Cooperative intelligent transportation system and method with CPM generation control based on importance index and information importance level

Abstract

In a cooperative intelligent transportation system (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of collective perception messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, a method for generating a V2X message based on the importance of information on the communication channel, the cooperative intelligent transportation system, and the computer-implemented system, comprises determining an object importance index (OSI) and / or an overall collective perception message importance index (CSI) based on individual objects in a CPM, calculating an information importance level (ISL) on the channel based on the CSI values ​​of all received CPMs, determining at least one message generation rule based on the information importance level (ISL), and generating a V2X message based on the at least one message generation rule.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of European Patent Application No. EP21202064.8, filed October 12, 2021. The entire disclosure of the above application is incorporated herein by reference. [Technical field]

[0002] The present disclosure relates to generating V2X messages based on the importance of information on a communication channel in a cooperative intelligent transportation system (C-ITS) that uses a wireless communication channel to transmit, receive, process and / or discard multiple collective perception messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment. [Background technology]

[0003] Known cooperative intelligent transportation systems (C-ITS) consist of stations (e.g., vehicles and / or roadside units) exchanging information with each other using (direct) wireless communication, also known as vehicle-to-X, i.e. vehicle-to-all (V2X) (direct).

[0004] V2X is a general term for mutual traffic network electronic communication between road users in the form of vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-network (V2N) and vehicle-to-pedestrian (V2P). Wireless communication can be based on the IEEE 802.11 WLAN standard (802.11p extensions and, for example, its European profile ITS-G5), specifically called WLAN-V2X. Alternatively, wireless communication can be based on the 3GPP standard, specifically called Cellular V2X, C-V2X or Sidelink. For example, in V2X safety and traffic messages, emergency and service data, billing and navigation, as well as Internet and database content are exchanged. The objectives of V2X include informing the driver at an early stage of important and dangerous situations, improving the vehicle's awareness of its surroundings, supporting the vehicle's driver assistance systems, supporting cooperative automated mobility, thereby improving road safety and optimizing traffic flows.

[0005] ITS stations (ITS-Ss) in C-ITS share Cooperative Awareness Messages (CAMs) to inform each other of their position, kinematics, and other data. ITS stations use Distributed Environmental Notification Messages (DENMs) to inform each other about dedicated events such as sudden braking or obstacles on the road.

[0006] Another V2X message is the Collective Perception Message (CPM), which contains information about the on-board sensors of the ITS-S, such as fields of view (FOVs), free space, and objects detected in the traffic environment by the on-board sensors. Figure 1 shows an example of a vehicle setup of a vehicle equipped with sensors 1-6, each with a predefined field of view. An example object is depicted near the vehicle.

[0007] CPMs are transmitted periodically and contain information about one or more detected objects, the field of view, and other characteristics of vehicle-mounted sensors, e.g. radar, camera, etc. CPMs are created by the Collective Perception Service (CPS) in the Facility Layer of the ETSI ITS stack, as shown in Figure 2, which shows the ETSI ITS stack and the CPS, from a CPS-centric perspective. CPMs are created and transmitted according to the CPM generation rules of the CPS. The current functionality of the CPS is shown in Figure 3, and further referenced in relation to Figure 4 below.

[0008] To handle congested channels, C-ITS employs the concept of Distributed Congestion Control (DCC), which operates at all layers of the ETSI ITS stack.

[0009] In the technical field referenced above, document DE102015105784A1 discloses, in a distributed system for detecting and protecting vulnerable road users, transmitting object information relating to vulnerable road users and controlling the transmission of this information based on the object's kinematics, novelty, detectability by others, etc.

[0010] Furthermore, document EP3462754A1 presents an apparatus and method for V2X communication adapted to detect whether two objects are the same in order to avoid overlaps in the CPM.

[0011] Furthermore, document WO2021 / 040352A1 discloses a method for a device to transmit and receive CPM in a wireless communication system for supporting a sidelink, and a device therefor, in which the method detects whether an object recognized by an ITS-S has already been transmitted by another ITS-S, and based thereon, the transmission of such an object is avoided.

[0012] Finally, ETSI TS 102636-4-2 V1.4.1(2021-02) (GeoNetworking; Part 4: Geographic addressing and forwarding for point-to-point and point-to-multipoint communications; Subpart 2: Media-dependent features of ITS-G5) describes the concept of channel busy ratio (CBR) in GeoNetworking for ITS-G5. [Prior art documents] [Patent documents]

[0013] [Patent Document 1] DE102015105784A1 [Patent Document 2] EP3462754A1 [Patent Document 3] WO2021 / 040352A1 Summary of the Invention

[0014] The present disclosure provides a method for generating a V2X message based on the importance of information on a communication channel in a cooperative intelligent transportation system (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of collective perception messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment. The method includes: determining an overall importance index (CSI) of the collective perception message based on individual objects in the collective perception message (CPM), the overall importance index of the collective perception message is referred to as a CSI, and the collective perception message is referred to as a CPM, calculating an information importance level (ISL) on the channel based on the CSI values ​​of all the received collective perception messages (CPMs), determining at least one message generation rule based on the information importance level (ISL), and generating a V2X message based on the at least one message generation rule. [Brief description of the drawings]

[0015] The present disclosure will become more fully understood from the detailed description and the accompanying drawings, wherein: [Figure 1] FIG. 1 shows an example vehicle setup where the vehicles are equipped with sensors, each with a given field of view, and where exemplary environmental objects are placed in the vicinity of the vehicles. [Diagram 2] Figure 2 shows the ETSI ITS stack and CPS from a CPS-centric perspective. [Diagram 3] Figure 3 shows the functionality of the CPS of Figure 2 as defined in the current ETSI standard. [Figure 4] FIG. 4 shows the change in CPS function due to the concept of significance index introduced in CPM, in comparison with FIG. [Diagram 5] FIG. 5 shows, as a general overview, where additions as described herein fit neatly into the current ETSI CPM format. [Figure 6A] FIG. 6A illustrates the interworking of CPM transmission and DCC performed in ITS-S at layers of the ETSI ITS stack, including the concept of importance indicator SI introduced in CPM, the concept of importance indicator level ISL, and CPM generation control based on SI / ISL, according to an embodiment of the present disclosure. [Figure 6B] FIG. 6B illustrates the interlocking of CPM transmission and DCC performed in ITS-S at layers of the ETSI ITS stack, including the concept of importance indicator SI introduced in CPM, the concept of importance indicator level ISL, and CPM generation control based on SI / ISL, according to an embodiment of the present disclosure. [Figure 7] FIG. 7 shows an example vehicle setup in an embodiment where object importance is determined on a kinematic and single vehicle basis. [Figure 8] FIG. 8 illustrates another example vehicle setup in an embodiment where the importance of an object is determined based on the object's occlusion and two vehicles. [Figure 9]FIG. 9 shows another example vehicle setup in an embodiment where the importance of an object is determined (in part) based on being outside the FOV and on two vehicles. [Figure 10] FIG. 10 illustrates another example vehicle setup in an embodiment in which the importance of an object to a first vehicle is determined based on the APR area of ​​the second vehicle. [Figure 11] FIG. 11 shows an exemplary flow chart of the process within the concept of importance index introduced in CPMs.

[0016] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Before describing the present disclosure, technical problems in the related art will be described.

