Methods for controlling a carrier vehicle

Abstract

Methods (100, 200, 300, 400, 700, 800) for controlling a carrier vehicle (10), comprising: Acquisition (102) of objects (RO) by means of a control (34) of the carrier vehicle (10), wherein the acquisition (102) of objects (RO) includes receiving remote object data, which includes remote object data class data and location data, and which includes remote vehicles (RV) and remote infrastructure (RI); Assign (104), by the control (34), an object class to each of the detected objects (RO) based on the class data; Assign (106), by the control (34), a priority value for each of the captured objects (RO) based on the object class of each of the captured objects (RO); Assigning (108), by the controller (34), a transmit time interval, TTI, to cooperative sample messages, CSMs, based on the priority value, to modify the TTI of each of the CSMs according to the assigned TTI; Transfer (109) the CSMs to the remote vehicles (RV); where the object class includes an unprotected road user, VRU, class, a vehicle class, a traffic sign class, and another class; where the vehicle class refers to remote vehicles (RV); where the VRU class refers to pedestrians and cyclists; and where the traffic sign class refers to traffic signs and traffic symbols; wherein the assignment (104), by the control (34), of the object class to each of the captured objects (RO) based on the class data includes the assignment (104) of the VRU class to at least one of the remote objects (RO) in response to the capture (102) of the objects (RO) to indicate that at least one of the remote objects (RO) is a VRU; where the assignment (106), by control (34), of the priority value to each of the captured objects (RO) based on the object class of each of the captured objects (RO) includes: Assigning (106, 202, 204) a VRU priority value in response to assigning (106, 204) the VRU class to at least one of the remote objects (RO); Determine (304), based on the location data, that the VRU is moving; Increasing (304) the VRU priority value by an initial, predetermined VRU value in response to determining (304) that the VRU is moving; Determine (306), based on the location data, whether the VRU is located on a sidewalk (CW); Increasing (306) the VRU priority value by a second, predetermined VRU value in response to determining (306) that the VRU is on the sidewalk (CW); and where a change in the VRU priority value is equal to the sum of the first, predetermined VRU value and the second, predetermined VRU value.

Description

Technical field

[0001] The present disclosure relates to a method and system for prioritizing transmission-sensitive objects in a cooperative sensor release network. introduction

[0002] Vehicles can detect objects locally or remotely. This means a carrier vehicle can use its own sensor to detect objects in its environment. Additionally, other vehicles can detect objects, and the carrier vehicle can detect objects using the sensors of other vehicles.

[0003] US 2013 / 0279392A1 describes a transmitter-receiver in a vehicle-to-vehicle (V2V) communication and safety system that periodically transmits safety messages containing the location, heading, and speed of a vehicle in question, devoid of MAC and IP addresses. The V2V system uses the vehicle's location for identification instead of a pre-assigned vehicle ID. In some implementations, safety messages are transmitted in self-assigned time slots within a synchronized TDMA broadcast architecture with unusually short intervals between messages and unusually short message durations. The TDMA frame is divided into three prioritized time interval classes with varying priorities and dynamically changing sizes based on the demand for higher-priority messages. Time slot selection is determined by weighted algorithms.Selected time slots are held until either a message collision or a timeout occurs. A vehicle equipped with a transceiver can authorize another subject vehicle. Implementation features include optimized traffic flow and optimized signal control.

[0004] KR 10 0 812 455 B1 describes a system for delivering vehicle information, equipped with a system for controlling the delivery of vehicle information, wherein at least one unequal counterpart vehicle comprises more than one part and a communication means and the decision means for assessing the location of the vehicles, wherein the communication means is connected to the decision means and an instrument in the vehicles is loaded via the vehicle network; the instrument captures the information from the vehicles; the information is delivered to the unequal counterpart vehicle; the importance is transmitted, the identifying information that indicates the urgency within the information in other words;The information system sets the information transmission times or intervals to the different vehicles, and the information from cars controlling the delivery system of the present invention, at least, the different opposing vehicle more than 1 part, and the communication means is available for direct communication. And according to a preferred embodiment, it is loaded with the instrument in the vehicles. The information from the vehicles is captured; the information is delivered to the different opposing vehicle; the importance and urgency of the information differently control the transmission times and the transmission interval of the same information, etc., the information in which the importance and urgency are high is delivered; and it makes a courtesy call beforehand, in addition, the traffic load is increased.

[0005] US 2018 / 0 341 822 A1 describes a method and system for using a scene detection scheme to classify objects in a perceptual scene graph for a motor vehicle. The scene detection scheme includes collecting sensor information about an area surrounding the vehicle, including capturing an image of the area; processing the sensor information to generate a perceptual scene graph (PSG); detecting a variety of objects by analyzing the captured image; comparing the detected objects to reference objects; classifying the detected objects based on the matching reference objects; and assigning a priority to each of the classified objects. The steps of detecting and classifying higher-priority objects are repeated more frequently than those for lower-priority objects.An object is assigned a higher priority level if it is located in a focus region of the PSG. The accuracy of the focus region is improved by updating the object classification after each iteration. Description of the invention

[0006] The invention is defined by the claims.

[0007] By using this method, the captured data is prioritized based on the captured object type / class, location and other parameters in order to optimize the Time Between Transmissions (TTI) of Cooperative Sensing Messages (CSMs) and thus preserve and effectively utilize the available bandwidth.

[0008] According to the invention, the method includes: object detection, which involves receiving remote object data, including class and location data; objects including remote vehicles and remote infrastructure. In addition to receiving CSMs, the carrier vehicle also detects objects with its own sensors (i.e., local sensors). The method further includes the controller assigning an object class to each of the detected objects based on the class data; the controller assigning a priority value to each of the detected objects based on the object class of each detected object; and the controller assigning a transmit time interval (TTI) to the CSMs based on the priority value in order to modify the TTI of each CSM according to the assigned TTI, and transmitting the CSMs to, for example, remote vehicles.

[0009] According to the invention, the object class includes a VRU class (vulnerable road user), a vehicle class, a traffic sign class, and another class. The vehicle class refers to vehicles. The VRU class refers to pedestrians and cyclists. The traffic sign class refers to traffic signs and traffic symbols.

