duplicate MIMs and / or the remaining duplicate MIMs are removed such that the MIM with the highest computational metric relative to the associated duplicate MIMs is the particular version of the MIM that is retained in the virtual queue. The AVM central server edge 104 is further configured to decide to maintain multiple copies of a MIM based on whether the MIM has a high priority and / or a high volume relative to the computational metrics associated with other MIMs in the virtual queue.

[0042] Referring back to Figure 2 , the AVM central server edge 104 is configured to sort the stream of one or more MIMs (e.g., at step 210). For example, the AVM central server edge 104 can sort the stream of one or more MIMs based on a priority ranking of the one or more MIMs. As another example, the AVM central server edge 104 can sort the stream of one or more MIMs based on a priority assigned to a requesting autonomous vehicle of the one or more autonomous vehicles 102a-102e, an RSSI associated with an originating autonomous vehicle of the one or more autonomous vehicles 102a-102e, a distance from each of the one or more autonomous vehicles 102a-102e to each of the one or more RSUs 106a-106c, a travel route associated with the one or more autonomous vehicles 102a-102e, or a combination thereof.

[0043] The AVM central server edge 104 is further configured to route the one or more MIMs to any of the virtual queues 300a, 300b (e.g., at step 212). For example, the AVM central server edge 104 can route the one or more MIMs based at least on the prioritization of the one or more MIMs. The AVM central server edge 104 is additionally configured to generate one or more data packets based on the one or more MIMs routed to the virtual queue 300a (e.g., at step 214a). The AVM central server edge 104 is further configured to generate one or more data packets based on the one or more MIMs routed to the virtual queue 300b (e.g., at step 214b). The AVM central server edge 104 is further configured to transmit the one or more generated data packets to the one or more RSUs 106a-c (e.g., at step 216). For example, the AVM central server edge 104 is configured to store any of the one or more MIMs that would otherwise overload any of the virtual queues 300a, 300b in a database (e.g., at step 218).

[0044] Figure 4 An example scenario 400 is depicted that illustrates a number of control points 402 that can be used based on the travel routes of one or more autonomous vehicles 102a-e. For example, the network coverage provided by one or more RSUs 106a-c can be limited by the number of control points 402 required by one or more autonomous vehicles 102a-e. As another example, the number of control points required within a first RSU network area 404a (e.g., five control points) can cause the payload of the RSUs associated with the first RSU network 404a to reach a maximum level, thereby limiting the RSUs from providing additional control points to other autonomous vehicles and / or further directing the autonomous vehicle 102c. In contrast, the payload of the RSUs associated with a second RSU network area 404b can accommodate providing additional control points to other autonomous vehicles and / or further directing the autonomous vehicles 102d and 102e. For example, the payload of the RSUs associated with the second RSU network area 404b can accommodate providing additional control points to other autonomous vehicles and / or further directing the autonomous vehicles 102d and 102e based on the number of control points 402 required within the second RSU network area 404b (e.g., two control points).

[0045] Figure 5is a flowchart illustrating an example method 500 for distributing channel load across multiple RSUs (e.g., one or more RSUs 106a-106c). For example, an infrastructure system (not shown) facilitates distribution of channel load. At operation 502, a grouping request is received. For example, the grouping request is received from a first vehicle of one or more vehicles (e.g., one or more autonomous vehicles 102a-102e).

[0046] At operation 504, a channel load threshold is identified. For example, the channel load threshold is identified for a RSU of the multiple RSUs. As another example, the channel load threshold indicates a capability of the RSU of the multiple RSUs to support communication with the first vehicle. At operation 506, a determination is made as to whether the first vehicle satisfies distribution-related criteria. For example, the determination as to whether the first vehicle satisfies distribution-related criteria is based on the grouping request. As another example, the distribution-related criteria includes a distance of the first vehicle from the RSU of the multiple RSUs, a message priority, a received signal strength indicator, a signal quality at the RSU of the multiple RSUs, or a combination thereof.