[0018] A CPM can contain a large number of detected objects, which leads to a relatively large CPM size, and as a result, even with a low transmission rate, transmitting CPMs may cause congestion of the V2X radio channel. In a congested V2X radio channel, DCC is performed by all ITS-S (at various layers of the ETSI ITS stack). DCC determines a specific channel capacity for the ITS-S depending on the level of congestion. If the sum of all messages generated by the ITS-Ss exceeds the aforementioned capacity, the DCC access layer function (DCC_ACC) drops packets indiscriminately, i.e. without any consideration of the content of the packets or the importance of the information therein. In particular, for CPMs, this means that packets containing important information (e.g. objects with high relevance to the safety of the ITS-S) may be dropped. The channel capacity determination by the DCC limits the ITS-S's channel budget for CPMs, but the ITS-S cannot determine the number of CPMs on the channel or the importance of its own CPM information compared to the CPM information from other stations. Currently, there is no mechanism by which ITS-S can compare and adapt the generation of CPMs depending on the importance level of the CPMs on a channel.

[0019] The interlocking of CPM transmission and DCC is shown in FIG.

[0020] An object of the present disclosure is to provide a method, a cooperative intelligent transportation system, and a computer-implemented system that can adapt the generation of CPMs depending on the importance level of the CPMs on a channel and ensure that packets containing important information are safely transmitted and prevented from being dropped in congested V2X radio channels, especially for CPMs.

[0021] The inventors of the present disclosure have devised the concept of object and CPM importance value using a method for exchanging information in a cooperative intelligent transportation system between stations in a C-ITS using a wireless communication channel. The exchange of information includes transmitting, receiving, processing and / or discarding CPMs containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment. The method includes detecting a plurality of objects contained in a shared message received from another station as being present within a FOV of at least one sensor provided in each station or present in the vicinity of the station, obtaining object data of each detected object from the at least one sensor and / or the shared message, filling a CPM with the object data of each object, calculating a collective cognitive message importance index (CSI; also referred to as CPM_SI) for each CPM filled with the object data of the object, determining available channel resources of the wireless communication channel, and transmitting each CPM according to the available channel resources from the CPM with the highest CSI. In this method, filling the CPM with object data of the objects is based on, as a non-limiting example, calculating an object importance index (OSI) for each detected object based on the object data, and filling the CPM with the object data of the objects according to the calculated object importance index. Then, the CSI is calculated by taking the average of the OSI of all objects in the CPM. While this concept allows the importance of information in individual CPMs to be evaluated (using OSI and CSI parameters), it lacks a system-wide view in terms of the importance of CPM information, since it cannot be evaluated at once for all CPM information available on the channel.

[0022] The inventors of the present disclosure have further devised a concept of CPM importance value that utilizes a method of calculating collective cognitive message (CPM) information importance level (ISL) in an intelligent transportation system station (C-ITS) that uses a wireless communication channel to transmit, receive, process and / or discard multiple CPMs containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, including: calculating a CSI value for each CPM filled with object data of objects detected within the FOV of at least one sensor provided in the ITS-S or contained in a shared message received from another ITS-S as being present in the communication range of the ITS-S; calculating an ISL on the channel based on the CSI values ​​for all received CPMs; and sharing the calculated ISL with other ITS-S. The concept of CPM information importance level more specifically proposes to calculate an information importance level indicator, called ISL, which represents the average importance of all CPMs on the channel in a particular time. It is also proposed to derive this indicator for a two-hop range, called global ISL.

[0023] This disclosure builds upon and further develops the above objectives and the concepts of CPM importance value and CPM information importance value to provide a mechanism for an ITS-S to adapt its generation of CPMs depending on the importance level of the CPMs on the channel. Such a mechanism may include, for example, reducing the rate of the ITS-S's own CPMs if the importance of its own CPMs is less than the importance of another station's CPMs.

[0024] According to a first aspect of the present disclosure, in a cooperative intelligent transportation system (C-ITS) using a wireless communication channel to transmit, receive, process and / or discard a plurality of collective perception messages (CPMs) including information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, a method for generating a V2X message based on the importance of information on the communication channel is provided. The method includes: determining an overall collective perception message importance indicator (CSI) based on individual objects in the CPM; calculating an information importance level (ISL) on the channel based on the CSI values ​​of all the received CPMs; determining at least one message generation rule based on the information importance level (ISL); and generating a V2X message based on the at least one message generation rule. It should be noted that the CSI may be calculated based on the individual objects without being directly based on the OSI itself. However, it is possible to reflect the OSI to calculate the CSI or for the OSI to be determined and referenced.

[0025] In case of a congested channel, according to the first aspect described above, a distributed management of CPM generation is used, configured to adapt the CPM generation and transmission in all ITS-Ss based on a global ISL (ISL_G) on the channel. For example, if one ITS-S is transmitting CPMs with high importance, other ITS-Ss are configured to adjust their CPM generation (configuration, timing, rate) and / or transmission to free up more bandwidth by using an information importance level ISL (including at least rules regarding configuration and repetition rate) to control the generation of CPMs.

[0026] According to a second aspect of the present disclosure, which is dependent from the first aspect, the at least one message generation rule determined based on an information importance level (ISL) specifies a generation rate and / or configuration of messages and includes at least one of an implicit rate-based rule, an explicit rate-based rule, a priority-based rule, a staggered rate-based rule, and a combination of such rules. As used herein, "implicit rate-based" means that the rule does not directly adjust the message generation rate, but indirectly, for example by postponing the generation of messages until a certain criterion is met, which turns out to be met over time. "Explicit rate-based" means that the rule directly determines the generation rate of messages. "Priority-based" means that the rule creates messages taking into account the importance of the information contained therein and excludes less important information. "Staggered rate" means that different messages are created with different repetition rates.

[0027] According to a third aspect of the present disclosure, which is dependent on the second aspect, with respect to the implicit rate-based rule, the method is configured to transmit a CPM if its importance indicator (CSI) is higher than an ISL, or to transmit a CPM if a message generation timer expires regardless of the CSI.

[0028] According to a fourth aspect of the present disclosure, which is dependent on the second aspect, with respect to the explicit rate-based rule, the method is configured to transmit a CPM at a generation rate determined based on a CSI, a channel information importance level (ISL), and a congestion level of the channel.

[0029] According to a fifth aspect of the present disclosure, which is dependent on the second aspect, with respect to the priority-based rule, the method is configured to create a CPM by including detected objects having their respective OSIs such that an overall message importance index (CSI) exceeds an ISL.

[0030] According to a sixth aspect of the present disclosure, which is dependent from the second aspect, with respect to the time-difference rate-based rule, the method is configured to create multiple streams of CPMs with respective generation rates determined based on respective CSIs, a channel information importance level (ISL), and a congestion level of the channel.

[0031] According to a seventh aspect of the present disclosure, which is dependent from the second aspect, with respect to the time-difference rate-based rule, the method is configured to transmit and receive V2X messages over different communication channels and / or different communication media.

[0032] According to an eighth aspect of the present disclosure which is dependent on any of the first to seventh aspects, determining an object importance index (OSI) includes detecting a plurality of objects contained in a shared message received from another intelligent transportation system station (ITS-S) as being present within a field of view (FOV) of at least one sensor provided in each intelligent transportation system station (ITS-S) or present within a communication range of the station, obtaining object data for each detected object from the at least one sensor and / or the shared message, and calculating an object importance index (OSI) for each detected object based on the object data.

[0033] According to a ninth aspect of the present disclosure, which is dependent on the eighth aspect, determining an overall collective cognitive message importance index (CSI) includes filling a collective cognitive message (CPM) with objects according to the calculated object importance index, and calculating a collective cognitive message importance index (CSI) for each collective cognitive message (CPM) filled with the objects.

[0034] According to a tenth aspect of the present disclosure, which is dependent on any of the first to ninth aspects, calculating the information importance level (ISL) includes determining a local information importance level (ISL_L_0) on the channel from the CSI values ​​of all received CPMs as a local zero hop value by averaging the CSI values ​​of all CPMs received within a predetermined time interval.