[0010] According to the invention, assigning the object class to each of the detected objects based on the class data by the controller includes assigning the VRU class to at least one of the remote objects in response to the detection of objects, in order to indicate that at least one of the remote objects is a VRU.Assigning a priority value to each of the detected objects based on the object class of each detected object by the controller includes assigning a VRU priority value in response to assigning the VRU class to at least one of the remote objects; determining that the VRU is moving based on the location data; increasing the VRU priority value by a first, predetermined VRU value in response to determining that the VRU is moving; determining that the VRU is on a sidewalk based on the location data; increasing the VRU priority value by a second, predetermined VRU value in response to determining that the VRU is on the sidewalk; and a change in the VRU priority value equal to the sum of the first, predetermined VRU value and the second, predetermined VRU value.

[0011] The controller assigns a priority value to each of the detected objects based on the object class of each detected object: assigning a VRU priority value in response to assigning the VRU class to at least one of the remote objects; determining that the VRU is moving based on the location data; increasing the VRU priority value by a first, predetermined value in response to determining that the VRU is moving; determining that the VRU is on a road based on the location data; and increasing the VRU priority value by a third, predetermined value in response to determining that the VRU is on the road. A change in the VRU priority value is equal to the sum of the first, predetermined value and the third, predetermined value.

[0012] The controller's assignment of the TTI to the CSMs of each of the captured objects involves: assigning a default VRU TTI to the CSMs indicating that at least one of the captured objects is the VRU; and modifying the default VRU TTI in a manner proportional to the change in the VRU priority value.

[0013] The method according to claim 2, wherein the assignment of the object class to each of the detected objects based on the class data by the controller may include: assigning the vehicle class to at least one of the remote objects in response to the detection of the objects, in order to indicate that the at least one of the remote objects is a vehicle.

[0014] The controller's assignment of a priority value to each of the detected objects, based on the object class of each detected object, can include: assigning a vehicle priority value in response to the assignment of the vehicle class to at least one of the remote objects; determining that the remote vehicle is an emergency vehicle; increasing the vehicle priority value by a first, predetermined value in response to determining that the vehicle is an emergency vehicle; determining that the speed of the remote vehicle is greater than a predetermined speed threshold, based on the remote object data; increasing the vehicle priority value by a second, predetermined value in response to determining that the speed of the emergency vehicle is greater than the predetermined speed threshold.Determine that the remote vehicle is performing a dangerous maneuver based on the object data, and that the dangerous maneuver is selected from a group consisting of braking, lane changing, and wheel slippage; and increase the vehicle priority value by a third, predetermined vehicle value to the vehicle priority value in response to the determination that the vehicle is performing a dangerous maneuver. The emergency vehicle can be a police car, an ambulance, or a fire engine.

[0015] The controller's assignment of the TTI to the CSMs of each detected object can involve assigning a default vehicle TTI to the CSMs, indicating that at least one of the detected objects is a vehicle, and modifying the default vehicle TTI in a manner proportional to a change in the vehicle priority value. The change in the vehicle priority value is equal to the sum of the first, predefined vehicle value, the second, predefined vehicle value, and the third, predefined vehicle value.

[0016] The controller's assignment of a priority value to each of the detected objects, based on the object class of each detected object, may include: assigning a vehicle priority value in response to the vehicle class assignment to at least one of the remote objects; determining that the vehicle is stationary based on the remote object data; and decreasing the vehicle priority value by a fourth, predetermined vehicle increment in response to determining that the vehicle is stationary. The controller's assignment of the TTI to the CSMs of each of the detected objects may include assigning a default vehicle TTI to the CSMs indicating that at least one of the remote objects is the vehicle; and modifying the default vehicle TTI in a manner proportional to the change in the vehicle priority value.

[0017] Assigning the object class to each of the detected objects by the controller based on the class data includes: assigning the traffic sign class to at least one of the removed objects in response to the detection of the objects, to indicate that at least one of the removed objects is a traffic sign.

[0018] Assigning the priority value to each of the detected objects by the controller, based on the object class of each detected object, involves: assigning a sign priority value in response to the traffic sign class being assigned to at least one of the removed objects in response to the detection of the objects; determining that the traffic sign is dynamic; and incrementing the sign priority value by a predetermined sign value in response to the determination that the traffic sign is dynamic.

[0019] The controller's assignment of the TTI to the CSMs of each detected object can include: assigning a default TTI to the CSMs indicating that at least one of the detected objects is the traffic sign; and modifying the default TTI in a manner proportional to a change in the sign priority value. The controller's assignment of the object class to each detected object based on the class data can include: assigning the other class to at least one of the removed objects in response to the detection of the objects, to indicate that at least one of the removed objects is a different object.

[0020] The controller's assignment of a priority value to each of the detected objects, based on the object class of each detected object, may include: assigning a value with a different priority in response to the assignment of the other class to at least one of the remote objects in response to the detection of the objects; determining that the other object is a hazardous condition, the hazardous condition being selected from a group consisting of a traffic accident, a weather condition affecting visibility, and a road condition affecting the skidding of the carrier vehicle; and increasing the other priority value by a predetermined other value in response to determining that the other object is the hazardous condition.

[0021] The controller's assignment of the TTI to the CSMs of each detected object can include: assigning a default other TTI to the CSMs, indicating that at least one of the removed objects is the other object; and modifying the default other TTI in a manner proportional to a change in the other priority value. The change in the other priority value is equal to the specified other value.

[0022] In one aspect of the present disclosure, the carrier vehicle includes a communication system and a controller electrically connected to the communication system. The controller is programmed to: detect objects, wherein object detection includes receiving remote object data, which includes remote object class data and location data, including objects such as remote vehicles and remote infrastructure; assign an object class to each of the detected objects based on the class data; assign a priority value to each of the detected objects based on the object class of each of the detected objects; and assign a transmit time interval (TTI) to the CSMs based on the priority value in order to modify the TTI of each of the CSMs in accordance with the assigned TTI; and transmit the CSMs to, for example, remote vehicles.

