Systems and methods for using V2X and sensor data

Abstract

To provide all road users with a safety function and another application enabled by a V2X technique.SOLUTION: A method and system for traffic control includes receiving at processing unit sensor data of a site on a road network, and receiving at the processing unit a V2X communication. Locations of road users are calculated from the sensor data and the V2X communication enabling the detection of connected and non-connected road users. Once connected and non-connected road users are detected at a site, this information can be used to control traffic.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to communication between road users and between road users and infrastructure. [Background technology]

[0002] Urban environments present many blind spots for human road users, and autonomous vehicles cannot resolve these blind spots because their sensors have the same limited field of view as the human eye.

[0003] Connected road users (e.g., connected vehicles, bicycles, pedestrians, etc.) are a technology that aims to resolve blind spots and other cases by transmitting information from one road user to another about hazards and the location of other road users.

[0004] Possible communications between road users include vehicle-to-vehicle (V2V) and vehicle-to-pedestrian (V2P) communications. Road users can also communicate with the road infrastructure in vehicle-to-infrastructure (V2I) and pedestrian-to-infrastructure (P2I) communications. These communication modes are commonly referred to as vehicle-to-exchange (V2X).

[0005] Currently, the competing standards used for V2X are DSRC (Dedicated Short Range Communications) and C-V2X / 5G cellular-based protocols. These two standards address the physical level of V2X wireless communication, i.e., low latency, high reliability, and challenges associated with fast-moving objects. Both standards support the same functional layer (transport layer) on which applications can be created.

[0006] At the core of V2X communication is a message set that is broadcast at 10 Hz by all connected road users. In the American standard (SAE J2375), the message set is called the Basic Safety Message (BSM) or Pedestrian Personal Safety Message (PSM), while in the European standard (ITS-G5), the message set is called the Cooperative Awareness Message (CAM). Functionally, these message sets are nearly identical.

[0007] The message set typically includes information such as a position (latitude and longitude) estimate and the accuracy of the position estimate, heading in degrees relative to north, speed, acceleration, past trajectory and predicted future trajectory.

[0008] The information in the message sets will enable connected road users to use roads more safely and efficiently, reducing traffic congestion, accidents and air pollution.

[0009] However, one of the core problems with V2X communications is that the technology must be mass-adopted to be viable. At a minimum, two road users (e.g., two vehicles) must be connected both for the two to be able to communicate and for the technology to provide value. Until V2X communications capabilities are mass-adopted, there is effectively no value in having connectivity.

[0010] Technology adoption is typically nonlinear and cannot be adequately estimated, especially at the micro level (e.g., estimating how many connected vehicles are out of the total number of vehicles on a particular street). The same is true for V2X technology adoption. Until 100% of road users have V2X communication capabilities, systems that use V2X information in decision-making may need to estimate the rate of V2X technology adoption based on the number of connected road users at a site to estimate the total number of road users at that site.

[0011] In some cases, road infrastructure can communicate with road users. For example, traffic signal preemption (also known as traffic signal prioritization) allows for the manipulation of traffic signals in the path of an emergency vehicle, stopping competing traffic and allowing the emergency vehicle to pass, reducing response times and enhancing road safety. Signal preemption can also be used to allow priority access for public transportation through an intersection or to prevent conflicts with rail systems at the intersection.

[0012] Traffic signal preemption can be enabled by V2I preemption, which is based on the transmission of a preemption message (e.g., Signal Request Message, SRM, in SAE J2375) from a connected vehicle to the infrastructure (e.g., traffic signal controller). Currently, a list of authorized vehicles (e.g., emergency vehicles and public transport) is used to authorize preemption only for listed vehicles. Summary of the Invention [Problem to be solved by the invention]

[0013] Some major drawbacks of current V2I preemption approaches include: The SRM could be exploited through hacking or malfunction, thereby enabling preemption of unauthorized vehicles; All licensed vehicles would need to be equipped with a V2X subsystem, which would increase vehicle costs and delay the adoption of intersection preemption; This approach does not take into account non-connected authorized vehicles, meaning that conflicting demands may not be handled properly. For example, a connected bus crossing an intersection from the north may get the right of way at the same time that a non-connected police car coming from the west may be delayed by the priority given to the bus. The fact that the police car is not connected and therefore cannot communicate with the infrastructure may cause it to be assigned priority incorrectly. Includes:

[0014] Even if V2X technology is widely adopted, there will still be scenarios that are not covered by V2X communication, such as unconnected road users (e.g., small children) running into the street, V2X communication modules malfunctioning, and unconnected obstacles (e.g., potholes).

[0015] For the reasons stated above, current use of V2X technology is insufficient to provide safety and other potential benefits of connectivity for road users. [Means for solving the problem]

[0016] Embodiments of the present invention enable full coverage of a site on a road network to detect and identify both connected and non-connected road users at the site, emulating a situation where all road users are connected, even those not using V2X communications. Thus, embodiments of the present invention provide safety features and other applications enabled by V2X technology to all road users, even in the (extreme) case where there is only one connected road user at the site.

[0017] Embodiments of the present invention use V2X communications to detect and identify connected road users near or in close proximity to a site, and sensors to detect all road users in the vicinity of the site.

[0018] In one embodiment, a traffic control system includes sensors for detecting road users, the sensors being mounted in-situ on a road network, a V2X communication module, and a processing unit for receiving inputs from the sensors and the V2X communication module, the inputs including at least locations of the road users. The system is then able to detect and identify connected and unconnected road users based on the inputs.

[0019] In order that the present invention may be more fully understood, it will now be described in connection with specific examples and embodiments, and with reference to the following illustrative drawings, in which: [Brief explanation of the drawings]