[0035] According to an eleventh aspect of the present disclosure which is dependent on the tenth aspect, first and second hop information importance levels (ISL_L_1, ISL_L2) are calculated, where the first hop information importance level (ISL_L_1) is the highest received value calculated in a single-hop range within a predetermined time interval from the local information importance level (ISL_L_0), and the second hop information importance level (ISL_L_2) is the highest received value calculated in a two-hop range within a predetermined time interval from the first hop information importance level (ISL_L_1).

[0036] According to a twelfth aspect of the present disclosure dependent from the eleventh aspect, a global information importance level (ISL_G) is determined as ISL_G=max(ISL_L_0, ISL_L_1, ISL_L_2).

[0037] According to a thirteenth aspect of the present disclosure dependent on any of the first to twelfth aspects, the ITS-S is a vehicle or a roadside unit (RSU).

[0038] According to a fourteenth aspect of the present disclosure dependent on any of the first to thirteenth aspects, the wireless communication is vehicle-to-X (V2X) direct communication.

[0039] According to a fifteenth aspect of the present disclosure, in a cooperative intelligent transportation system (C-ITS) using a wireless communication channel to transmit, receive, process and / or discard a plurality of collective perception messages (CPMs) including information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, a cooperative intelligent transportation system is provided that generates a V2X message based on the importance of information on the communication channel. The cooperative intelligent transportation system includes a calculation unit configured to calculate an object importance index (OSI) and / or an overall collective perception message importance index (CSI) based on individual objects in the CPM, and to calculate an information importance level (ISL) on the channel based on the CSI values ​​of all received CPMs, a determination unit configured to determine at least one message generation rule based on the information importance level (ISL), and a generation unit configured to generate a V2X message based on the at least one message generation rule.

[0040] According to a sixteenth aspect of the present disclosure, in a cooperative intelligent transportation system (C-ITS) using a wireless communication channel to transmit, receive, process and / or discard a plurality of collective perception messages (CPMs) including information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, a computer-implemented system is provided for generating a V2X message based on the importance of information on the communication channel. The computer-implemented system comprises a memory storing instructions that, when executed by a processor, cause the processor to perform the following: determine an object importance index (OSI) and / or an overall collective perception message importance index (CSI) based on individual objects in the CPM, calculate an information importance level (ISL) on the channel based on the CSI values ​​of all received CPMs, determine at least one message generation rule based on the information importance level (ISL), and generate a V2X message based on the at least one message generation rule.

[0041] It will be appreciated that the above second to fourteenth aspects are equally applicable to systems according to the fifteenth and sixteenth aspects of the present disclosure.

[0042] The present disclosure is designed to advantageously provide for consideration of additional parameters for importance determination (e.g., detection confidence, location discrepancy), consideration of any type of object (e.g., not just VRUs), consideration of any type of ITS-S (e.g., not just vehicles), consideration of Area Perception Requirements (APRs), transmission of the importance parameter itself, selective aggregation of objects (as opposed to one message per object, or aggregation of all detected objects into one message), and consideration of specific V2X messages (CPMs).

[0043] In the above concepts, it will be appreciated that in cases where processing power is limited, it is preferable to have at least those received CPMs with high CSI processed first.

[0044] It will be further understood that, but not limited to, in the above context, ITS-Ss includes at least vehicles and / or roadside units in a traffic environment, to which the aforementioned aspects are applicable.

[0045] As mentioned at the beginning, V2X is a general term for mutual traffic network electronic communication between road users in the form of vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-network (V2N) and vehicle-to-pedestrian (V2P). The wireless communication can be based on the IEEE 802.11 WLAN standard (802.11p extensions and, for example, its European profile ITS-G5), in particular called WLAN-V2X. Alternatively, the wireless communication can be based on the 3GPP standard, in particular called Cellular V2X, C-V2X or Sidelink. For example, in V2X safety and traffic messages, emergency and service data, billing and navigation as well as Internet and database content are exchanged. The objectives of V2X include informing the driver at an early stage of important and dangerous situations, improving the vehicle's awareness of its surroundings, supporting the vehicle's driver assistance systems and supporting cooperative automated mobility, thereby improving road safety and optimizing traffic flows.

[0046] Two alternative access layer technologies for ITS have been defined by the Institute of Electrical and Electronics Engineers (IEEE) and the 3rd Generation Partnership Project (3GPP), respectively.

[0047] The first approach, often called Dedicated Short Range Communications (DSRC), supports ad-hoc connectivity of vehicles using Wireless Local Area Network (WLAN) technology standardized as IEEE 802.11p, which is the basis of the European standard ETSI ITS-G5. The second approach is Cellular-based V2X (C-V2X), a proposal by 3GPP based on Long Term Evolution (LTE), also known as LTE-V2X or sidelink.

[0048] In this context, cooperative awareness in road traffic means that road users and roadside infrastructure are informed about each other's position, dynamics and attributes. Road users are any kind of user on or near the road that plays a role in traffic safety and control, such as cars, trucks, motorbikes, bicycles and even pedestrians, as well as roadside infrastructure equipment including road signs, traffic lights, barriers and gates. As described in ETSI TR 102638, mutual awareness is the basis of several road safety and traffic efficiency applications with many use cases. This is achieved by regular broadcasting of information between road users, not only from vehicle to vehicle (V2V) but also from the infrastructure to any road user, such as V2I, I2V or X2X, which are based on radio networks, so called V2X networks and are part of Intelligent Transportation Systems (ITS).

[0049] Cooperative safety and traffic efficiency applications require Intelligent Transport Systems (ITS) subsystems (road users, roadside units, etc.) and their ITS-Stations (ITS-Ss) to have situational awareness available, including the presence and behavior of nearby road users. Vehicle and roadside subsystems have situational awareness available from their respective perception sensors and through communication with other ITS-Ss in the vicinity. CA Basic Services EN302637-2 is a European Standard (EN) that specifies how an ITS-S can inform other stations of the position, dynamics and attributes of its associated subsystems by transmitting Cooperative Awareness Messages (CAMs) according to EN302637-2.

[0050] Collaborative Perception Services (CP Services or CPS) complement the CA Basic Services. The CPS specification defines how an ITS-S can inform other stations of the position, dynamics and attributes of nearby road users, other objects and free spaces detected by local perception sensors. CPS allows ITS subsystems to share information about other road users and obstacles detected by local perception sensors such as radars and cameras. In that sense, CPS aims to increase awareness between ITS subsystems by mutually providing information about objects perceived by them to their individual knowledge bases.

[0051] Cooperative Perception Messages (CPMs) allow sharing information about objects detected by interspersed ITS subsystems. The messages consist of information about the interspersed ITS subsystems, their perception capabilities, and the detected objects. To this end, the messages provide common data elements to describe the detected objects in the interspersed ITS subsystems' frames of reference. CPMs are transmitted periodically with an adaptive message generation rate to reduce the resulting channel load while focusing on reporting changes in the dynamic road environment.

[0052] In particular, the ETSI draft technical specification ETSI TS103324, currently in the form of draft V0.2.22 (2021-05), focuses on the specification of CPMs to be transmitted by ITS-S participating in a V2X network, as well as the specification of a CPS with trigger conditions for transmitting CPMs.