[0023] The object class can include a VRU (vulnerable road user) class, a vehicle class, a traffic sign class, and other classes. The vehicle class can identify distant vehicles. The VRU class can identify pedestrians and cyclists. The traffic sign class can identify traffic signs and traffic symbols. The controller can further be programmed to assign the object class to each of the detected objects based on the class data, by assigning the VRU class to at least one of the distant objects in response to object detection, to indicate that at least one of the distant objects is a VRU.The controller can be programmed to assign a priority value to each of the detected objects, based on the object class of each detected object, by: assigning a VRU priority value in response to the assignment of the VRU class to at least one of the remote objects; determining that the VRU is moving based on the location data; incrementing the VRU priority value by an initial, predetermined value in response to the determination that the VRU is moving; determining that the VRU is on a sidewalk based on the location data; and incrementing the VRU priority value by a second, predetermined value in response to the determination that the VRU is on the sidewalk. A change in the VRU priority value is equal to the sum of the first predetermined value and the second predetermined value.

[0024] The above features and advantages, as well as other features and advantages of the present teachings, will become apparent from the following detailed description of some of the preferred embodiments and other embodiments for carrying out the present teachings as defined in the attached claims when used in conjunction with the attached drawings. Brief description of the drawings Fig. Figure 1 is a schematic block diagram of a vehicle. Fig. Figure 2 is a schematic representation of a vehicle that receives CSMs and sends them to remote objects. Fig. 3 is a flowchart of a procedure for controlling the vehicle from Fig. 1. Fig. Figure 4 is a flowchart of a subroutine for assigning an object class to each of the captured objects. Fig. Figure 5 is a flowchart of a subroutine for assigning object priority to VRUs. Fig. Figure 6 is a flowchart of a subroutine for assigning object priority to vehicles. Fig. Figure 7 is a flowchart of a subroutine for assigning object priority to traffic signs. Fig. Figure 8 is a flowchart of a subroutine for assigning object priority to other objects. Fig. Figure 9 is a flowchart of a subroutine for assigning VRU TTI. Fig. 10 is a subprogram for assigning the vehicle TTI. Fig. 11 is a subprogram for assigning the vehicle TTI. Fig. 12 is a subroutine for assigning one standard to another TTI. Detailed description

[0025] The following detailed description is merely exemplary and is not intended to limit its application and use. Furthermore, there is no intention to be bound by any express or implied theory presented in the preceding technical section, background, summary, or the detailed description that follows. As used herein, the term "module" refers to hardware, software, firmware, electronic control components, processing logic, and / or processing devices, individually or in combination, including but not limited to: application-specific integrated circuits (ASICs), electronic circuitry, processors (common, dedicated, or grouped), and memory executing one or more software or firmware programs, combinational logic circuitry, and / or other suitable components providing the described functionality.

[0026] Embodiments of the present disclosure can be described herein with respect to functional and / or logical block components and various processing steps. It should be noted that such block components can be implemented by a number of hardware, software, and / or firmware components configured to perform the specified functions. For example, an embodiment of the present disclosure may employ various integrated circuit components, such as memory elements, digital signal processing elements, logic elements, lookup tables, or the like, which can perform a variety of functions under the control of one or more microprocessors or other control devices.Furthermore, skilled personnel will understand that embodiments of the present disclosure can be practiced in connection with a number of systems and that the systems described herein are merely exemplary embodiments of the present disclosure.

[0027] For the sake of brevity, techniques for signal processing, data fusion, signaling, control, and other functional aspects of the systems (and the individual operating components of the systems) cannot be described in detail herein. Furthermore, the connecting lines shown in the various figures are intended to represent exemplary functional relationships and / or physical couplings between the various elements. It should be noted that many alternative or additional functional relationships or physical connections may exist in an embodiment of this disclosure.

[0028] As in Fig. As shown in Figure 1, the vehicle 10 generally comprises a chassis 12, a body 14, front and rear wheels 17, and can be referred to as a carrier vehicle. The body 14 is mounted on the chassis 12 and essentially encloses components of the vehicle 10. The body 14 and the chassis 12 can together form a frame. The wheels 17 are each rotatably coupled to the chassis 12 near a corresponding corner of the body 14.

[0029] In various embodiments, the vehicle 10 can be an autonomous vehicle, and a control system 98 is integrated into the vehicle 10. For example, the vehicle 10 is a vehicle that is automatically controlled to transport passengers from one place to another. In the illustrated embodiment, the vehicle 10 is depicted as a passenger car; however, it should be noted that other vehicles such as motorcycles, trucks, sport utility vehicles (SUVs), recreational vehicles (RVs), ships, aircraft, etc., can also be used. In one exemplary embodiment, the vehicle 10 is a so-called Level Four or Level Five automation system. A Level Four system signifies "high automation" and refers to the driving-mode-related performance of aspects of the dynamic driving task by an automated driving system, even if a human driver does not respond appropriately to an intervention request.A fifth-level system refers to "full automation", i.e., the full-time performance of aspects of the dynamic driving task under road and environmental conditions that can be controlled by a human driver, by an automated driving system.

[0030] As shown, the vehicle 10 generally includes a drive system 20, a transmission system 22, a steering system 24, a braking system 26, a sensor system 28, an actuator system 30, at least one data storage device 32, at least one control unit 34, and a communication system 36. The drive system 20 may, in various embodiments, include an electric machine, such as a traction motor and / or a fuel cell drive system. The vehicle 10 also includes a battery (or battery pack) 21, which is electrically connected to the drive system 20. Accordingly, the battery 21 is configured to store electrical energy and supply it to the drive system 20. Additionally, the drive system 20 may include an internal combustion engine. The transmission system 22 is configured to transmit power from the drive system 20 to the vehicle wheels 17 according to the selectable gear ratios.According to various embodiments, the transmission system 22 can include a continuously variable automatic transmission, a continuously variable transmission, or another suitable transmission. The braking system 26 is configured to provide a braking torque to the vehicle wheels 17. In various embodiments, the braking system 26 can include friction brakes, a wire brake, a regenerative braking system such as an electric motor, and / or other suitable braking systems. The steering system 24 influences the position of the vehicle wheels 17. Although shown as a steering wheel for illustrative purposes, in some embodiments provided for in this disclosure, the steering system 24 may not include a steering wheel.