[0020] [Figure 1A] 1 illustrates schematically a system for managing communications between road users according to an embodiment of the present invention; [Figure 1B] 1 illustrates schematically a method for managing communications between road users according to an embodiment of the present invention; [Figure 2] 1 illustrates schematically a virtual map constructed and used in accordance with an embodiment of the present invention; [Figure 3A] 1 illustrates schematically a method for matching connected road users with unconnected road users according to an embodiment of the present invention; [Figure 3B] 1 illustrates schematically a method for matching connected road users with unconnected road users according to an embodiment of the present invention; [Figure 3C] 1 illustrates schematically a method for matching connected road users with unconnected road users according to an embodiment of the present invention; [Figure 4] 1 illustrates a schematic diagram of a network of sensors, in accordance with one embodiment of the present invention; [Figure 5] 1 illustrates a schematic diagram of a typical deployment of a system operable in accordance with an embodiment of the present invention. [Figure 6]3 illustrates schematically the calculation of a road user's ETA according to an embodiment of the present invention; [Figure 7A] 1 illustrates generally a method for traffic preemption in accordance with an embodiment of the present invention. [Figure 7B] 1 illustrates generally a method for traffic preemption in accordance with an embodiment of the present invention. [Figure 7C] 1 illustrates generally a method for traffic preemption in accordance with an embodiment of the present invention. [Figure 7D] 1 illustrates generally a method for traffic preemption in accordance with an embodiment of the present invention. [Figure 8] 1 illustrates a schematic diagram of a method for predicting future usage of a site in a road network, according to one embodiment of the present invention; [Figure 9A] 1 illustrates schematically a method for estimating hazardous conditions on a road network according to an embodiment of the present invention; [Figure 9B] 1 illustrates schematically a method for estimating hazardous conditions on a road network according to an embodiment of the present invention; [Figure 9C] 1 illustrates schematically a method for estimating hazardous conditions on a road network according to an embodiment of the present invention; [Figure 9D] 1 illustrates schematically a method for estimating hazardous conditions on a road network according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0021] An embodiment of the present invention provides the locations of all road users at a given site on a road network, enabling efficient traffic control at the site. An embodiment of the present invention includes detecting all road users and their locations at a site based on input from sensors installed near the site, and detecting connected road users and their locations based on V2X communications. Next, non-connected road users are detected by matching each connected road user to one of the all road users. All unmatched road users are determined to be non-connected road users.

[0022] The location of a road user typically means a coordinate, which may be a coordinate in the real world (i.e. a position in a geographic coordinate system) or a pixel coordinate in an image (e.g. a raster image or a point cloud image).

[0023] A virtual map containing information such as the location of road users at any given time can be created and used, for example, to calculate the estimated time of arrival (ETA) of different users to different locations. Such a virtual map can be used in a myriad of safety applications, for example, to efficiently control traffic. For example: Warning of collisions with objects not in the road user's field of view, Optimizing distance to next vehicle: By knowing the speed, acceleration, and distance to nearby vehicles, a connected autonomous vehicle (CAV) can adapt its own speed and acceleration to maintain a safe distance from nearby vehicles, thereby improving safety and allowing traffic to flow more smoothly. Assisting CAVs with complex maneuvers in urban environments, such as left-turn maneuvers at signalized intersections in the United States (left-turn assistance); is.

[0024] The term "road user" means any entity that uses the road network, for example, pedestrians, cyclists, motorcyclists, cars, trucks, buses, emergency vehicles, etc.

[0025] The term "road network" refers to the routes and structures that road users use for transportation. For example, roads, highways, intersections, routes, etc. may all be part of the road network.

[0026] The infrastructure of the road network includes accessories associated with the road network and assisting road users, such as traffic lights, light poles, traffic signs and other road markings, dynamic message signs (DMS), dynamic lane indicators, etc.

[0027] As used herein, the term V2X generally refers to communication between all elements on a road network, e.g., communication between road users, communication between infrastructure and users, communication between infrastructures, etc.

[0028] The term "network" in this specification and its examples all refer to roads, but it should be understood that the present invention also relates to any network over which a user travels, e.g., river, sea, air, rail, etc.

[0029] In the following description, various aspects of the present invention are described. For purposes of explanation, specific configurations and details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without the specific details presented herein. Additionally, well-known features may be omitted or simplified so as not to obscure the present invention.

[0030] Unless otherwise indicated, as will be apparent from the following description, throughout the description herein utilizing terms such as "analyze," "process," "calculate," "compute," "determine," "detect," "identify," "learn," and the like, are understood to refer to the operations and / or processes of a computer or computing system or similar electronic computing device that manipulates and / or transforms data represented as physical quantities in the registers and / or memory of the computing system into other data that are similarly represented as physical quantities in the memory, registers, or other such information storage, transmission, or display device of the computing system. Unless otherwise indicated, these terms refer to the automatic operations of a processor that are independent of and do not involve any action by a human operator.

[0031] 1A, a processing unit 104 is in communication with one or more sensors 102 capable of detecting road users and one or more V2X communication modules 103 capable of receiving and transmitting communications to and from connected road users. The processing unit 104 can receive inputs (also referred to herein as sensor data) from the sensors 102 and the V2X communication modules 103 and detect, and optionally identify, based on the inputs, connected and non-connected road users.

[0032] Typically, the inputs from the sensors 102 and the V2X communication module 103 include at least the positions of road users detected by the sensors 102 and the positions of connected road users transmitted to the V2X communication module 103.

[0033] The sensors 102 may be, for example, optical-based, radar-based, sonic-based, or use other suitable technology for detecting road users. The sensors 102 may include one or a combination of cameras, radar, lidar, and / or other suitable sensors for detecting road users. The sensors 102 acquire data, such as images or other data representative of road users, and the processing unit 104 may calculate the locations of the road users from the data.

[0034] In the exemplary embodiment described herein, the sensor 102 includes a camera, although other sensors can be used. In one embodiment, the sensor 102 includes a camera including a CCD or CMOS or another suitable chip. The camera may be a 2D camera or a 3D camera. The processor 104 may apply image processing algorithms, such as shape and / or color detection algorithms, and / or machine learning models, such as a convolutional neural network (CNN) and / or a support vector machine (SVM), to detect and possibly classify each road user, and may track each road user using image processing and tracking algorithms to calculate parameters such as each user's position, orientation, speed, acceleration, and past and future trajectory.

[0035] The V2X communications module 103 may communicate with connected road users using a suitable communications method, such as DSRC and / or C-V2X / 5G. For example, the V2X communications module 103 may include a DSRC or C-V2X / 5G modem and receive data from connected road users using DSRC / C-V2X or fleet telematics (via cellular communications).

[0036] The information received from each connected road user typically includes the user's position (in a geographic coordinate system), speed, acceleration, heading, past trajectory and predicted future trajectory, as well as parameters calculated from data received from sensors 102. The road user's class (e.g., private car, bus, pedestrian, etc.) and / or identification information (e.g., V2X digital certificate, license plate number, etc.) may also be received via the V2X communication module 103.

[0037] The processing unit 104 may generate a signal based on these parameters and transmit the signal to connected road users and / or road infrastructure via the V2X communication module 103, as further described below.

[0038] The processing unit 104 may include, for example, one or more processors and may be a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field programmable gate array (FPGA), a microprocessor, a controller, a chip, a microchip, an integrated circuit (IC), or any other suitable general-purpose or specific processor or controller. The processing unit 104 may include or be in communication with a memory unit 109. The memory unit 109 may store at least a portion of data received from the sensors 102 and / or the V2X communications module 103.