[0053] As used herein, an object in the context of CPS is defined as a state space representation of an object physically detected within the perception range of a sensor, an object list is defined as a collection of objects that are time-aligned to the same timestamp, a Collective Cognition (CP) service is defined as functionality at the ITS-S facility layer for generating, receiving, and processing CPMs, a Collective Cognition Message (CPM) is defined as a CP service PDU (Protocol Data Unit), Collective Cognition Message (CPM) data is defined as a partial or complete CPM payload, the Collective Cognition (CPM) protocol is defined as an ITS facility layer protocol for the operation of CPM transmission and reception, and an ITS station An ITS-S is defined as a functional entity specified by the ITS station reference architecture, object confidence is defined as a quantification of the confidence that a detected object is actually present, i.e., has been previously detected by a sensor and continues to be detected, a roadside ITS station is defined as an ITS station in a roadside ITS subsystem, a sensor measurement is defined as the operation of a sensor based on an operating principle that generates a state-space representation of a detected object, the state-space representation is defined as a mathematical description of a detected object consisting of state variables such as distance, speed, object dimensions, etc., and a vehicular ITS station is defined as an ITS station in a vehicular ITS subsystem. The CPU(s) in the ITS-S perform the functions of each of the application layer, facility layer, and network and transport layer.

[0054] Figure 2 shows the Collective Cognition (CP) service in the ITS-S architecture in more detail, along with its logical interfaces with other layers and entities in the facility layer. The CPS is a facility layer entity in the ITS-SS architecture. The CPS interfaces with other entities in the facility layer and ITS applications to collect relevant information for CPM generation and for forwarding received CPM content for further processing.

[0055] The data collection entities for generating the CPM are the Device Data Provider (DDP), the Position and Time Management (POTI), and the Local Dynamic Map (LDM). In the case of the vehicle ITS subsystem, the DDP is connected to the in-vehicle network and provides vehicle status information. In the case of the roadside ITS subsystem, the DDP is connected to sensors mounted on roadside infrastructure such as masts and gantries. The POTI entity provides the position and time information of the ITS-S. The LDM is a database of the ITS-S and is configured to be updated with data received from messages such as CAM and CPM in addition to the in-vehicle sensor data. The ITS applications retrieve information from the LDM for further processing. The CPS also interfaces with the Service Announcement (SA) service, indicating the capability of the ITS-S to generate the CPM and provide details about the communication technology used.

[0056] Message origination specific information related to the current channel utilization is received by interfacing with the DCC-FAC (Distributed Congestion Control in the Facility Layer) entity and the DCC-Cross entity (located in the management plane, not shown in Figure 2). The CPS interfaces with the Networking and Transport Layer (N&T) via NF-SAP (SAP for Networking Facility Layer Interface) for CPM exchange with other ITS-S, with the Security Entity via SF-SAP (SAP for Security Facility Layer Interface) for accessing security services for CPM transmission and CPM reception, with the Management Entity via MF-SAP (SAP for Management Facility Layer Interface), and with the Application Layer via FA-SAP (SAP for Facility Application Layer Interface) in case the received CPM data is provided directly to the application. Note that SAP stands for Service Access Point and SA stands for Service Announcement.

[0057] As shown in Figure 3, the CPS functions in each ITS-S include CPM transmission management, CPM reception management, CPM encoding and CPM decoding based on inputs from the DCC (e.g., including information about available channel resources), inputs from on-board sensors (e.g., including information about sensor characteristics, FOV, objects, free space), CAMs and CPMs (from outside the respective ITS-S, e.g., from one or more other ITS-S).

[0058] Figure 4 illustrates modifications to the CPS functionality according to this embodiment in comparison to Figure 3. The modifications are indicated in bold italics and underlined in Figure 4 and are referenced in more detail below.

[0059] Figure 5 shows the current state of the ETSI CPM format and identifies where this disclosure fits into this format. Current ETSI developments for specifying CPS services are documented in a technical report describing the CPM format and CPM generation rules as a baseline for the CPS specification in ETSI TS 103324.

[0060] As shown in Figure 5, a CPM message contains an ITS (Intelligent Transportation System) PDU (Protocol Data Unit) header and four types of containers: a management container, a station data container, multiple sensor information containers (SICs), and multiple cognitive object containers (POCs).

[0061] The ITS PDU header contains data elements such as protocol version, message ID, and station ID. The control container is mandatory and provides basic information about the transmitting vehicle (e.g., the vehicle's location). The location information is used by the receiver to reference the detected object. The station data container is optional and contains additional information about the transmitting vehicle (e.g., speed, heading, or acceleration). Furthermore, the CPM can contain up to 128 SICs to describe the capabilities of the sensors built into the transmitting vehicle. Finally, the POCs provide information about the detected object (e.g., the distance between the detected object and the transmitting vehicle), the object's speed and dimensions, and the time when these measurements were made. A single CPM can contain up to 128 POCs.

[0062] The CPM generation rules define when a vehicle should generate and transmit a CPM and what information should be included in the CPM. The current ETSI CPM generation rules state that a vehicle should check at a predefined interval whether a new CPM should be generated and transmitted. By default, the predefined interval is set to 100 ms, but it can be any multiple of 100 ms in the range of 100 ms to 1000 ms. A vehicle should generate a new CPM every predefined interval if a new object is detected, or if the absolute position of the vehicle has changed by more than a predefined amount, e.g., 4 m, since the last time data was included in the CPM, or if the absolute speed of the vehicle has changed by more than a predefined value, e.g., 0.5 m / s, since the last time data was included in the CPM, or if the last detected object was included in the CPM more than a predefined time period, e.g., 1 second ago. The vehicle shall include in the new CPM all newly detected objects and objects that satisfy at least one of the aforementioned conditions. Even if the detected object does not satisfy any of the aforementioned conditions, the vehicle still generates a CPM every second. Information about the on-board sensors is included in the CPM only once per second.

[0063] As further shown in FIG. 5, the concept of importance indicators introduced in CPMs can be factored into the pending ETSI CPM format in the management container (see box marked CSI ("CPM-SI")), in the POCs (see boxes marked OSI ("O-SI") with indexes 1 to 128) and, optionally, by adding new APR containers 1 to n, see the right side of FIG. 5, and the Information Importance Levels (ISLs) on the channel, calculated using the CPM Importance Indicators (CSIs) and shared with other ITS-Ss in accordance with the present embodiment and disclosure, can be factored into this format in the management containers (see boxes marked ISL_L_0 and ISL_L_1).

[0064] In the above context, Figures 6A and 6B show the cooperation of CPM transmission and DCC in ITS-S at the layers of the ETSI ITS stack, including the concept of importance measures introduced in the CPMs according to the present embodiment.

[0065] According to Fig. 6A, for example, during the assumption of congestion of the V2X channel, the CPS receives data from its sensors (and CAMs / CPMs of other ITS-Ss) and creates a CPM according to predefined CPM generation rules. Fig. 6A also shows exemplary CPM generation rules for repetition rate and content, as described, for example, in ETSI Technical Report 103562 V2.1.1 (2019-12) cf. 4.3.4.2 "Cognitive Object Container Containment Management", which is incorporated herein by reference. Exemplary CPM generation rules are shown below.

[0066] Repetition rate: T_GenCpmMin≦T_GenCpm≦T_GenCpmMax Here, T_GenCpmMin=100 ms and T_GenCpmMax=1000 ms. content: 1. If the most reliable assigned Object Class does not correspond to either a human or animal class: a. After the last CPM-generated event, the object is first detected by the perception system. b. The absolute Euclidean distance between the current estimated location of the object's reference point and the estimated location of this object's reference point last included in the CPM exceeds 4 m. c. The difference between the current estimated ground speed of the object's reference point and the estimated absolute speed of this object's reference point last included in the CPM exceeds 0.5 m / s. d. The difference between the current estimated ground speed vector direction of the object's reference point and the estimated ground speed vector direction of this object's reference point last included in the CPM exceeds 4 degrees. e. The time since the object was last included in the CPM exceeds T_GenCpmMax. 2. If the most reliable assigned Object Class corresponds to a human or animal class: A new object (human or animal class) is detected after the last CPM generating event. b. If the object list contains at least one object of class Person or Animal that has not been included in the CPM within the past 500 milliseconds, then all objects of class Person or Animal MUST be included in the currently generated CPM.