[0031] The sensor system 28 includes one or more sensor devices 40 (i.e., sensors) that detect observable conditions of the external environment and / or the internal environment of the vehicle 10. The scanning devices 40 may, but are not limited to, radar, lidar, global positioning systems, optical cameras, thermal imaging cameras, ultrasonic sensors, and / or other sensors. The actuator system 30 includes one or more actuating devices 42 that control one or more vehicle features, such as the drive system 20, the transmission system 22, the steering system 28, and the braking system 26. In various embodiments, the vehicle features may further include internal and / or external vehicle features such as doors, trunk, and cabin features such as air conditioning, music, lighting, etc. (not numbered). The scanning system 24 includes one or more Global Positioning System (GPS) transceivers 40g configured to transmit the route data (i.e., the vehicle's position, location, and distance).h. route information). The GPS transmitter-receiver 40g is configured to communicate with a GPS and locate the position of the vehicle 10 in the world. The GPS transmitter-receiver 40g is electronically connected to the controller 34. The data storage device 32 stores data for use in the automatic control of the vehicle 10. The data storage device 32 stores predefined maps of the navigable environment in various embodiments. In various embodiments, the predefined maps can be predefined by and obtained from a remote system (described in more detail in relation to ). Fig. 2) For example, the defined maps can be compiled by the remote system and transmitted to the vehicle 10 (wirelessly and / or via cable) and stored in the data storage device 32. As can be seen, the data storage device 32 can be part of the controller 34, separate from the controller 34, or part of the controller 34 and part of a separate system.

[0032] The controller 34 includes at least one processor 44 and a non-temporarily readable computer storage device or medium 46. The processor 44 can be a custom-designed or commercially available processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor among several processors associated with the controller 34, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, a combination thereof, or, more generally, a device for executing instructions. The computer-readable storage device or medium 46 can, for example, include volatile and non-volatile memory in read-only memory (ROM), random-access memory (RAM), and keep-alive memory (KAM). KAM is persistent or non-volatile memory that can be used to store various operating variables while the processor 44 is powered off.The computer-readable storage device or computer-readable storage medium 46 can be implemented using a variety of storage devices such as PROMs (programmable read-only memory), EPROMs (electrical PROM), EEPROMs (electrically erasable PROM), flash memory, or any other electrical, magnetic, optical, or combined storage device for storing data, some of which are executable instructions, used by the controller 34 to control the vehicle 10.

[0033] The instructions can include one or more separate programs, each containing an ordered list of executable instructions for implementing logical functions. When executed by the processor 44, the instructions receive and process signals from the sensor system 28, perform logic, calculations, procedures, and / or algorithms to automatically control the components of the vehicle 10, and generate control signals to the actuator system 30 to automatically control the components of the vehicle 10 based on the logic, calculations, methods, and / or algorithms. Although a single controller 34 in Fig. As shown in Figure 1, embodiments of the vehicle 10 may include a series of controllers 34 which communicate and cooperate via a suitable communication medium or a combination of communication media to process the sensor signals, perform logic, calculations, procedures and / or algorithms and generate control signals for the automatic control of features of the vehicle 10.

[0034] In various embodiments, one or more instructions from the controller 34 are included in the control system 98. The vehicle 10 includes a user interface 23, which may be a touchscreen in the dashboard. The user interface 23 communicates electronically with the controller 34 and is configured to receive input from a user (e.g., the driver). Accordingly, the controller 34 is configured to receive user input via the user interface 23. The user interface 23 includes a display configured to show information to the user (e.g., the driver or passenger).

[0035] The communication system 36 is designed to wirelessly transmit information to and from other units 48, such as, but not limited to, other vehicles (“V2V” communication), infrastructure (“V2I” communication), remote systems and / or personal devices (described in more detail in relation to Fig. 2) In an exemplary embodiment, the communication system 36 is a wireless communication system configured to communicate via a wireless local area network (WLAN) using IEEE 802.11 standards or via cellular data communication. However, the present disclosure also considers additional or alternative communication methods, such as a dedicated short-range communication channel (DSRC). DSRC channels refer to one-way or two-way short- to medium-range wireless communication channels specifically designed for automotive applications, along with a corresponding set of protocols and standards. Accordingly, the communication system 36 may include one or more antennas and / or transceivers for receiving and / or transmitting signals, such as cooperative sensor messages (CSMs).

[0036] Fig. Figure 1 is a schematic block diagram of the control system 98, which is configured to control the vehicle 10. The control unit 34 of the control system 98 is electronically connected to the brake system 26, the drive system 20, and the sensor system 28. The brake system 26 includes one or more brake cylinders (e.g., brake calipers) coupled to one or more wheels 17. When actuated, the brake cylinders exert brake pressure on one or more wheels 17 to decelerate the vehicle 10. The drive system 20 includes one or more drive actuators for controlling the drive of the vehicle 10. As explained above, the drive system 20 may, for example, include an internal combustion engine, and in this case, the drive actuator may be a throttle valve specifically configured to control the airflow in the internal combustion engine.The sensor system 28 can include one or more accelerometers (or one or more gyroscopes) coupled to one or more wheels 17. The accelerometer is electronically connected to the controller 34 and is configured to measure and monitor the longitudinal and lateral accelerations of the vehicle 10. The sensor system 28 can include one or more velocity sensors configured to measure the speed (or velocity) of the vehicle 10. The velocity sensor is coupled to the controller 34 and is electronically connected to one or more wheels 17.