[0039] The memory unit 109 may include, for example, random access memory, dynamic RAM, flash memory, volatile memory, non-volatile memory, cache memory, a buffer, a short-term memory unit, a long-term memory unit, or other suitable memory or storage unit.

[0040] In some embodiments, memory unit 109 stores executable instructions that, when executed by processing unit 104, facilitate the performance of operations of processing unit 104, as described herein.

[0041] The components of system 100 may be in wired or wireless communication and may include appropriate ports and / or network hubs and / or appropriate cabling.

[0042] Additionally, system 100 may include or be attached to a user interface device having a display, such as a monitor or screen, for displaying, for example, images, virtual maps, instructions, and / or notifications (e.g., via text or other content displayed on the monitor). The user interface device may also be designed to receive input from an external user. For example, the user interface device may include a monitor and keyboard and / or mouse and / or touch screen to allow the external user to interact with the system.

[0043] For example, a locally or remotely connected storage device in the cloud may be used with system 100. The storage device may be, for example, a server including volatile and / or non-volatile storage media such as a hard disk drive (HDD) or solid state drive (SSD). In some embodiments, the storage device may include software for receiving and managing data input from sensors 102 and / or V2X communications module 103.

[0044] 1B, processing unit 104 receives input from sensor 102 (step 120) and detects all road users from the sensor input (step 122). Typically, the group of all users includes all users within the field of view (FOV) of sensor 102.

[0045] In one embodiment, processor 104 uses information from the sensor input (i.e., user parameters calculated from the sensor input) to create and maintain a list or other record containing identifiers (e.g., values ​​or other characters representing the road user's identity or other parameters) of all road users detected in step 122. This list includes identifiers for both connected and non-connected users. Typically, the list of all users pertains to users in a particular locale defined by the FOV of sensor 102.

[0046] The processing unit 104 detects connected road users from the input received from the V2X communication module 103 (step 124). The processor 104 may create and maintain a separate list or other record based on the input from the V2X communication module 103. This list includes only connected users that transmit to the V2X communication module 103.

[0047] The processor 104 compares all road users with connected users to detect non-connected road users (step 126). For example, the non-connected users among all users can be determined by comparing or matching the list of all road users with the list of connected road users. A road user is considered to be a non-connected road user if there is no connected road user that can be matched to the road user.

[0048] In some embodiments, the devices may also be controlled based on the locations of connected and non-connected road users (eg, by signals generated by the processing unit 104) (step 128).

[0049] For example, the processing unit 104 may create a message for each non-connected road user detected in step 126. The message (e.g., in current standards, a BSM and / or a CAM and / or a PSM) typically includes calculated user parameters (e.g., position, speed, acceleration, heading, classification, past and predicted trajectories, etc.) and may be broadcast via the V2X communication module 103 modem to all connected road users in the vicinity of the scene at the required frequency (e.g., 10 Hz for vehicles, 2 Hz for pedestrians).

[0050] In another example, described further below, the traffic controller may be controlled by the processing unit 104 according to the location of the road users.

[0051] Thus, embodiments of the present invention enable devices to be controlled to provide safer and smoother traffic based on the location of both connected and non-connected road users.

[0052] Some embodiments described herein enable devices to be controlled based on other / additional parameters of connected and non-connected road users, such as the heading, speed, acceleration, and trajectory of each user, to provide safer and smoother traffic.

[0053] As described above, the processing unit 104 may create and maintain a list of all road users near and approaching a site on the road network based on input from the sensors 102 and the V2X communication module 103. The list of all road users is matched with a list of connected road users to determine the locations of connected and non-connected road users.

[0054] The processing unit 104 may create a virtual map using the determined locations of the connected road users and the unconnected road users. The virtual map may be created (e.g., calculated) periodically (e.g., at a predetermined frequency). In some embodiments, the virtual map may be a dynamic virtual map that is updated periodically.

[0055] In one embodiment, the processor 104 detects and classifies road users by applying an object detection and classification algorithm (e.g., using YOLO object detection, SSD deep learning, or a CNN deep neural network such as Faster-RCNN) to the data input from the sensor 102, and possibly calculates a boundary shape (e.g., a 3D box) for each detected road user for each classification. Thus, a vehicle may have a different boundary shape than a pedestrian, which may have a different boundary shape than a train, etc.

[0056] Each bound road user is assigned a tracking ID and is tracked, for example, by using an object tracking algorithm (Siamese-CNN+RNN, MedianFlow, KLT, etc.).

[0057] The pose of each road user identified by a tracking ID can be calculated, for example, based on the orientation of each face of a 3D bounding box representing the user.

[0058] Parameters for each road user can be calculated based on the user's position over time. For example, speed can be calculated directly from radar data and / or by measuring the difference in user position (pixel coordinates) in the image over time.

[0059] Acceleration can be calculated by measuring the difference in velocity over time.

[0060] The orientation may be calculated based on the user's pose and / or based on the angle between two (or more) positions of the same user in two or more separate images taken at different times.

[0061] A user's past trajectory (which can be defined as a list of <location, time> pairs) can be calculated based on their location over time.

[0062] Future or predicted trajectories can be calculated using a predictive model (such as a recurrent neural network (RNN)) trained on information including road user classification, past trajectories, speed, acceleration, and orientation. Future trajectories can be defined as a list of <position, time> pairs, where the time is in the future.

[0063] The processor 104 can then calculate a transformation function (e.g., a perspective transformation matrix) that maps the pixel coordinates to a geographic coordinate system. In some cases, the processing unit 104 can be calibrated using the image, the pixel coordinates, and one of different known locations in the geographic coordinate system (e.g., latitude and longitude). A distance measurement function (such as the haversine function formula) can be used to calculate the distance in meters from two points in the geographic coordinate system.

[0064] The processing unit 104 can create a virtual map from user parameters calculated from input from the sensors 102, such as position and / or pose in pixel / point cloud space, classification, velocity, acceleration, orientation, and past and predicted trajectories, using, for example, a transformation function as described above. The map may also include information related to parameters (such as position, pose, classification, velocity, acceleration, orientation, and past and predicted trajectories) of connected users not within the FOV of the sensors 102. This information is typically received from the V2X communications module 103, while information regarding parameters of connected users within the FOV of the sensors 102 includes information from both the sensors 102 and the V2X communications module 103.