[0047] At operation 508, the first vehicle is assigned to the RSU of the multiple RSUs. For example, the assignment of the first vehicle is based on a determination that a communication load of the RSU is below the channel load threshold. As another example, the assignment of the first vehicle is based on a determination that the first vehicle satisfies the distribution-related criteria. It is to be understood that the assignment of the first vehicle can be based on a determination that the communication load of the RSU is below the channel load threshold and / or a determination that the first vehicle satisfies the distribution-related criteria. As yet another example, the assignment of the first vehicle is based at least in part on a determination using an algorithm configured to maximize a number of vehicles assigned to the RSU of the multiple RSUs. As another example, maximizing the number of vehicles assigned to the RSU of the multiple RSUs can be a multi-objective maximization. For example, in a case where a priority of each of the one or more vehicles is the same, then the infrastructure system can cause a maximum number of vehicles to be assigned to a particular RSU of the multiple RSUs (e.g., provide equal channel load to each vehicle with respect to each of the connections of the vehicle to the particular RSU). As another example, in a case where a priority of each of the one or more vehicles is different (e.g., based on a traffic topology), then a vehicle with a higher priority is provided a priority, and thus assigned a higher channel load. For example, if a vehicle can potentially block traffic flow at a jam point, in a case where a link of the RSU to the vehicle fails, then the vehicle is provided a higher priority based on the algorithm.

[0048] In an example embodiment, one or more priorities associated with platooning of a second vehicle of the one or more vehicles are updated. For example, the one or more priorities are determined based at least on a priority associated with a channel load threshold. As another example, the one or more priorities are determined based at least on a platooning-related criterion. It is to be understood that the one or more priorities are determined based at least on a priority associated with a channel load threshold and a platooning-related criterion.

[0049] In another example embodiment, a channel load threshold of a RSU of the plurality of RSUs is identified. For example, the channel load threshold of the RSU of the plurality of RSUs is identified based on the updated one or more priorities. As another example, the channel load threshold of the RSU of the plurality of RSUs is identified based on the platooning request received from the second vehicle. It is to be understood that the channel load threshold of the RSU of the plurality of roadside units is identified based on the updated one or more priorities and the platooning request received from the second vehicle. In yet another example embodiment, a determination is made as to whether the second vehicle satisfies a platooning-related criterion. For example, determining whether the second vehicle satisfies the platooning-related criterion is based on the updated one or more priorities.

[0050] In yet another example embodiment, the second vehicle is assigned to an alternative RSU of the plurality of RSUs. For example, assigning the second vehicle to the alternative RSU of the plurality of RSUs is based on determining that the communication load of the roadside unit meets or exceeds the channel load threshold. As another example, assigning the second vehicle to the alternative RSU of the plurality of RSUs is based on determining that the second vehicle satisfies the platooning-related criterion. It is to be understood that assigning the second vehicle to the alternative RSU of the plurality of RSUs is based on determining that the communication load of the roadside unit meets or exceeds the channel load threshold and / or determining that the second vehicle satisfies the platooning-related criterion. As an additional example, the assignment of the second vehicle is further based on the channel load threshold of the alternative RSU of the plurality of RSUs being lower than the channel load threshold.

[0051] Figure 6 FIG. 6 is a flowchart illustrating an example method 600 for distributing channel load across a plurality of RSUs (e.g., one or more RSUs 106a-106c). For example, an infrastructure system (not shown) facilitates the distribution of channel load. At operation 602, a message rating score is computed. For example, the message rating score is computed based on one or more platooning-related criteria. As another example, the message rating score is computed for each message of one or more messages. As yet another example, the one or more platooning-related criteria include a distance of each vehicle of the one or more vehicles from each RSU of the plurality of RSUs, a message priority, a received signal strength indicator, a signal quality at each RSU of the plurality of RSUs, or a combination thereof.