[0037] With reference to Fig. 2. Communication system 36 enables vehicle 10 (i.e., the carrier vehicle) to receive and / or transmit CSMs for detecting remote objects RO, such as the remote vehicle RV, the remote infrastructure RI, and / or unprotected road users (VRUs). The remote infrastructure RI can include traffic symbols and / or traffic signs (e.g., a stop sign, a traffic light, etc.). The remote vehicle RV can detect other remote vehicles and / or remote infrastructure, such as traffic signs, with its sensors (e.g., optical cameras). The remote objects, such as the remote vehicle RV or the remote infrastructure RI, send the CSMs to vehicle 10. The CSMs can contain remote object data. The remote object data can include, among other things, class data and location data. The location data indicates the location (in real time) of the detected object RO. Since the location of the detected object (e.g.,Since the remote vehicle (RV) is monitored in real time, the controller 34 is programmed to determine the speed of the detected object. A remote vehicle (RV) can include all components of the vehicle 10 (i.e., the carrier vehicle), such as the communication system 36 and the sensor system 28. The class data is an indicator of the object class of the detected object. The object class includes a VRU (vulnerable road user) class, a vehicle class, a traffic sign class, and other classes. The vehicle class can refer to vehicles (i.e., remote vehicles, RVs). The VRU class includes, among others, pedestrians and cyclists. The traffic sign class refers to traffic signs and traffic symbols. The other class refers to other detected objects or conditions, such as weather conditions (e.g., fog, rain, snow) and / or road conditions (e.g., traffic accidents, wet roads, etc.).

[0038] Fig. Figure 3 is a flowchart of Procedure 100 for prioritizing detected objects for cooperative sensor sharing. In cooperative sensor sharing, remote vehicles (RV) and / or remote infrastructure (RI) share the detected data about the detected objects (including themselves) with a carrier vehicle (i.e., vehicle 10). Cooperative sensor sharing involves the shared wireless transmission of sensor information to neighboring users (other vehicles) for bandwidth-intensive cooperative information. By applying this Procedure 100, the detected data is prioritized based on the detected object type / class, location, and other parameters to optimize the transmission time interval (TTI) of the CSMs, thereby conserving and effectively utilizing the available bandwidth. The term "TTI" refers to the duration of a transmission over a radio link.The term "radio link" refers to a wireless connection between two or more nodes or radio units in a data network. Changing the TTI of a CSM results in a change in the frequency of the CSMs. A large number of remote objects could be detected by the sensor system 28 of vehicle 10 (and the remote vehicle RV). Some remote objects are of high importance, such as fast-moving vehicles, emergency vehicles, etc. Other remote objects are of lower importance, such as parked vehicles, etc. Transmitting the detected data about the remote objects is bandwidth-intensive. Method 100 saves bandwidth by varying the transmission time interval based on object priority. CSMs about higher-priority objects are transmitted more frequently, while CSMs about lower-priority objects are transmitted less frequently.

[0039] Procedure 100 begins at block 102. At block 102, the controller detects 34 objects (i.e., remote objects RO, such as other vehicles or pedestrians) around the carrier vehicle 10 using its own local sensors (e.g., sensor devices 40) and remote sensors (i.e., sensors on the remote objects RO). The local sensors (i.e., scanning devices 40), which are mounted locally on the vehicle 10, can be used to detect objects around the vehicle 10. The local sensors can include, but are not limited to, lidar, cameras, and radar. Furthermore, the remote sensors can be similar to or identical to the local sensors (i.e., the sensor devices 40), but they are not located on the carrier vehicle 10. For example, the remote sensors can be located on another vehicle (e.g., a remote vehicle RV).The remote sensor readings can be exchanged with the carrier vehicle 10 via wireless communication. In other words, Block 102 involves object detection by a controller of the carrier vehicle. Object detection involves receiving remote object data. The remote object data includes class data and location data. The objects include remote vehicles and remote infrastructure. Block 102 can also involve the control unit 34 of vehicle 10 receiving CSMs for the detection of remote objects RO. As explained above, the remote objects (or objects) include remote vehicles RV and remote infrastructure RI. The remote objects send the CSMs to vehicle 10. The CSMs contain remote object data, and the remote object data includes class data and location data. Then, Procedure 100 continues at Block 104.In block 104, the controller 34 assigns an object class to each of the detected objects based on the class data. The procedure then continues with block 106. In block 106, the controller 34 assigns a priority value to each of the detected objects based on the object class of each detected object. The procedure then continues with block 108. In block 108, the controller 34 assigns a transmit time interval (TTI) to the CSMs of each detected object. Each assigned TTI of the CSMs of each detected object is proportional to the object priority of each detected object to converge the bandwidth. Block 108 also includes modifying the TTIs of each CSM according to the assigned TTIs. The procedure then continues with block 109. Block 109 involves transmitting the CSMs to, for example, remote vehicles RV according to the modified TTIs.In other words, in Block 109, Vehicle 10 wirelessly transmits the CSMs to other objects, such as remote vehicles (RV) and / or remote infrastructure (RI), using one or more antennas and / or transceivers.

[0040] Fig. Figure 4 is the flowchart of a subroutine 200, which includes block 106 of Fig. 3 executes. In other words, Fig. Figure 3 is a flowchart of subroutine 200 for assigning an object class to each of the remote objects. Subroutine 200 begins at block 202. At block 202, controller 34 determines whether any of the remote objects detected (or acquired) by the CSMs are VRUs. VRUs include, but are not limited to, pedestrians, cyclists, road workers, or other people who are not inside a vehicle or building. If, based on the object data in the CSMs, controller 34 detects one or more VRUs, subroutine 200 proceeds to block 204. As mentioned earlier, the CSMs contain object data. This object data may, in turn, include object class information (i.e., data about the class of the detected object). At block 204, controller 34 assigns the VRU class to at least one of the detected objects in response to the detection of the objects, to indicate that at least one of the remote objects is a VRU.After the execution of sentence 202, subroutine 200 then executes subroutine 300, as described below with reference to . Fig. 4 explained.

[0041] If the control 34 continues to refer to Fig. If subroutine 200 does not detect one or more VRUs based on the object data in the CSMs, it proceeds to block 206. In block 206, the controller 34 determines whether any of the remote objects detected (or acquired) based on the CSMs are remote vehicle RVs. Remote vehicles include trucks, cars, motorcycles, autonomous vehicles, manually operated vehicles, etc. If the controller 34 detects one or more remote vehicle RVs based on the object data in the CSMs, subroutine 200 proceeds to block 208. In block 208, the controller 34 assigns the vehicle class to at least one of the detected objects in response to the object detection, to indicate that at least one of the remote objects is a vehicle. After executing block 206, subroutine 200 then executes subroutine 400, as described below with respect to Fig. 5 explained.