[0065] The virtual map 200 is shown schematically in Figure 2. In one embodiment, the virtual map 200 shows all road users 215 and 216 in a geographic coordinate system along with their IDs (ID1 and ID2). For example, using distance measurement functions and calculated user parameters as described above, the virtual map 200 displays information 215' and 216' for each road user 215 and 216, such as the user's location (e.g., latitude and longitude), speed (e.g., m / s), acceleration (e.g., m / s 2The virtual map 200 may be further augmented by information about location, orientation (e.g., angle where 0 is north), past and predicted trajectories (a list of <location, time> pairs, where time may be a future time for the predicted trajectory). Additional parameters such as class and / or identity (including, e.g., license plate number, color, shape, etc.) may also be added to the virtual map 200. Additional parameters or information that may be added to the virtual map 200 include the state of the road users, e.g., connected status, unconnected status, and connected and matched to sensor inputs.

[0066] The virtual map 200 may include graphical locations of the road network 211 and road network infrastructure 212, at locations that represent their real-world locations. Graphical representations of road users 215 and 216 may be overlaid on the map at appropriate locations.

[0067] In some embodiments, the processing unit 104 can calculate an estimated time of arrival (ETA) for a particular road user at a real-world location based on the virtual map 200, as further described below, and control the device according to the ETA.

[0068] As shown generally in Figure 3A, all road users at a site on a road network are detected at step 32 based on input from sensors, such as sensor 102. The input from the sensors may include, for example, image data and / or point cloud data.

[0069] In step 34, connected road users are detected based on V2X transmissions, for example by input from the V2X communication module 103.

[0070] In step 36, at least one non-connected road user is detected by matching each connected road user (detected in step 34) to one of all road users (detected in step 32), thereby determining the unmatched road users as non-connected road users. In one embodiment, the matching to determine non-connected users is performed by subtracting the list of connected users from the list of all users.

[0071] In step 32, the input from the sensors is analyzed to detect all users. The input from the sensors may include image data, and detecting all road users may include applying an object detection algorithm to the image data. In some embodiments, the input from the sensors may include data (e.g., point cloud data) from a radar or lidar sensor, and detecting all road users may include using a clustering algorithm (such as DBSCAN) or a neural network such as a CNN on the data.

[0072] In some embodiments, a fine-grained classifier (such as a CNN) can be trained on images of different road users, such as vehicles, trains, bicycles, pedestrians, etc. The trained classifier can be used by processing unit 104 to provide reliable fine-grained classification and identification of road users from image data.

[0073] In some embodiments, matching each connected road user to one of the road users detected in step 32 includes determining that at least one parameter of both road users exhibits a similarity that exceeds a threshold.

[0074] As shown generally in Figure 3B, parameters of the detected road user are determined from the sensor data (step 302). If the similarity between the determined parameters and the same parameters of the connected road user exceeds a threshold (step 304), a match is found (step 306). If the similarity is below the threshold, no match is found (step 308).

[0075] In some embodiments, two or more parameters must match above a threshold to confirm a match between two road users.

[0076] In one embodiment, object matching algorithms (such as template matching, feature matching, neural networks with mapping to latent vector space, and cosine distance loss) are used to compare road user parameters (e.g., position, velocity, acceleration, classification, and trajectory).

[0077] In some cases, parameters of a particular road user determined based on input from the V2X communications module can be compared with parameters (of the same road user) determined based on input from a sensor. For example, calculating the user's parameters from sensor input can include the use of object detection and / or tracking algorithms, while calculating the connected user's parameters received from the V2X communications module can include the use of a global positioning system (GPS) or inertial measurement unit (IMU)-based device. A comparison between parameters determined by these different techniques can determine inherent errors in the input from the V2X communications module and / or errors in the calculations based on input from the sensor. In some embodiments, a threshold can be set based on the determined inherent error. For example, the threshold can be set to exceed the probability of error (as determined by the determined inherent error). In other embodiments, the threshold is a predetermined threshold.

[0078] In situations where not all road users are connected, embodiments of the present invention can be used to emulate road user connectivity. For example, as shown generally in Figure 3C, all road users at a site on a road network are detected in step 312 based on input from sensors such as sensor 102.

[0079] In step 314, connected road users are detected based on V2X transmissions, for example by input from the V2X communication module 103.

[0080] In step 316, at least one unconnected road user is detected, for example, by matching all users to connected users as described above.

[0081] In step 318, parameters of the unconnected road users (eg, classification, location, heading, speed, acceleration, and past and / or future trajectories) are determined, for example, as described above.

[0082] A message set including the determined parameters is created (step 320) and sent to the connected road users and / or road network infrastructure (step 322), for example via a V2X communication module, allowing the unconnected road users to become "visible" and connect to other users and / or infrastructure.

[0083] In one embodiment, an example of which is shown schematically in Figure 4, multiple sensors 402 are in communication with a control unit 406. The control unit 406 may include a CPU or any other suitable processor and communication capabilities, such as wireless communication capabilities (e.g., Wifi, LoRa, Cellular, etc.) and / or wired communication (e.g., Ethernet (etc.), fiber, etc.). Additionally, the control unit 406 has V2X communication capabilities.

[0084] The control unit 406 can communicate directly with the road network infrastructure (dynamic message signs, dynamic lane indicators, etc.) or can communicate via a road network infrastructure controller unit 407, which is typically a dedicated computer for controlling the infrastructure. For example, each traffic signal is connected to a traffic signal controller that controls the sequence and duration of the traffic signals.

[0085] The control unit 406 may also communicate with one or more V2X communication modules 403, which may be located in the same location as the sensors 402 and / or in a suitable location to send and receive information to and from the connected users and / or the control unit 406.

[0086] The control unit 406 may send a signal to the road network infrastructure controller unit 407 based on the detection of connected and non-connected road users.

[0087] In some embodiments, the control unit 406 may communicate with connected road users.

[0088] In some embodiments, each sensor 402, optionally a V2X communications module 403, and optionally a processing unit are contained within a single housing 401. The housing typically provides stability for the sensors 402 to prevent movement while acquiring images or other data.

[0089] The housing 401 can be made of materials that are durable, practical, and safe to use, such as plastic and / or metal. In some embodiments, the housing 401 can include one or more pivot elements, such as hinges, rotatable or ball joints, and rotatable arms, to allow for various movements of the housing. For example, the housing can be mounted in the field on a road network by rotating and / or tilting the housing, allowing the sensor 402 housed within the housing 401 to have several FOVs.

[0090] In one embodiment, shown schematically in Figure 5, a network of sensors is deployed at a site on a road network. Each sensor 502 from the network may be mounted at a different location at the site.

[0091] Suitable sites for installing the sensor 502 include, for example: Intersections, typically signalized intersections, are an important part of modern road networks and are crucial points and sources of collisions that lead to accidents, especially fatal ones. Roundabouts are an alternative to signalized intersections and can dramatically reduce fatal accidents, but they require a significant amount of land. Highway on- and off-ramps can be a source of collisions. Ramp metering can also be a critical factor affecting traffic flow.