[0067] The created CPM then passes through the stack via the network layer to the access layer, which transmits or drops the CPM depending on the current channel load.

[0068] FIG. 6B illustrates where the CSI concept, the ISL concept, and the SI / ISL based CPM generation control according to the present disclosure intertwine with the process shown in FIG. 6A.

[0069] After the CPS receives data from sensors and / or CAMs / CPMs of other ITS-Ss, the ISL (information importance weight, also called information importance level) ISL_L_0 on the channel is determined based on the CSIs of the received CPMs, the first and second level hops ISL_L_1, ISL_L_2 are determined, and the global ISL (ISL_G) is determined as ISL_G=max(ISL_L_0, ISL_L_1, ISL_L_2), and ISL_L_= and ISL_L_1 are added to the CPM management container. Then, the SI (Object Importance Indicator, OSI) of the detected object is calculated, the selected CPM generation rule is applied, the CPM is filled with the object data of the object according to the OSI, and the SI of the CPM is calculated. Then, the CPS generates the CPM, where the CPM size and rate are adapted based on the channel congestion information from the DCC. The CPM passes through the stack via the network layer up to the access layer, which transmits or drops the CPM depending on the current channel load (access layer DCC function DCC-ACC).

[0070] According to this embodiment, the CPM generation rules (options) for each ITS-S selected in FIG. 6B include at least the following rules A to D.

[0071] An implicit rate-based rule A where a CPM is generated at time T_GenCpm only if the CSI is higher than the current ISL_G. Once the maximum time interval (T_GenCpmMax) has elapsed, a CPM is created regardless of the CSI. Note that delaying the transmission of a CPM increases the "time since last update" of the object and therefore increases the OSI(s).

[0072] Explicit rate-based rule B, in which the optimal generation rate (and corresponding T_GenCpm) is calculated based on the DCC state, ISL_G, and the CSI of the CPM to be generated at a given time using a predefined formula or look-up table.

[0073] Priority-based rule C, where charging of the CPM starts with the highest importance object and continues until the CSI falls below ISL_G, i.e., the CSI is kept higher than ISL_G by not bringing low OSI objects into the CPM and not sending them at time T_GenCPM.

[0074] Staggered rate based rule D, where two (or more) CPMs are created and transmitted, one with high CSI and one with low CSI and high frequency, calculated based on the DCC state, ISL_G, and the CSI of the CPM to be generated at a given time using a predefined formula or lookup table. In this way, the most important objects (high OSI) are transmitted immediately and more frequently, while the other objects are transmitted later due to their minimum rate.

[0075] An example of rule D includes creating a CPM according to the priority-based rule (i.e., CSI>ISL_G) and sending it at a rate of (1 / T_GenCpm-1) Hz, and creating a second CPM with all remaining objects and sending it at a rate of 1 Hz.

[0076] As used herein, "implicit rate-based" means that the rules do not directly adjust the message generation rate, but rather indirectly, for example by postponing the generation of messages until certain criteria are met, which criteria are found to be met over time. "Explicit rate-based" means that the rules directly determine the generation rate of messages. "Priority-based" means that the rules create messages that exclude less important information and take into account the importance of the information to be included. "Staggered rate" means that different messages are created with different repetition rates.

[0077] Furthermore, CPMs with different CSIs can also be transmitted over different radio channels (MCO concept - multi-channel operation) or over different communication media.

[0078] Examples here include creating a first CPM according to a priority-based rule (CSI>ISL_G), sending it on the control channel (CCH) at a rate of (1 / T_GenCpm-1) Hz, creating a second CPM with all remaining objects and sending it on the service channel (SCH1) at a rate of 1 Hz, or creating a first CPM according to a priority-based rule (i.e., CSI>ISL_G), sending it on the control channel (CCH) at a rate of (1 / T_GenCpm-1) Hz, creating a second CPM with all remaining objects and sending it over the cellular network at a rate of 1 Hz to a cloud or mobile edge based service provider (for processing and redistribution to other ITS-Ss).

[0079] In this respect, the parameter T_GenCPM represents the currently active upper bound on the elapsed time between successive CPM generation events.

[0080] The present disclosure is based on and has multiple aspects, the outline of which is given below.

[0081] According to FIG. 3, within the context of CPS functions including CPM transmission management, CPM reception management, CPM encoding and CPM decoding, existing CPS functions are extended and / or adapted by incorporating a importance index (SI).

[0082] Concomitant with the incorporation of SI, which serves to avoid the loss of important information, the importance of the CPM is based on the importance index (SI) of the object information it incorporates, allowing the CPS to adaptively (depending on the current V2X channel load) include only the most important objects (e.g., from a safety perspective) in the CPM.

[0083] Here, it is considered that other ITS-Ss than the (own) host ITS-S may affect the SI calculation of the host ITS-S by sending Area Awareness Requests (APRs), which are requests for areas in which they wish to receive object information. Furthermore, other applications in the C-ITS system, such as on-demand CPM transmissions, are also considered in the same way.

[0084] Preferably, the SI is calculated by the CPS based on data obtained at the host ITS-S about the detected object, such data including at least one of kinematics, novelty, time since last update, classification, detection confidence, and / or other ITS-Ss needs.

[0085] As used herein, kinematics includes, but is not limited to, at least one of position, velocity, and acceleration, i.e., parameters suitable for indicating the likelihood that an object is a safety hazard to one or more road users. For example, if one vehicle is moving slowly and another is moving quickly, the faster vehicle is determined to be more likely to be a safety hazard, and the more likely it is to be a safety hazard, the higher its importance.

[0086] As used herein, novelty refers to an object that has not been detected before. New objects have higher importance. Time since last update relates to an object that has not been reported for a given period of time. The longer the time, the higher its importance. Classification typically refers to the type of object, considering more "value" objects such as vulnerable road users (VRUs). Classes containing such high value objects are then deemed to be more important. Similarly, the confidence (value) of a detection is such that the higher the confidence (value), the higher its importance.

[0087] With regard to the needs of other ITS-Ss, it is preferred that objects with their kinematics (e.g. position, velocity, acceleration), especially with respect to one or more road users (nearby, on a collision path, etc.), are taken into account when determining the importance of the object. Figure 7 shows an illustrated example where an ITS-S in a vehicle detects a first object (Object 1) and a second object (Object 2), in which the first object is considered to be more important than the second object because there is a possible collision path with the first object but not with the second object.

[0088] Also, with respect to the needs of other ITS-Ss, objects that are difficult or impossible to detect by nearby ITS-S, e.g., occluded objects that are partially or completely hidden based on the positions of other known objects, and the FOVs of the sensors of known nearby vehicles, are preferably also taken into account in determining the importance of the object. Figure 8 shows an illustrated example in which in a traffic environment including a first and a second vehicle and the first and second objects, a first object (Object 1) is considered more important by the first vehicle (Vehicle 1) than a second object (Object 2) because the first object is occluded by the second object with respect to the FOV of the sensor of the second vehicle.

[0089] Additionally, objects that are difficult or impossible to detect include, but are not limited to, objects that are on the boundary or completely outside the FOV of the sensors of neighboring ITS-S, and objects that are detected by other ITS-Ss with less confidence than the host ITS-S. Figure 9 shows an illustrated example in a traffic environment including first and second vehicles and the first and second objects, where a first object (Object 1) is considered more important by the first vehicle (Vehicle 1) than a second object (Object 2) because the first object is completely outside the FOV of the second vehicle (Vehicle 2).

[0090] Also, with regard to the needs of other ITS-Ss, it is preferable that objects whose positions detected differ between different ITS-S, including vehicle ITS-S type objects whose position in the CAM differs from the position detected by the sensors of another ITS-S, are taken into account when determining the importance of the object.