[0042] If the control 34 continues to refer to Fig. If subroutine 200 does not detect one or more remote vehicles (RV) based on the object data in the CSMs, it proceeds to block 210. In block 210, the controller 34 determines whether any of the remote objects detected (or detected) by the CSMs is a traffic sign (and / or a traffic symbol). In this disclosure, the term "traffic sign" includes a traffic symbol. The traffic symbol can be static, such as a stop sign, or dynamic, such as a traffic light. If the controller 34 detects one or more remote traffic symbols based on the object data in the CSMs, subroutine 200 proceeds to block 212. In block 212, the controller 34 assigns the sign class to at least one of the detected objects in response to the detection of the objects, to indicate that at least one of the remote objects is a traffic sign.After the execution of sentence 212, subroutine 200 then executes subroutine 500, as described below with reference to . Fig. 6 explained.

[0043] If the control 34 continues to refer to Fig. 4. If no or multiple traffic signs are detected based on the object data in the CSMs, subroutine 200 proceeds to block 214. At block 214, the controller 34 determines whether any of the remote objects detected (or recognized) by the CSMs is a different object (other than VRUs, vehicles, and traffic signs). In this disclosure, the term "another object" or "different object" refers to a remote object that is not a vehicle, a VRU, or a traffic sign. If the controller 34 detects one or more remote different objects based on the object data in the CSMs, subroutine 200 proceeds to block 216. At block 216, the controller 34 assigns the other class to at least one of the detected objects in response to the detection of the objects, to indicate that at least one of the remote objects is a different object.After the execution of sentence 216, subroutine 200 then executes subroutine 600, as described below with reference to . Fig. 7 explained.

[0044] Fig. Figure 5 is a flowchart of subroutine 300 for assigning object priority to VRUs. Subroutine 300 begins at block 302. At block 302, controller 34 assigns a VRU priority value to at least one of the remote objects (RO) in response to the VRU class being assigned. Subroutine 300 then proceeds to block 304. At block 304, controller 34 determines, based on the location data in the CSM, whether the VRU is moving. If the VRU is moving, controller 34 increments the VRU priority value by an initial, predetermined VRU value. In other words, controller 34 adds the initial, predetermined VRU value to the VRU priority value. If controller 34 determines that the VRU is not moving, it does not increment the VRU priority value by the initial, predetermined VRU value. Then subprogram 300 continues with block 306.

[0045] At block 306, control unit 34 uses the location data in the CSM to determine whether the VRU (e.g., pedestrian) is on a sidewalk CW (see Fig. 2) is located. The term "zebra crossing" refers to an area that is clearly marked for pedestrian crossings or other roadway markings. If the VRU is on sidewalk CW, controller 34 increases the VRU priority value by a second, predetermined VRU value. In other words, controller 34 adds the second predetermined VRU value to the VRU priority value. It is important to note that at block 306, controller 34 can add the second predetermined VRU value to the sum of the VRU priority value and the first predetermined VRU value if the VRU is moving as determined in block 304. If the VRU is not on sidewalk CW, then controller 34 does not add the second predetermined VRU value to the VRU priority value. Subroutine 300 then proceeds to block 308.

[0046] At block 308, control unit 34 uses location data to determine whether the VRU is on a road-based RD ( Fig. 2) is located. The VRU (e.g., pedestrian) is located on a road if it is not on a sidewalk or crosswalk. The term "sidewalk" refers to a path running along the edge of a road. If the VRU is on road RD, Control 34 increases the VRU priority value by a third, predetermined VRU value. In other words, Control 34 adds the second predetermined VRU value to the VRU priority value. It is important to note that at Block 306, Control 34 can add the third predetermined VRU value to the sum of the VRU priority value and the first predetermined VRU value if the VRU is moving as determined in Block 304. The third predetermined VRU value is larger than the second predetermined VRU value to indicate a higher priority than if the VRU were on road RD (instead of sidewalk CW).If the VRU is not on road RD, control 34 does not increase the VRU priority value by the third predetermined VRU value. Depending on the conditions specified above, the change in the VRU priority value can be: (a) the sum of the first predetermined VRU value, the second predetermined VRU value, and the third predetermined VRU value; (b) the sum of the first predetermined VRU value and the third predetermined VRU value; (c) the sum of the first predetermined VRU value and the second predetermined VRU value; or (d) the individual values ​​of the first predetermined VRU value, the second predetermined VRU value, or the third predetermined VRU value.

[0047] Fig. Figure 6 is a flowchart of subroutine 400 for assigning object priority to remote vehicles RV. Subroutine 400 begins at block 402. In block 402, the controller 34 assigns a vehicle priority value to at least one of the remote objects RO in response to the assignment of the remote vehicle class. Subroutine 400 then continues with block 404. In block 404, the controller 34 determines, based on the remote object data, whether the remote vehicle RV is an emergency vehicle. The remote object data can contain information about the detected remote vehicle RV, e.g., whether the remote vehicle RV is an emergency vehicle. The emergency vehicle could be, for example, a police car, an ambulance, and / or a fire engine.If the remote vehicle RV is an emergency vehicle, then control 34 increments the vehicle priority value by an initial, predetermined vehicle value in response to the determination that the vehicle is the emergency vehicle. In other words, control 34 adds the initial, predetermined vehicle value to the priority value. If control 34 does not determine that the remote vehicle RV is an emergency vehicle, then control 34 does not add the initial, predetermined vehicle value to the vehicle priority value. Subroutine 400 then proceeds with sentence 406.