[0052] At operation 604, the one or more messages are ordered. For example, the one or more messages are ordered based on a message ranking score of each message of the one or more messages. As another example, the one or more messages are ordered in a plurality of virtual queues. As yet another example, each virtual queue of the plurality of virtual queues is associated with a respective RSU of the plurality of RSUs.

[0053] At operation 606, a number of messages that each RSU of the plurality of RSUs can transmit to the one or more vehicles is determined. For example, the determination of the number of messages that each RSU of the plurality of RSUs can transmit to the one or more vehicles is based on a congestion limit associated with each RSU of the plurality of RSUs. As an example, which virtual queue of the virtual queues does not have at least one instance of a message of the one or more messages that is below the congestion limit is identified. As yet another example, which virtual queue of each virtual queue of the plurality of virtual queues does not have at least one instance of a message of the one or more messages that is below the congestion limit is identified. As an additional example, any duplicate messages of the one or more messages are identified. For example, any duplicate messages of the one or more messages are identified in any virtual queue of the plurality of virtual queues. As another example, the identified duplicate messages having the lowest message ranking score are removed. As yet another example, the removed duplicate messages are transmitted to one or more virtual queues of the plurality of virtual queues that do not have at least one instance of a message of the one or more messages that is below the congestion limit. As yet another example, the identified duplicate messages having the highest message ranking score are identified. As an additional example, the identified duplicate messages having the highest message ranking score are identified in any virtual queue of the plurality of virtual queues. For example, the identified duplicate messages having the highest message ranking score in a virtual queue having the identified duplicate messages are retained. As another example, the identified duplicate messages having the highest message ranking score in a virtual queue having the identified duplicate messages are retained based on each virtual queue of the plurality of virtual queues having at least one instance of a message of the one or more messages that is below the congestion limit.

[0054] At operation 608, each of the one or more vehicles is assigned to a respective RSU of the plurality of RSUs. For example, the assignment is based on determining a number of messages each RSU of the plurality of RSUs can transmit to the one or more vehicles. As another example, the assignment is based on an order in which the one or more messages are ordered. It should be appreciated that the assignment can be based on determining a number of messages each RSU of the plurality of RSUs can transmit to the one or more vehicles and / or an order in which the one or more messages are ordered. As yet another example, the assignment is determined using an algorithm configured to maximize a number of vehicles of the one or more vehicles assigned to each RSU of the plurality of RSUs. As another example, maximizing a number of vehicles assigned to a RSU of the plurality of RSUs can be a multi-objective maximization. For example, in a case where a priority of each of the one or more vehicles is the same, then the infrastructure system can maximize a number of vehicles assigned to a particular RSU of the plurality of RSUs (e.g., provide equal channel load to each vehicle with respect to each of the vehicle's connections to the particular RSU). As another example, in a case where a priority of each of the one or more vehicles is different (e.g., based on a traffic topology), then a vehicle with a higher priority is provided a priority, thereby assigning a higher channel load to the vehicle. For example, if a vehicle can potentially block a traffic flow at a choke point, in a case where a RSU to vehicle link fails, then the vehicle is provided a higher priority based on the algorithm.

[0055] Accordingly, one or more examples of the present disclosure provide a method for reducing congestion of a channel load associated with a roadside unit in connection with distribution of one or more messages transmitted to one or more vehicles. For example, a reduction in congestion of the channel load is provided by an optimization routine that can include distributing the channel load using an algorithm related to the channel load of the roadside unit and / or various distribution-related criteria such that no single roadside unit is responsible for sending more messages than a congestion limit associated with the roadside unit.

[0056] Unless expressly stated otherwise herein, all numerical values indicating mechanical / thermal properties, constituent percentages, dimensions and / or tolerances or other characteristics, when describing the scope of the disclosure, are to be interpreted in a non-limiting fashion as being modified by the word "about" or "approximately." Such modifications are made for a variety of reasons including: industry practice; material, manufacturing, and assembly tolerances; and testing capabilities.