[0091] Furthermore, with regard to the needs of other ITS-Ss, it is preferred that several Area Perception Requests (APRs) by other ITS-Ss of the area where the object detected by the host ITS-S is located are taken into account when determining the importance of the object. Here, as a non-limiting example, the request for this area may be sent explicitly by a neighboring ITS-S and / or the request may be part of an optional container in the CPM where the sending ITS-S may indicate the area from which it would like to receive object information. Figure 10 shows an illustrated example in a traffic environment including a first and a second vehicle, a first and a second object, and e.g. a building, where a first object (Object 1) is considered more important by a first vehicle (Vehicle 1) than a second object (Object 2) because the first object belongs to the Area Perception Request (APR) of the second vehicle (Vehicle 2).

[0092] FIG. 11 shows an example flow chart of an example process for calculating and transmitting a importance index (SI) in a CPS.

[0093] In step 110, a number of objects are detected within a field of view (FOV) of at least one sensor provided in each station or in the vicinity of the station in shared messages received from other stations.

[0094] Next, in step 120, object data (kinematics and trajectory, if applicable) of each detected object is obtained from the at least one sensor and / or the shared messages, including objects detected via CAMs.

[0095] It should be noted that the shared message includes the CPMs obtained from the other ITS-Ss, including the FOVs and / or APRs from the other ITS-Ss. Furthermore, it should be noted that when processing power is limited and the CPMs obtained from the other ITS-Ss include CSI, it is preferable to configure the CPMs with high CSI (or CPM-SI) to be processed first.

[0096] In the next step 130, the OSI of each detected object is calculated based on the object data. The calculation here is based on the various factors mentioned above. As a non-limiting example, a simple calculation model involves adding the values ​​of the various factors and normalizing the result from 1 to 10 to obtain the SI value.

[0097] Next, in step 140, the CPM is filled with object data of the objects according to the calculated OSI, and at least one of the CPM generation rules A-D described above is applied to generate the CPM. As a non-limiting example, a simple filling model starts filling with the most important objects and continues with less important objects, respectively, as long as the CPM construction rules for CPM size allow. In other words, this step calculates and sets the CSI for each CPM. A non-limiting example of a simple model includes taking the average of the OSIs of all objects therein. It should be noted that both OSI and CSI can be integer type parameters, e.g., with values ​​from 1 to 10. For clarity, CSI is a contraction of CPM-SI and may be synonymously referred to as CPM-SI.

[0098] It should be noted that calculating the OSI and filling the CPM with object data of the objects according to the OSI, as shown in steps 130 and 140, is an exemplary approach to calculating the CSI. Other methods of calculating the CSI are contemplated, and the methods disclosed as alternatives herein do not impose limitations on the method of determining the priority of the CPMs.

[0099] Next, in step 150, the CSI of each CPM filled with the object data of the object is calculated.

[0100] A following step 160 determines the available channel resources of the wireless communication channel.

[0101] Finally, in step 170, the CPMs starting from the CPM with the highest CSI are transmitted according to the available channel resources. Preferably, if the channel is congested, the CPMs starting from the highest CSI are transmitted until the available channel resources (determined by the DCC entity) are exhausted.

[0102] In this process, thanks to the CSI, the CPMs starting from the CPM with the highest CSI are transmitted according to the available channel resources, thus reducing the possibility that important CPMs are discarded.

[0103] According to one embodiment of the present disclosure, the CPM Importance Index (CSI) concept of CPM described above is used to calculate the "Information Importance Level (ISL)" on the channel and share it with other ITS-Ss.

[0104] More specifically, a local ISL on the channel, ISL_L_0, is calculated, where ISL_L_0 is an index based on the CSIs of the CPMs received within one time interval. As a non-limiting example, the time interval may have a default value of 1 second, and the simplest model for calculating ISL_L_0 may consist in averaging the CSI values ​​of all CPMs received within said one predefined time interval.

[0105] The calculated ISL value is preferably included in the management container of the CPM in 2 bytes. Here, an exemplary model for including the calculated ISL value includes sending the locally calculated ISL, i.e., "level 0 hop", ISL_L_0 for said one time interval (default length 1 second, value 1-16, size 1 byte), calculating the maximum value of ISL_L_0 received in one time interval (default length 1 second) and sending this "level 1 hop", ISL_L_1 (value 1-16, size 1 byte), and calculating the maximum value of ISL_L_1 received in one time interval and not sending this "level 2 hop", ISL_L_2. At this point, a global ISL (ISL_G) is calculated as ISL_G=max(ISL_L_0, ISL_L_1, ISL_L_2).

[0106] As used herein, "zero hop" includes all ITS-Ss within the direction or direct radio range of an ITS-S, similarly, "one hop" additionally includes all ITS-Ss within radio range of a zero-hop ITS-Ss, and "two hop" additionally includes all ITS-Ss within radio range of both zero-hop and one-hop ITS-Ss.

[0107] As described above, the present disclosure provides a multi-hop, or at least two-hop, ISL determination based on sending ISLs to and receiving ISLs from neighboring ITS-Ss, where from the perspective of the own ITS-S, the calculated local ISL is distributed to the neighboring ITS-Ss as ISL_L_0 hop, ISL_L_1 hop is the maximum ISL_R_0 hop value received from the neighboring ITS-Ss within a specified time interval, and ISL_L_2 hop is the maximum ISL_R_1 hop value received from the neighboring ITS-Ss within a specified time interval.

[0108] The R and L hop values ​​used herein are derived from the multi-hop transmission and reception environment between IST-Ss in which the ISL is determined. R and L specify where from and to what extent from the perspective of a particular ITS-S.

[0109] To explain further, in a multi-hop transmission / reception environment between IST-Ss, for example, the L_0 hop is a value calculated locally (at the own ITS-S), which is distributed from the own ITS-S to the neighboring ITS-S as the R_0 hop, i.e., the L_0 hop becomes the R_0 hop when distributed from the own ITS-S to the neighboring ITS-S, and becomes the L_1 hop at the receiving neighboring ITS-S. Similarly, the other ITS-S distributes its L_0 hop as the R_0 hop, which becomes the L_1 hop at the own station. In the case of the L_1 hop, for example, the maximum value of L_0 received from other ITS-Ss is distributed from the own ITS-S to the neighboring ITS-S as the R_1 hop, which becomes the L_2 hop at the receiving neighboring ITS-S, and so on.

[0110] In the above context, the multi-hop transmission and reception approach is related to the calculation of the global channel busy ratio CBR_G, as described in ETSI Technical Specification ETSI TS 102636-4-2 V1.2.1 (2020-04), Chapter 5.3 “Calculation of the Global Channel Busy Ratio CBR_G”, which is incorporated herein by reference for a more complete understanding of the ISL calculation according to the present disclosure.

[0111] To calculate CBR_G, the following steps are performed every T_Trig, where the value of T_Trig is equal to the GeoNetworking protocol constant itsGNCBRGTriggerInterval. Within the trigger interval T_Trig, every ITS-S starts with a random time offset. The values ​​of CBR_L_1_Hop(0) and CBR_L_2_Hop(0) are initialized to 0. NOTE: The time offset prevents all ITS-Ss from triggering the CBR_G calculation at the same time. Step 1: Calculate the average of CBR_R_0_Hop(i), i.e.