[0092] On a long highway, for example, the sensor 502 may be placed anywhere suitable to provide a FOV covering the highway.

[0093] In some embodiments, the sensor 502 is mounted in a location that can provide electricity and allows visibility to the road network. In other embodiments, the sensor 502 and / or other components of the network of sensors may be mobile and self-powered, for example, by using solar panels or batteries.

[0094] 5 shows a typical four-way intersection 500. In this embodiment, sensors 502 may be installed in each direction of the intersection, for example, on traffic light masts and / or light poles 512, or any other suitable locations that allow for complete sensor coverage in the center of the intersection or coverage well out (e.g., 200 m) from the stop line 513 in each direction.

[0095] Full sensor coverage means that the sensors 502 are able to acquire enough data of high quality to detect and classify road users, eg, vehicles 515 .

[0096] In this embodiment, a control unit 506, which may be similar to control unit 406 described above, is in communication with the sensor network and traffic light controller 507. The control unit 506 may also be in communication with a V2X communications module 503, which may be co-located with the sensors 502 and / or in a suitable location to receive and send information from connected users and / or the control unit 506.

[0097] In some embodiments, the sensor 502 and possibly the V2X communication module 503 may be part of a single unit, and several such units communicating with each other and / or with the control unit 506 may be placed on a pole 512 at the intersection 500 to provide greater coverage of the intersection.

[0098] The control unit 506 can provide real-time instructions to the signal controller 507 based on inputs from the sensors 502 and the V2X communication module 503. This embodiment, which includes using inputs from one or more sensors 502 and the V2X communication module 503, can enable association of road users at a site (e.g., near the intersection 500) even if they are not all connected, and can provide more accurate and complete control of traffic to improve traffic flow and reduce accidents at the site.

[0099] As mentioned above, the processing unit 104 can calculate the estimated time of arrival (ETA) of a particular road user at a location, for example, using a virtual map, and can control the device according to the ETA.

[0100] In one embodiment, road network infrastructure can be controlled based on the calculated ETA. For example, authorized road users, such as emergency vehicles (e.g., police cars, fire engines, ambulances) and public transportation (e.g., buses, trains, and ride-sharing), can be given priority at signalized intersections to minimize their delays and improve their safety and service levels.

[0101] In one embodiment, shown schematically in Figure 6, a road user 615 is detected in the vicinity of an intersection 600, for example, based on image analysis and / or based on V2X transmissions, as described above. Parameters such as heading, speed, and acceleration of the road user 615 at a first location 611 can be used to calculate the time it takes for the road user 615 to arrive at a second location 613. Typically, the calculation is performed using a virtual map, as described above. Based on the calculated time, an ETA can be generated for the road user 615 at the location 613 on the road network.

[0102] In one embodiment, an ETA history model (e.g., RNN) can be created to predict the ETA of each road user at a given location by considering parameters such as speed, acceleration, heading, classification, and past and predicted trajectories.

[0103] In addition to the historical model, a real-time interaction model (e.g., CNN+RNN) based on the past and predicted trajectories of all road users from the virtual map will further improve the accuracy of the ETA metric by taking other road users into account.

[0104] The control unit 607 can control road network infrastructure 612, such as traffic lights, based on the generated ETA.

[0105] 7A, the control unit 706 controls road network infrastructure controllers (e.g., traffic light controller 707) based on current road network rules, which may include, for example, preemption rules based on municipal or other guidelines.

[0106] In this example, the control unit 706 receives an indication from the virtual map 700 that a road user, e.g., road user 615, is approaching a location, e.g., location 613, within intersection 600. Additionally, the ETA (4 seconds) of the road user is provided from the virtual map 700. The control unit 706 may identify and classify the road user based on inputs from, for example, sensors and / or the V2X communication module.

[0107] In one embodiment, road users are authorized vehicles, i.e., vehicle types authorized to receive preemption as defined by city policy. Authorized vehicles can include, for example, emergency vehicles (such as police cars, ambulances, and fire engines) and public transportation vehicles (such as buses and trains). In this case, a fine-grained classifier (such as a CNN) can be trained on images of emergency vehicles, public transportation vehicles, and other relevant vehicles for preemption. This classifier can be used to provide a reliable fine-grained classification of "authorized vehicles" from sensor-derived data, such as image data.

[0108] Using the information from the virtual map 700 and the fine-grained classification, the control unit 706 can build an ETA history model (e.g., RNN) that predicts the ETA of each "authorized vehicle" to a given location, e.g., an intersection stop line, taking into account the fine-grained classification of road users (e.g., buses vs. ambulances) and other parameters such as speed, acceleration, heading and past and predicted trajectories.

[0109] The ETA may be added to the information contained in the virtual map 700 for each authorized vehicle.

[0110] In addition to the historical model, a real-time interaction model (e.g., CNN+RNN) based on the past and predicted trajectories of all road users further improves the accuracy of the ETA metric in the virtual map 700 by also taking into account other road users (e.g., vehicles in front of the authorized vehicle).

[0111] The control unit 706 can access information from city policy 722, which determines preemption rules, such as which types of road users have priority over other users and when. For example, buses may have priority over light rail in the afternoon. The control unit 706 uses information from the virtual map 700 and city policy 722 to determine which road users should get priority and, therefore, which phase of the signal controller needs to provide service. In one embodiment, the control unit 706 creates a record (e.g., a list or table, or other method of maintaining data) of authorized vehicles categorized by priority and ETA, and calculates for each authorized vehicle whether it can provide service without blocking a vehicle with a higher priority. For example, consider a light rail vehicle approaching an intersection from the north with an ETA of 10 seconds and a bus approaching from the west with an ETA of 4 seconds. The bus needs 2 seconds to clear the intersection. City policy prioritizes light rail over buses, and will give priority to the bus even though the light rail has higher priority, because it can serve both requests without causing additional delays.

[0112] In other cases where the ETAs for both bus and light rail are similar, priority is given to the light rail to minimize delays to the light rail, since the light rail has higher priority in city policy.

[0113] The control unit 706 then controls the traffic signal controller 707 using preemption signals (e.g., ABC NEMA TS-1, C1 Caltrans, SDLC, NTCIP, etc.) or via normal calls (e.g., using loop emulation, NTCIP calls, etc.) if the traffic signal controller 707 is operating in a fully operational mode.

[0114] In some embodiments, the control unit 706 may have access to a record 721 of authorized road users and may compare the identity of a road user with the record 721 of authorized road users to determine whether the road user is an authorized user.