[0057] As used herein, the phrase at least one of A, B, and C should be construed to mean an inclusive or with respect to that entity A, B, or C, and should not be construed as a permissive or as meaning one of A, B, or C is required among others.

[0058] In this application, the terms "controller" and / or "module" can refer to, be part of, or include an Application Specific Integrated Circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality (e.g., an operational amplifier circuit integrator as part of a heat flux data module); or a combination of some or all of the above, such as in a system-on-chip.

[0059] The term memory is a subset of the term computer-readable medium. The term computer-readable medium, as used herein, does not encompass transitory propagating signals or electromagnetic waves through a medium, such as on a carrier. Thus, the term computer-readable medium can be considered tangible and non-transitory. Non-limiting examples of non-transitory, tangible computer-readable media are nonvolatile memory circuits (such as flash memory circuits, erasable programmable read-only memory (EPROM) circuits, or mask read-only circuits), volatile memory circuits (such as static random access memory (SRAM) circuits or dynamic random access memory (DRAM) circuits), magnetic storage media (such as analog magnetic tapes or digital magnetic tapes or hard disk drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs).

[0060] The apparatus and methods described in this application can be partially or fully implemented by special purpose computers configured to perform one or more specific functions, by a general purpose computer configured to perform one or more specific functions, or by a combination of special purpose and general purpose computers. The functional blocks, flowchart components, and other elements described above serve only as a source of example, and each can be replaced by other technologies carrying out equivalent functions.

[0061] The description of the present disclosure is merely exemplary in nature and, thus, variations that do not depart from the essence of the present disclosure are intended to be within the scope of the present disclosure. Such variations are not to be regarded as a departure from the spirit and scope of the present disclosure.

[0062] According to the present invention, a method includes: calculating, for each message of one or more messages, a message ranking score based on one or more distribution related metrics; ordering the one or more messages in a plurality of virtual queues based on the message ranking score of each message of the one or more messages; determining a number of messages that each road side unit of a plurality of road side units can transmit to one or more vehicles based on a congestion limit associated with each road side unit of the plurality of road side units; and assigning each vehicle of the one or more vehicles to a respective road side unit of the plurality of road side units, wherein the assigning is based on the determination of the number of messages that each road side unit of the plurality of road side units can transmit to the one or more vehicles and an order in which the one or more messages are ordered.

[0063] In one aspect of the present invention, the assigning is based at least in part on determining using an algorithm configured to maximize a number of vehicles of the one or more vehicles assigned to each road side unit of the plurality of road side units.

[0064] In one aspect of the present invention, each virtual queue of the plurality of virtual queues is associated with a respective road side unit of the plurality of road side units.

[0065] In one aspect of the present invention, the one or more distribution related criteria includes a distance of each vehicle of the one or more vehicles from each road side unit of the plurality of road side units, a message priority, a received signal strength indicator, a signal quality at each road side unit of the plurality of road side units, or a combination thereof.

[0066] In one aspect of the present invention, determining the number of messages that each road side unit of the plurality of road side units can transmit to the one or more vehicles further includes: identifying, in each virtual queue of the plurality of virtual queues, which of the virtual queues of the virtual queue do not have at least one instance of a message of the one or more messages that is below a congestion limit; identifying, in any virtual queue of the plurality of virtual queues, any duplicate messages of the one or more messages; removing the identified duplicate messages having a lowest message ranking score; and transmitting the removed duplicate messages to one or more virtual queues of the plurality of virtual queues that do not have at least one instance of a message of the one or more messages that is below a congestion limit.

[0067] In one aspect of the application, the method includes identifying an identified duplicate message having a highest message rating score in any of the plurality of virtual queues; and preserving the identified duplicate message having the highest message rating score in the virtual queue having the identified duplicate message based on each of the plurality of virtual queues having at least one instance of a message in one or more messages below a congestion limit.