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[0112] The technical effect of the SI / ISL based CPM generation control described herein is that a distributed management of CPM generation is adopted in case of a carrier channel, adapting the CPM generation and transmission in all ITS-Ss, so that other ITS-Ss coordinate their respective CPM generation and / or transmission, freeing up more bandwidth when one ITS-S is transmitting highly important CPMs. This also includes a further reduction in the V2X radio channel load. Since the channel budget of an ITS-S is limited by the channel capacity determined by the DCC depending on the level of congestion, an ITS-S that can determine how important its own information is compared to information from other stations can optimize the CPM prioritization, mitigate redundant information, reduce CPM size, freeing up capacity especially for (potentially or actually) congested V2X radio channels, and better preventing packets containing important information about highly relevant objects from being dropped.

[0113] The present disclosure has been described with a preferred embodiment thereof, however, it will be understood that the present disclosure is not limited to the specifically described embodiment, but can include and cover additional aspects, configurations, and modifications without departing from the scope of the subject matter described and claimed.

[0114] Such additional aspects, configurations, and modifications may include, for example, methods, computer programs, and apparatus for generating V2X messages based on the importance of information on a communication channel. The importance may be indicated by an Object Importance Index (OSI) and / or a CPM-wide Importance Index (CSI). The importance may be indicated for the entire channel by an Information Importance Level (ISL). The generation of such V2X messages determined by a "generation rule" includes at least the message composition and repetition rate.

[0115] Such additional aspects, configurations, and modifications may include, for example, methods, computer programs, and apparatus for determining message generation rules based on the ISL. The rules may include, for example, implicit rate-based rules, explicit rate-based rules, priority-based rules, time-staggered rate-based rules, and combinations thereof.

[0116] Such additional aspects, configurations, and modifications may further include methods, computer programs, and apparatus for encoding and decoding, transmitting and receiving the ISL of a communication channel as part of a V2X message based on the importance of the V2X message being transmitted, e.g., using a local "zero hop" value and single hop range.

[0117] Further aspects, configurations, and modifications may relate, for example, to methods, computer programs, and apparatus for constructing, transmitting, receiving, and decoding ITS messages or parts of ITS messages that contain information about geographical areas that are only partially or completely detected by sensors of the transmitting ITS-S and / or the importance of said areas to the transmitting ITS-S, and / or methods, computer programs, and apparatus for determining CPM transmission based on SI and available channel resources.

[0118] In general, embodiments of the present disclosure may be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. For example, some aspects may be implemented in hardware, and other aspects may be implemented in firmware or software that may be executed by a controller, microprocessor, or other computing device, but the present disclosure is not limited thereto. Although various aspects of the present disclosure may be illustrated and described using block diagrams, flowcharts, or other diagrammatic representations, the blocks, apparatus, systems, techniques, or methods described herein may be implemented by, as non-limiting examples, hardware, software, firmware, dedicated circuits or logic, general-purpose hardware or controllers, or other computing devices, or combinations thereof.

[0119] The embodiments of the present disclosure may be implemented by computer software executable by a data processor of a system entity, such as a processor entity, or by hardware, or by a combination of software and hardware. In this regard, it is further noted that any block of the logic flow illustrated in the figures may represent program steps, interconnected logic circuits, blocks and functions, or a combination of program steps and logic circuits, blocks and functions. The software may be stored on physical media, such as memory chips or memory blocks implemented within a processor, magnetic media, such as hard disks or floppy disks, and optical media, such as DVDs or CDs, their data variants.

[0120] The memory may be of any type suitable for the local technology environment and may be implemented using any suitable data storage technology, such as semiconductor-based memory devices, magnetic memory devices and systems, optical memory devices and systems, fixed and removable memories, etc. The data processor may be of any type suitable for the local technology environment and may include, by way of non-limiting examples, one or more of general purpose computers, special purpose computers, microprocessors, digital signal processors (DSPs), application specific integrated circuits (ASICs), gate level circuits, and processors based on multi-core processor architectures.

[0121] Embodiments of the present disclosure can be implemented in a variety of components, such as integrated circuit modules. The design of integrated circuits is generally a highly automated process. Complex and powerful software tools are available for converting logic level designs into semiconductor circuit designs ready to be etched and formed on a semiconductor substrate.

[0122] Electronic design automation (EDA) programs and tools use well-established design rules and libraries of pre-stored design modules to automatically determine the routing of conductors and the location of components on a semiconductor chip. Once the design of a semiconductor circuit is complete, the resulting design can be sent in a standardized electronic format to a semiconductor manufacturing facility or "fab" for manufacturing.

[0123] The foregoing description has provided a complete and informative description of the exemplary embodiments of the present disclosure, by way of illustrative and non-limiting examples. However, various modifications and adaptations will become apparent to those skilled in the relevant art in view of the above description, when read in conjunction with the accompanying drawings and the appended claims. All such and similar modifications of the teachings of the present disclosure will be understood to be within the scope of the present disclosure, as defined by the appended claims.

[0124] As described above, the present disclosure provides a method for generating a V2X message based on the importance of information on a communication channel in a cooperative intelligent transportation system (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of collective perception messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, the cooperative intelligent transportation system, and computer-implemented system comprising: determining an object importance index (OSI) and / or an overall collective perception message importance index (CSI) based on individual objects in the CPM; calculating an information importance level (ISL) on the channel based on the CSI values ​​of all received CPMs; determining at least one message generation rule based on the information importance level (ISL); and generating a V2X message based on the at least one message generation rule.

Claims

1. In a Cooperative Intelligent Transportation System (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of Collective Perception Messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, a method for generating V2X messages based on importance of information on the communication channel, comprising: determining a collective cognitive message overall importance index (CSI) based on individual objects within the collective cognitive message (CPM); The overall importance index of group perception messages is referred to as CSI, and the group perception message is referred to as CPM. calculating an information importance level (ISL) on the channel based on the CSI values ​​of all received collective cognitive messages (CPMs); determining at least one message generation rule based on an information importance level (ISL); and generating a V2X message based on the at least one message generation rule; The at least one message generation rule determined based on an information importance level (ISL) includes an implicit rate-based rule; With respect to the implicit rate-based rule, the method is configured to send a CPM if the CSI is higher than an information importance level (ISL) or to send a CPM in response to a message generation timer expiring regardless of the CSI.

2. In a Cooperative Intelligent Transportation System (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of Collective Perception Messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, a method for generating V2X messages based on importance of information on the communication channel, comprising: determining a collective cognitive message overall importance index (CSI) based on individual objects within the collective cognitive message (CPM); The overall importance index of group perception messages is referred to as CSI, and the group perception message is referred to as CPM. calculating an information importance level (ISL) on the channel based on the CSI values ​​of all received collective cognitive messages (CPMs); determining at least one message generation rule based on an information importance level (ISL); and generating a V2X message based on the at least one message generation rule; The at least one message generation rule determined based on an information importance level (ISL) includes a priority-based rule; With respect to the priority-based rules, the method is configured to create a CPM by including detected objects with respective information importance indicators (OSIs) such that the CSI of the entire message exceeds an information importance level (ISL).

3. In a Cooperative Intelligent Transportation System (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of Collective Perception Messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, a method for generating V2X messages based on importance of information on the communication channel, comprising: determining a collective cognitive message overall importance index (CSI) based on individual objects within the collective cognitive message (CPM); The overall importance index of group perception messages is referred to as CSI, and the group perception message is referred to as CPM. calculating an information importance level (ISL) on the channel based on the CSI values ​​of all received collective cognitive messages (CPMs); determining at least one message generation rule based on an information importance level (ISL); and generating a V2X message based on the at least one message generation rule; The method includes determining a local information importance level (ISL_L_0) on the channel from the CSI values ​​of all received CPMs as a local zero hop value by averaging the CSI values ​​of all CPMs received within a predetermined time interval.

4. 4. The method of claim 1, wherein the at least one message generation rule determined based on an information importance level (ISL) specifies a generation rate and / or composition of messages and comprises at least one of an implicit rate-based rule, an explicit rate-based rule, a priority-based rule, a time-difference rate-based rule, and a combination of such rules.