[0048] At block 406, controller 34 determines whether the speed of the detected remote vehicle (RV) is greater than a predefined speed threshold, based on the remote object data. In other words, at block 406, controller 34 determines whether the detected remote vehicle is traveling at high speed. The remote object data can include speed data about the remote object (RO) (e.g., the remote vehicle RV). If the speed of the detected remote vehicle (RV) is greater than the predefined speed threshold, controller 34 increases the vehicle priority value by a second, predefined vehicle value. In other words, controller 34 adds the second, predefined vehicle value to the vehicle priority value.It is important to note that in block 406, control unit 34 can add the second, predefined vehicle value to the sum of the vehicle priority value and the first, predefined vehicle value if the detected remote vehicle is an emergency vehicle. If the speed of the detected remote vehicle is not greater than the predefined speed threshold, control unit 34 does not add the second, predefined vehicle value to the vehicle priority value. Subroutine 400 then continues with block 408.

[0049] At block 408, control 34 determines whether the detected remote vehicle RV is performing a dangerous maneuver based on the object data. The dangerous maneuver can be braking, lane changing, and / or wheel slip, based on the remote object data. If the detected remote vehicle RV is performing the dangerous maneuver, control 34 increases the vehicle priority value by a third, predefined vehicle value. In other words, control 34 adds the third, predefined vehicle value to the vehicle priority data.It is important to note that in block 408, control 34 can add the third predefined vehicle value to the sum of the vehicle priority value, the first predefined vehicle value, and the second predefined vehicle value if the detected remote vehicle is an emergency vehicle and its speed is greater than the predefined speed threshold. If the detected remote vehicle is not performing a dangerous maneuver, control 34 does not add the third predefined vehicle value to the vehicle priority value. Subroutine 400 then proceeds to block 410.

[0050] At block 410, controller 34 determines whether the detected remote vehicle (RV) is stationary and, based on the remote object data, confirms that the vehicle is stationary. If the detected remote vehicle (RV) is stationary, controller 34 reduces the vehicle priority value by a fourth, predetermined vehicle value to the priority value. In other words, controller 34 subtracts the fourth, predetermined vehicle value from the vehicle priority value. It is important to note that the fourth, predetermined vehicle value can be subtracted from the vehicle priority value. Fig. 12 is a subroutine 1000 for assigning a different standard TTI, where the fourth, predefined vehicle value can be subtracted from the sum of the vehicle priority value and the first, predefined vehicle value. If the detected remote vehicle RV is not stationary, then the controller 34 does not subtract the fourth, predefined vehicle value from the vehicle priority value.Depending on the conditions specified above, the vehicle priority value may be changed by: (a) the sum of the first predetermined vehicle value, the second predetermined vehicle value, and the third predetermined vehicle value; (b) the sum of the first predetermined vehicle value and the third predetermined vehicle value; (c) the sum of the first predetermined vehicle value and the second predetermined vehicle value; or (d) the individual values ​​of the first predetermined vehicle value, the second predetermined VRU value, the third predetermined vehicle value, or the fourth predetermined vehicle value.

[0051] Fig. Figure 7 is a flowchart of a subroutine 500 for assigning object priority to a traffic sign. Subroutine 500 begins at block 502. In block 502, the controller 34 assigns a sign priority value to at least one of the detected objects in response to the assignment of the traffic sign class. Subroutine 500 then continues with block 504. In block 504, the controller 34 determines whether the traffic sign is dynamic, e.g., a traffic light. The controller 34 increases the sign priority value by a predefined sign value in response to the determination that the traffic sign is dynamic. In this disclosure, the term "dynamic" refers to a traffic sign that changes over time, such as a traffic light.

[0052] Fig. Figure 8 is a flowchart of subroutine 600 for assigning object priority to other objects. Subroutine 600 begins at block 602. At block 602, in response to the assignment of the other class to at least one of the remote objects RO, the controller 34 assigns a different priority value. Subroutine 600 then continues with block 604. At block 604, the controller 34 determines whether the other object is in a hazardous condition. A hazardous condition could be a traffic accident, weather conditions that impair visibility, or road conditions that affect the slip behavior of the carrier vehicle. If the other object is in a hazardous condition, the controller 34 increases the other priority value by a predefined other value. In this case, the change in the other priority value can be equal to the predefined other value.

[0053] Fig. Subroutine 700 is used to assign VRU TTI values ​​(i.e., the TTI values ​​of the CSMs that capture VRUs). Subroutine 700 begins at block 702. At block 702, the controller 34 assigns a default VRU TTI to the CSMs, indicating that at least one remote object is a VRU. Subroutine 700 then proceeds to block 704. At block 704, the controller 34 modifies the default VRU TTI so that it is proportional to the change in the VRU priority value. The term "proportional" means having a constant ratio to another quantity. In this context, the VRU TTI has a constant ratio to the change in the VRU priority value.

[0054] Fig. Subroutine 800 is used to assign vehicle TTIs (i.e., the TTIs of the CSMs that detect remote vehicle RVs). Subroutine 800 begins at block 802. At block 802, the controller 34 assigns a default vehicle TTI to the CSMs, indicating that at least one remote object is the remote vehicle RV. Subroutine 800 then proceeds to block 804. At block 804, the controller 34 modifies the default vehicle TTI so that it is proportional to the change in the vehicle priority value. In this context, the vehicle TTI has a constant ratio to the change in the vehicle priority value.

[0055] Fig. Subroutine 900 is used to assign vehicle TTIs (i.e., the TTIs of the CSMs that detect distant vehicles, RVs). Subroutine 900 begins at block 902. At block 802, the controller 34 assigns a default TTI to the CSMs, indicating that at least one distant object is a traffic symbol. Subroutine 900 then proceeds to block 904. At block 904, the controller 34 modifies the default TTI so that it is proportional to the change in the sign priority value. In this context, the sign TTI has a constant ratio to the change in the sign priority value. The change in the sign priority value can be equal to the specified sign value.

[0056] Fig.Subroutine 1000 is used to assign a different TTI by default (i.e., the TTI of the CSMs that detect a different object). Subroutine 1000 begins at block 1002. At block 1002, the controller 34 assigns the CSMs another TTI indicating that at least one remote object is a traffic symbol. Subroutine 1000 then continues with block 1004. At block 1004, the controller 34 changes the sign of the TTI so that it is proportional to the change in the other priority value. In this context, the sign of the TTI has a constant ratio to the change in the other priority value. The change in the other priority value can be equal to the specified other value.