Claims

1. A method comprising: receiving a platooning request from a first vehicle of one or more vehicles; identifying a channel load threshold for a roadside unit of a plurality of roadside units; determining whether the first vehicle satisfies a distribution-related criterion based on the platooning request; and assigning the first vehicle to the roadside unit of the plurality of roadside units, wherein the assignment of the first vehicle is based on determining that a communication load of the roadside unit is below the channel load threshold and determining that the first vehicle satisfies the distribution-related criterion.

2. The method of claim 1, wherein the assignment of the first vehicle is based at least in part on being determined using an algorithm configured to maximize a number of vehicles assigned to the roadside unit of the plurality of roadside units.

3. The method of claim 1, wherein the channel load threshold indicates a capability of the roadside unit of the plurality of roadside units to support communication with the first vehicle.

4. The method of claim 1, wherein the distribution-related criterion comprises a distance of the first vehicle from the roadside unit of the plurality of roadside units, a message priority, a received signal strength indicator, a signal quality at the roadside unit of the plurality of roadside units, or a combination thereof.

5. The method of claim 1, further comprising: updating one or more priorities associated with platooning of a second vehicle of the one or more vehicles; identifying the channel load threshold for the roadside unit of the plurality of roadside units based on the updated one or more priorities and a platooning request received from the second vehicle; and determining whether the second vehicle satisfies the distribution-related criterion based on the updated one or more priorities.

6. The method of claim 5, further comprising: assigning the second vehicle to an alternative roadside unit of the plurality of roadside units, wherein the assignment is based on determining that the communication load of the roadside unit meets or exceeds the channel load threshold and determining that the second vehicle satisfies the distribution-related criterion.

7. The method of claim 5, wherein the assignment of the second vehicle is further based on the channel load threshold of the alternative roadside unit of the plurality of roadside units being below the channel load threshold.

8. The method of claim 5, wherein the one or more priorities are determined based at least on priorities associated with the channel load threshold and the distribution-related criterion.

9. A system comprising: a central server configured to: receive a platooning request from a first vehicle of one or more vehicles, identify a channel load threshold for a roadside unit of a plurality of roadside units, determine whether the first vehicle satisfies a distribution-related criterion based on the platooning request, and assign the first vehicle to the roadside unit of the plurality of roadside units, wherein the assignment of the first vehicle is based on determining that a communication load of the roadside unit is below the channel load threshold and determining that the first vehicle satisfies the distribution-related criterion; and the first vehicle configured to: ​ transmitting the grouping request to the central server.

10. The system of claim 9, wherein the assignment of the first vehicle is determined based at least in part using an algorithm configured to maximize a number of vehicles assigned to the road-side units of the plurality of road-side units.

11. The system of claim 9, wherein the channel load threshold indicates a capability of the road-side unit of the plurality of road-side units to support communication with the first vehicle.

12. The system of claim 9, wherein the distribution-related criteria comprises a distance of the first vehicle from the road-side unit of the plurality of road-side units, a message priority, a received signal strength indicator, a signal quality at the road-side unit of the plurality of road-side units, or a combination thereof.

13. The system of claim 9, wherein the central server is further configured to: update one or more priorities associated with a grouping of a second vehicle of the one or more vehicles; identify the channel load threshold of the road-side unit of the plurality of road-side units based on the updated one or more priorities and a grouping request received from the second vehicle; determine whether the second vehicle satisfies the distribution-related criteria based on the updated one or more priorities; and assign the second vehicle to an alternative road-side unit of the plurality of road-side units, wherein the assignment is based on a determination that the communication load of the road-side unit meets or exceeds the channel load threshold and a determination that the second vehicle satisfies the distribution-related criteria.

14. The system of claim 13, wherein the assignment of the second vehicle is further based on the channel load threshold of the alternative road-side unit of the plurality of road-side units being lower than the channel load threshold.

15. The system of claim 13, wherein the one or more priorities are determined based at least on priorities associated with the channel load threshold and the distribution-related criteria.

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