[0115] In one embodiment, as shown generally in Figure 7B, authorized users (or other classes or identities of road users) are identified and at least one parameter of the authorized users is calculated, step 732. In one embodiment, authorized users are identified based on input from sensors (e.g., based on image data and / or radar and / or lidar data).

[0116] An ETA is calculated for the authorized user based on the calculated parameters (step 734). For example, the identified authorized user's speed, heading, and acceleration may be used to calculate the user's ETA.

[0117] Based on current road network rules 736 and based on the calculated ETA, the road infrastructure can be controlled (step 738) to, for example, prioritize authorized road users.

[0118] In one embodiment, as shown schematically in Figure 7C, the processing unit receives a preemption message (such as an SRM) from a road user (step 742). Typically, the preemption message is sent from a connected road user.

[0119] A road user is identified (step 744), for example, based on input from a sensor, and the identified road user is compared (745) to a record, for example, a list of authorized road users. If the road user is identified on the list (step 746), the road network infrastructure is controlled (step 748) based on the user's identification. If the road user is not identified on the list (step 744), a signal identifying a malicious road user is generated (step 750).

[0120] As shown schematically in FIG. 7D, a signal identifying a bad road user can cause the road user to be added to a list of suspected bad users.

[0121] In one embodiment, the control unit 706 receives inputs from sensors (e.g., cameras) and a V2X communication module. The control unit 706 is in communication with a traffic light controller 707 and has access to several records, a "blacklist" 772 listing malicious / malfunctioning road users, a "greylist" 773 listing suspected malicious users, and a "whitelist" 774 listing confirmed authorized road users (typically maintained by cities and / or vehicle manufacturers).

[0122] In one embodiment, the control unit 706 receives preemption requests from connected road users. For example, the connected road user may send an SRM message with its calculated ETA to a location (e.g., location 613 at intersection 600) indicating that it is seeking priority on a particular portion of the road network at a predetermined time. The control unit 706 may provide priority to the connected user if the user is listed on a "white list" 774.

[0123] Once it is determined that a connected road user should be within the sensor FOV (e.g., based on parameters transmitted by the connected user and / or its calculated ETA), the connected road user is matched to a road user located within the sensor FOV using the virtual map. If no match is found within a predetermined time (e.g., 5 seconds), the connected road user's identifier (e.g., its V2X digital certificate, license plate number, etc.) is added to a "grey list" 773. Information regarding possible malfunctions or hacking attempts by the connected road user is then sent by the control unit 706 to the city's traffic management center (TMC) 781 and original equipment manufacturer (OEM) 782 (e.g., vehicle manufacturer or operator) (e.g., using email, SMS, NTP, or any suitable API). The connected road user's identifier can then be moved to a "black list" 772 or a "white list" 774 (at the discretion of the TMC 781 and / or OEM 782).

[0124] In another embodiment, the connected road user may be identified or classified (e.g., by using a classifier on image data received from a sensor) as being in the same class (e.g., bus) as used in the preemption message. In this case, the control unit 706 can cross-validate the information transmitted from the connected road user by V2X with the sensor information (e.g., by matching the connected road user to a user on a virtual map), and based on a positive match, the control unit 706 can safely proceed with preemption.

[0125] If the connected road user is not classified into the same class as that used to request preemption (e.g., the connected road user is classified as private car vs. bus), the connected road user is considered malicious and its identifier is added to a "grey list" 773 for further inspection by the TMC 781 and / or OEM 782, and the preemption is canceled by dropping the call / preemption signal to the traffic signal controller 707.

[0126] In one embodiment, V2X information can be used to estimate the number of road users outside the sensor FOV and predict the future number of users within the FOV to provide better decisions regarding traffic signal timing. For example, if 10 vehicles are estimated to arrive at a signalized intersection, the green light time may be extended even though there are no vehicles currently detected by the sensor.

[0127] In one embodiment, shown schematically in Figure 8, there is provided a method for estimating the number of road users at a location on a road network, in which a processing unit estimates the number of road users arriving at a given location at a particular time based on inputs from sensors and a V2X communication module.

[0128] In step 802, the total number of road users at a particular site at a particular time is calculated, for example, based on input from sensors attached to the road network near the site.

[0129] In step 804, the number of connected road users in the vicinity of the venue at that particular time is calculated based on input from the V2X communication module.

[0130] For example, all connected road users report their ID, location, speed, heading, past and predicted trajectories to the processing unit via V2X communication, for example, via BSM / CAM / PSM messages. When a connected road user enters the sensor's FOV, a match is searched between the connected road user and road users detected by the sensor. In this way, the number of connected road users and all road users is calculated.

[0131] The adoption rate of V2X technology (defined as the percentage of connected road users out of all road users) can be calculated by comparing the total number of road users with the number of connected road users in step 806. For example, an accurate measure of the V2X adoption rate can be obtained by using the locations of the connected road users and all road users, as detected by sensors, and identifying which of all road users are connected road users.

[0132] In step 808, a model is created using the adoption rate to predict the number of future road users at the site. The model may be built by running an SVM or RNN over time using the adoption rate calculated in step 806. The model may predict the total number of road users outside the sensor's FOV based on the time of day, the number of connected road user observations, the number of all road user observations and their classes (e.g., buses, trucks, etc.), and the past trajectories of connected road users outside the sensor's FOV.

[0133] The prediction model can be refined over time by measuring the prediction error, which is based on the difference between the predicted number of road users and the actual number of road users detected by the sensors.

[0134] In step 810, the road network infrastructure may be controlled based on the model.

[0135] Therefore, according to an embodiment of the present invention, the processing unit is configured to estimate the number of road users based on the adoption rate (rate of change) of V2X technology.

[0136] In some embodiments, behavioral parameters of a particular road user can be detected based on the virtual map, for example, risky behaviors and / or risky events of a road user can be detected based on the virtual map.

[0137] In one embodiment, an example of which is shown schematically in FIG. 9A , a method for traffic control includes calculating (e.g., by processing unit 104) the locations of road users based on sensor data and V2X communications (step 92) and creating a virtual map including the locations of the road users (step 94). Behavioral parameters of any particular road user can then be detected from the virtual map (step 96). The behavioral parameters may include characterizations of the road user's behavior. For example, the behavioral parameters may include driving direction, acceleration patterns, etc., while erratic driving direction, erratic acceleration patterns, etc. may indicate risky behavior, as further exemplified below.