5. 5. The method of claim 4, wherein for the explicit rate-based rule, the method is configured to transmit CPM at a generation rate determined based on CSI, a channel information importance level (ISL), and a congestion level of a channel.

6. 5. The method of claim 4, wherein for the time-difference rate-based rule, the method is configured to create multiple streams of CPMs with respective generation rates determined based on respective CSIs, channel information importance levels (ISLs), and channel congestion levels.

7. 5. The method of claim 4, wherein with respect to the time-difference rate-based rule, the method is configured to transmit and receive V2X messages over different communication channels and / or different communication mediums.

8. Determining the Object Importance Index (OSI) Detecting a plurality of objects contained in a shared message received from another intelligent transportation system station (ITS-S) as being present within a field of view (FOV) of at least one sensor provided in each intelligent transportation system station (ITS-S) or within a communication range of the station; obtaining object data for each detected object from the at least one sensor and / or the shared message; and 4. A method according to any preceding claim, comprising calculating an Object Significance Index (OSI) for each detected object based on the object data.

9. The CSI decision was filling the objects into the CPM according to the calculated object importance metric; and 9. The method of claim 8, further comprising: calculating a CSI for each CPM filled with an object.

10. First and second hop information importance levels (ISL_L_1, ISL_L_2) are calculated; The first hop information importance level (ISL_L_1) is the highest received value calculated in a single hop range within a given time interval from the local information importance level (ISL_L_0); and 4. The method of claim 3, wherein the second hop information importance level (ISL_L_2) is the highest received value calculated in a two-hop range within a predetermined time interval from the first hop information importance level (ISL_L_1).

11. The method of claim 10, wherein a global information importance level (ISL_G) is determined as ISL_G = max (ISL_L_0, ISL_L_1, ISL_L_2).

12. The method according to any one of claims 1 to 3, wherein the Intelligent Transportation System Station (ITS-S) is a vehicle or a Roadside Unit (RSU).

13. 4. The method according to claim 1, wherein the wireless communication is a V2X direct communication.

14. In a cooperative intelligent transportation system (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of collective perception messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, the cooperative intelligent transportation system generates a V2X message based on the importance of information on the communication channel, a calculation unit configured to calculate an object importance index (OSI) and / or a collective cognitive message overall importance index (CSI) based on individual objects in the collective cognitive message (CPM); The overall importance index of group perception messages is referred to as CSI, and the group perception message is referred to as CPM. The calculation unit is further configured to calculate an Information Importance Level (ISL) on the channel based on the CSI values ​​of all the received CPMs; A determination unit configured to determine at least one message generation rule based on an information importance level (ISL); and a generating unit configured to generate a V2X message based on at least one message generation rule, The at least one message generation rule determined based on an information importance level (ISL) includes an implicit rate-based rule; A cooperative intelligent transportation system, wherein the implicit rate-based rule is configured to transmit a CPM if the CSI is higher than an information importance level (ISL) or to transmit a CPM in response to a message generation timer expiring regardless of the CSI.

15. In a cooperative intelligent transportation system (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of collective perception messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, the cooperative intelligent transportation system generates a V2X message based on the importance of information on the communication channel, a calculation unit configured to calculate an object importance index (OSI) and / or a collective cognitive message overall importance index (CSI) based on individual objects in the collective cognitive message (CPM); The overall importance index of group perception messages is referred to as CSI, and the group perception message is referred to as CPM. The calculation unit is further configured to calculate an Information Importance Level (ISL) on the channel based on the CSI values ​​of all the received CPMs; A determination unit configured to determine at least one message generation rule based on an information importance level (ISL); and a generating unit configured to generate a V2X message based on at least one message generation rule, The at least one message generation rule determined based on an information importance level (ISL) includes a priority-based rule; The priority-based rule is configured to create a CPM by including detected objects having respective information importance indicators (OSIs) such that the CSI of the entire message exceeds an information importance level (ISL).

16. In a cooperative intelligent transportation system (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of collective perception messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, the cooperative intelligent transportation system generates a V2X message based on the importance of information on the communication channel, a calculation unit configured to calculate an object importance index (OSI) and / or a collective cognitive message overall importance index (CSI) based on individual objects in the collective cognitive message (CPM); The overall importance index of group perception messages is referred to as CSI, and the group perception message is referred to as CPM. The calculation unit is further configured to calculate an Information Importance Level (ISL) on the channel based on the CSI values ​​of all the received CPMs; A determination unit configured to determine at least one message generation rule based on an information importance level (ISL); and a generating unit configured to generate a V2X message based on at least one message generation rule, A cooperative intelligent transportation system, wherein the information importance level (ISL) calculation includes determining a local information importance level (ISL_L_0) on the channel from the CSI values ​​of all received CPMs as a local zero hop value by averaging the CSI values ​​of all CPMs received within a predetermined time interval.

17. 1. In a Cooperative Intelligent Transportation System (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of Collective Perception Messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, a computer-implemented system for generating V2X messages based on importance of information on the communication channel, comprising: Upon execution by the processor, the processor: determining an object importance index (OSI) and / or a collective cognitive message overall importance index (CSI) based on individual objects within the collective cognitive message (CPM); The overall importance index of group perception messages is referred to as CSI, and the group perception message is referred to as CPM. calculating an information importance level (ISL) on the channel based on the CSI values ​​of all received CPMs; determining at least one message generation rule based on an information importance level (ISL); and generating a V2X message based on the at least one message generation rule; The at least one message generation rule determined based on an information importance level (ISL) includes an implicit rate-based rule; The implicit rate-based rule is configured to send a CPM when a CSI is higher than an information importance level (ISL) or to send a CPM in response to a message generation timer expiring regardless of the CSI.

18. 1. In a Cooperative Intelligent Transportation System (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of Collective Perception Messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, a computer-implemented system for generating V2X messages based on importance of information on the communication channel, comprising: Upon execution by the processor, the processor: determining an object importance index (OSI) and / or a collective cognitive message overall importance index (CSI) based on individual objects within the collective cognitive message (CPM); The overall importance index of group perception messages is referred to as CSI, and the group perception message is referred to as CPM. calculating an information importance level (ISL) on the channel based on the CSI values ​​of all received CPMs; determining at least one message generation rule based on an information importance level (ISL); and generating a V2X message based on the at least one message generation rule; The at least one message generation rule determined based on an information importance level (ISL) includes a priority-based rule; The priority-based rule is configured to create a CPM by including detected objects having respective information importance indicators (OSIs) such that the CSI of the entire message exceeds an information importance level (ISL).

19. 1. In a Cooperative Intelligent Transportation System (C-ITS) that uses a wireless communication channel to transmit, receive, process, and / or discard a plurality of Collective Perception Messages (CPMs) containing information about on-board sensors and / or objects detected by the on-board sensors in a traffic environment, a computer-implemented system for generating V2X messages based on importance of information on the communication channel, comprising: Upon execution by the processor, the processor: determining an object importance index (OSI) and / or a collective cognitive message overall importance index (CSI) based on individual objects within the collective cognitive message (CPM); The overall importance index of group perception messages is referred to as CSI, and the group perception message is referred to as CPM. calculating an information importance level (ISL) on the channel based on the CSI values ​​of all received CPMs; determining at least one message generation rule based on an information importance level (ISL); and generating a V2X message based on the at least one message generation rule; A computer-implemented system, wherein the information importance level (ISL) calculation includes determining a local information importance level (ISL_L_0) on the channel from the CSI values ​​of all received CPMs as a local zero hop value by averaging the CSI values ​​of all CPMs received within a predetermined time interval.

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