Claims

[1] Methods (100, 200, 300, 400, 700, 800) for controlling a carrier vehicle (10), comprising: Acquisition (102) of objects (RO) by means of a control (34) of the carrier vehicle (10), wherein the acquisition (102) of objects (RO) includes receiving remote object data, which includes remote object data class data and location data, and which includes remote vehicles (RV) and remote infrastructure (RI); Assign (104), by the control (34), an object class to each of the detected objects (RO) based on the class data; Assign (106), by the control (34), a priority value for each of the captured objects (RO) based on the object class of each of the captured objects (RO); Assigning (108), by the controller (34), a transmit time interval, TTI, to cooperative sample messages, CSMs, based on the priority value, to modify the TTI of each of the CSMs according to the assigned TTI; Transfer (109) the CSMs to the remote vehicles (RV); where the object class includes an unprotected road user, VRU, class, a vehicle class, a traffic sign class, and another class; where the vehicle class refers to remote vehicles (RV); where the VRU class refers to pedestrians and cyclists; and where the traffic sign class refers to traffic signs and traffic symbols; wherein the assignment (104), by the control (34), of the object class to each of the captured objects (RO) based on the class data includes the assignment (104) of the VRU class to at least one of the remote objects (RO) in response to the capture (102) of the objects (RO) to indicate that at least one of the remote objects (RO) is a VRU; where the assignment (106), by control (34), of the priority value to each of the captured objects (RO) based on the object class of each of the captured objects (RO) includes: Assigning (106, 202, 204) a VRU priority value in response to assigning (106, 204) the VRU class to at least one of the remote objects (RO); Determine (304), based on the location data, that the VRU is moving; Increasing (304) the VRU priority value by an initial, predetermined VRU value in response to determining (304) that the VRU is moving; Determine (306), based on the location data, whether the VRU is located on a sidewalk (CW); Increasing (306) the VRU priority value by a second, predetermined VRU value in response to determining (306) that the VRU is on the sidewalk (CW); and where a change in the VRU priority value is equal to the sum of the first, predetermined VRU value and the second, predetermined VRU value. [2] Method (100, 200, 300, 400, 700, 800) according to claim 1, wherein the assignment (106), by the control (34), of the priority value to each of the detected objects (RO) based on the object class of each of the detected objects (RO) comprises: Determine (308), based on the location data, whether the VRU is located on a road (RD); and Increasing (308) the VRU priority value by a third, predetermined VRU value in response to determining (308) that the VRU is on the road (RD); and where a change in the VRU priority value is equal to the sum of the first, predetermined VRU value and the third, predetermined VRU value. [3] Method (100, 200, 300, 400, 700, 800) according to claim 2, wherein the assignment (108) by the control (34) of the TTI to the CSMs of each of the detected objects (RO) includes the following: Assigning (702) a standard VRU-TTI to the CSMs, indicating that at least one of the captured objects (RO) is the VRU; and Modify (704) the standard VRU-TTI in a manner proportional to the change in the VRU priority value. [4] Method (100, 200, 300, 400, 700, 800) according to claim 1, wherein the assignment (104) by the controller (34) of the object class to each of the detected objects (RO) based on the class data includes: Assigning (402) the vehicle class to at least one of the remote objects (RO) in response to the detection (102) of the objects (RO) to indicate that at least one of the remote objects (RO) is a vehicle (RV). [5] Method (100, 200, 300, 400, 700, 800) according to claim 4, wherein the assignment (106), by the control (34), of the priority value to each of the detected objects (RO) based on the object class of each of the detected objects (RO) comprises: Assigning (402) a vehicle priority value in response to the assignment (402) of the vehicle class to at least one of the remote objects (RO); Determine (404) whether the remote vehicle (RV) is an emergency vehicle and whether the emergency vehicle is selected from a group consisting of a police car, an ambulance and a fire engine; Increasing (404) the vehicle priority value by an initial, predetermined vehicle value in response to the determination (404) that the vehicle (RV) is an emergency vehicle; Determine (406), based on the remote object data, whether the speed of the remote vehicle (RV) is greater than a specified speed threshold; Increasing (406) the vehicle priority value by a second, predetermined vehicle value in response to determining (406) that the speed of the emergency vehicle is greater than the predetermined speed threshold; Determine (408), based on the object data, whether the remote vehicle (RV) is performing a dangerous maneuver, and the dangerous maneuver is selected from a group consisting of braking, lane changing, and wheel slippage; and Increasing (408) the vehicle priority value by a third, predetermined vehicle value to the vehicle priority value in response to the determination (408) that the vehicle (RV) is performing a dangerous maneuver. [6] Method (100, 200, 300, 400, 700, 800) according to claim 5, wherein the assignment (108) by the control (34) of the TTI to the CSMs of each of the detected objects (RO) includes the following: Assigning (802) a standard vehicle TTI to the CSMs, indicating that at least one of the detected objects (RO) is the vehicle (RV); and Modify (804) the standard vehicle TTI in a manner proportional to a change in the vehicle priority value; where the change in the vehicle priority value is equal to the sum of the first, predetermined vehicle value, the second, predetermined vehicle value, and the third, predetermined vehicle value. [7] Method (100, 200, 300, 400, 700, 800) according to claim 4, wherein the assignment (106), by the control (34), of the priority value to each of the detected objects (RO) based on the object class of each of the detected objects (RO) further comprises: Assigning (402) a vehicle priority value in response to the assignment (402) of the vehicle class to at least one of the remote objects (RO); Determine (410), based on the remote object data, whether the vehicle (RV) is stationary; Reducing (410) the vehicle priority value by a fourth, predetermined vehicle value to the priority value in response to the determination (410) that the vehicle (RV) is stationary; and Assign (108), by the control, the TTI to the CSMs of each of the captured objects (RO); Assigning (802) a standard vehicle TTI to the CSMs, indicating that at least one remote object (RO) is the vehicle (RV); and Modify (804) the standard vehicle TTI in a manner proportional to the change in the vehicle priority value.

Images