[0138] In step 98, a signal is generated (e.g., by processing unit 104) to control a device based on the detected behavioral parameter. For example, the signal may include V2X communication to other road users to warn of a particular road user's risky behavior. Alternatively or additionally, the signal may be used to control road network infrastructure. For example, traffic lights may be controlled to change phases based on the detected behavioral parameter. Road network infrastructure (e.g., dynamic signs) may be controlled to generate warnings based on the detected behavioral parameter.

[0139] In some embodiments, the ETAs for a particular road user and other road users are calculated based on the virtual map, and signals are generated based on the ETAs.

[0140] In some embodiments, a probability of a dangerous event (e.g., a collision) can be calculated based on the virtual map and based on the detected behavioral parameters, and a signal to a control device (such as a road network infrastructure and / or a V2X communication module to warn other road users) can be generated taking into account the calculated probability.

[0141] In some embodiments, inputs regarding ambient conditions (e.g., weather, lighting) at the real-world locations of road users and / or locations where they are estimated to arrive may be received by the processing unit and the probability of a hazardous event may be calculated based on the ambient conditions.

[0142] Possibly factors such as road user classification (eg, heavy trucks vs. private vehicles), weather conditions, time of day, etc. may be weighted and used to determine the probability of a hazardous event.

[0143] A more detailed explanation is provided below, illustrating risky behavior.

[0144] In one embodiment, shown generally in FIG. 9B, a method is provided for detecting and warning someone who has run a red light.

[0145] The control unit 906 is responsible for determining which phase (e.g., color of the signal, direction the signal indicates, etc.) of the traffic light 912 will be provided for how long. In the example shown in Figure 9B, the status of the phase is green. The control unit 906 maintains the status of all phases, for example, by maintaining a counter that determines how many seconds remain until the phase turns red.

[0146] A virtual map of all road users (including connected road users) is calculated periodically, for example at least every 0.1 seconds (ie, at 10 Hz).

[0147] In some embodiments, an image-based weather classifier (such as a CNN) is fed with images from the sensor 902 and performs a classification regarding the weather conditions (e.g., light rain, fog, solar flare, etc.) for the particular real-world location where the sensor 902 is located (e.g., intersection 900).

[0148] For every road user (e.g., vehicle 915) that is currently on (green) and approaching traffic light 912 during the green phase, the probability of crossing on red is calculated based on the road user's remaining phase time, location, speed, and weather conditions. The probability can be a weighted combination of several factors, such as road user parameters and / or classification, weather conditions, distance to stop line 913, etc.

[0149] In some embodiments, machine learning algorithms are used to identify risky road user behavior. For example, a braking prediction model (such as an RNN) can be created based on time of day, class of road user (pedestrian, private vehicle, truck, etc.), weather conditions (rain, visibility, etc.), speed, acceleration, heading, past trajectory, distance to stop line 913, and phase status (e.g., green, yellow). The machine learning model may be trained on data from a specific real-world location (e.g., intersection 900) as well as on a general dataset (e.g., a database containing data from multiple intersections).

[0150] In another example, a physics model is created (e.g., using classical mechanics) that estimates braking time (and distance) based on the class of road user (e.g., large truck vs. private vehicle) that determines typical deceleration, speed, acceleration, heading, and distance to the stop line.

[0151] The probability that a road user will cross the intersection 900 during a red light is based on the relationship between braking time (e.g., as calculated using the model described above) and the remaining green time of the phase, calculated using a logarithmic function. When the probability of running the red light increases beyond a predetermined threshold (e.g., an 80% probability of running the red light), a running red (RLR) warning message (e.g., an intersection collision avoidance message in SAE J2735) is transmitted by the control unit 906 to connected road users in the vicinity of the control unit 906. The message typically includes the road user's latest status (i.e., location, acceleration, heading, speed, etc.) and the probability of running the red light.

[0152] FIG. 9C illustrates a method for warning of a potential collision.

[0153] A virtual map of all road users (including connected road users), for example vehicles 915 and 916, is calculated periodically, for example at least every 0.1 seconds (ie every 10 Hz).

[0154] Weather conditions at the location of intersection 900 are determined, for example, as described above.

[0155] For each road user, e.g., vehicle 915, the time to collision (TTC) with all other road users, e.g., vehicles 916 in its vicinity, is calculated based on data from the virtual map (position, speed, acceleration of all road users) and weather conditions. The TTC may be weighted. The weighted TTC may be a combination of parameters such as: TTC when braking. A standard metric in the traffic engineering world, calculated based on the distance between two road users (calculated using the distance function above), speed, bearing, and an estimate of braking time (which may also be calculated as above). Braking probability calculated as above.

[0156] When the TTC of a road user exceeds a predetermined threshold (e.g., 1 second), the control unit 906 transmits a collision warning message (e.g., an intersection collision avoidance message in SAE J2735) to connected road users (e.g., vehicles 916) in the vicinity of the control unit 906. The message typically transmits the latest status (i.e., location, acceleration, heading, speed, etc.) of the road user, e.g., vehicle 915.

[0157] FIG. 9D illustrates a schematic method for warning road users about dangerous road users.

[0158] A virtual map of all road users (including connected road users) is calculated periodically, for example at least every 0.1 seconds (ie, at 10 Hz).

[0159] Weather conditions at the location of intersection 900 are determined, for example, as described above.

[0160] A classifier (e.g., an RNN) for risky behavior is trained on a dataset of many road users exhibiting risky behavior (e.g., erratic driving direction and / or acceleration patterns, e.g., out-of-control driving, zig-zag driving, not staying in lane, pedestrians running into street traffic, etc.) and takes into account past trajectories, speed, acceleration, heading, as well as the class of road user and the location of other road users. Weather condition classification is also taken into account.

[0161] The output of the classifier is whether any road user is behaving normally or exhibiting risky behavior, and a classification of the behavior (eg, loss of control) and a confidence level for that classification.

[0162] When the classifier uses real-time data to classify that a road user, e.g., vehicle 915, is exhibiting risky behavior and the confidence (probability) exceeds a predefined threshold (e.g., 80%), the control unit 906 sends a warning message to connected road users, e.g., vehicles 916, in the vicinity of the control unit 906, along with the road user's latest status, the classified behavior (e.g., loss of control), and the confidence.

[0163] Embodiments of the present invention enable information, including the locations of connected and unconnected road users, to be used in a myriad of solutions to existing and future challenges and opportunities.

[0164] Embodiments of the present invention provide substantial benefits in terms of safety and comfort, and also contribute to improved and more detailed traffic management, providing better ways to prevent or reduce congestion, allowing for fuel savings and reduced air pollution.

Claims

1. 1. A method of controlling a traffic signal controller at an intersection of a road network, the method comprising: a control unit in communication with the traffic signal controller, the control unit comprising: receiving sensor data relating to connected and unconnected road users near an intersection; receiving a V2X communication comprising V2X data containing information about a connected road user near the intersection; processing the sensor data and the V2X communications to generate a virtual map showing connected and non-connected road users and their parameters near the intersection; using the virtual map to detect, among the road users depicted on the virtual map, one or more Authorized Road Users (ARUs) that are authorized to receive preemption according to one or more current road network rules, and identifying the connected or disconnected status of the ARUs and a classification characterizing the ARUs, the classification indicating a preemption-related class defined by one or more current road network rules; processing the received data to obtain an estimated time of arrival (ETA) for each of the detected ARUs at a predetermined location; - creating a record of detected ARUs, each ARU in said record being characterized by its ETA and by a priority defined by said one or more current road network rules corresponding to said ARU's classification; For each ARU in the record, using the ETA and its characteristic priority to evaluate whether it may cause an interruption to a higher priority ARU, cross-validating, for each connected ARU, data transmitted by the connected road user via V2X communication with respective sensor-based data and proceeding with preemption based on a positive match; generating a control signal in accordance with the evaluation and transmitting the generated control signal to the traffic signal controller to allow traversal of the intersection in accordance with the one or more current road network rules; A method comprising:

2. The method of claim 1 , wherein the ARUs include emergency vehicles and public transportation vehicles.

3. The method of claim 1 , wherein the detection and classification of the ARU based on the sensor data is provided with the help of a fine-grained classifier trained on images of authorized vehicles.

4. The step of obtaining an ETA to a predetermined location of the detected ARU includes: processing the sensor data to obtain at least one of velocity, acceleration, heading, past trajectory, and predicted trajectory parameters of the detected ARU; applying a historical model configured to predict ETA using the location, classification, and at least one parameter of the detected ARU; The method of claim 1 , comprising:

5. The step of obtaining an ETA for each of the detected ARUs to a predetermined location comprises: processing the sensor data to detect connected road users and unconnected road users near the intersection; applying a real-time interaction model based on the past trajectories and predicted future trajectories of all detected road users; The method of claim 1 , comprising:

6. using the virtual map to obtain ETAs for the detected ARUs to the respective predetermined locations; The method of claim 1 further comprising:

7. The control unit generating a message set indicating the ETA of a non-connected ARU and a classification of said non-connected ARU; transmitting the generated message set to a traffic signal controller as a V2X-based preemption message; The method of claim 1 further comprising:

8. The control unit receiving a preemption message from a given connected ARU, the preemption message providing identification and classification information of the ARU; matching a classification of the given connected ARU obtained based on the sensor data with the respective classification data from the preemption message; if the result of the matching of classification data is negative, cancelling preemption by dropping the respective control signal to the traffic signal controller; The method of claim 1 further comprising:

9. The control unit receiving a preemption message from a given connected ARU, the preemption message providing identification and classification information of the ARU; accessing an external record of ARUs and their classifications and matching data in said external record with respective identification and classification data from said preemption message; If the matching of the identification data and / or classification data is negative, generating a signal indicating that the given connected ARU is malicious, thereby enabling the given connected ARU to be added to a record of users suspected of being malicious; The method of claim 1 further comprising:

10. One or more computing devices comprising a processor and memory configured to perform, via computer-executable instructions, operations for operating, in a cloud computing environment, a system capable of controlling traffic signal controllers at intersections of a road network, the system comprising: receiving sensor data relating to connected and unconnected road users near an intersection; receiving a V2X communication comprising V2X data containing information about a connected road user near the intersection; processing the sensor data and the V2X communications to generate a virtual map showing connected and non-connected road users and their parameters near the intersection; using the virtual map to detect, among the road users depicted on the virtual map, one or more Authorized Road Users (ARUs) that are authorized to receive preemption according to one or more current road network rules, and identifying the connected or disconnected status of the ARUs and a classification characterizing the ARUs, the classification indicating a preemption-related class defined by one or more current road network rules; processing the received data to obtain an estimated time of arrival (ETA) for each of the detected ARUs at a predetermined location; - creating a record of detected ARUs, each ARU in said record being characterized by its ETA and by a priority defined by said one or more current road network rules corresponding to said ARU's classification; For each ARU in the record, using the ETA and its characteristic priority to evaluate whether it may cause an interruption to a higher priority ARU, cross-validating, for each connected ARU, data transmitted by the connected road user via V2X communication with respective sensor-based data and proceeding with preemption based on a positive match; generating a control signal in accordance with the evaluation and transmitting the generated control signal to the traffic signal controller to allow traversal of the intersection in accordance with the one or more current road network rules; One or more computing devices further configured to operate according to a method including:

11. The one or more computing devices of claim 10 , wherein the detection and classification of the ARU based on the sensor data is provided with the aid of a fine-grained classifier trained on images of authorized vehicles.

12. The step of obtaining an ETA to a predetermined location of the detected ARU includes: processing the sensor data to obtain at least one of velocity, acceleration, heading, past trajectory, and predicted trajectory parameters of the detected ARU; applying a historical model configured to predict ETA using the location, classification, and at least one parameter of the detected ARU; 11. One or more computing devices according to claim 10, comprising:

13. The step of obtaining an ETA for each of the detected ARUs to a predetermined location comprises: processing the sensor data to detect connected road users and unconnected road users near the intersection; applying a real-time interaction model based on the past trajectories and predicted future trajectories of all detected road users; 11. One or more computing devices according to claim 10, comprising:

14. using the virtual map to obtain ETAs for the detected ARUs to the respective predetermined locations; The one or more computing devices of claim 10 further configured to perform operations including:

15. generating a message set indicating the ETA of a non-connected ARU and a classification of said non-connected ARU; transmitting the generated message set to a traffic signal controller as a V2X-based preemption message; The one or more computing devices of claim 10 further configured to perform operations including:

16. receiving a preemption message from a given connected ARU, the preemption message providing identification and classification information of the ARU; matching a classification of the given connected ARU obtained based on the sensor data with the respective classification data from the preemption message; if the result of the matching of classification data is negative, cancelling preemption by dropping the respective control signal to the traffic signal controller; The one or more computing devices of claim 10 further configured to perform operations including:

17. receiving a preemption message from a given connected ARU, the preemption message providing identification and classification information of the ARU; accessing an external record of ARUs and their classifications and matching data in said external record with respective identification and classification data from said preemption message; If the matching of the identification data and / or classification data is negative, generating a signal indicating that the given connected ARU is malicious, thereby enabling the given connected ARU to be added to a record of users suspected of being malicious; The one or more computing devices of claim 10 further configured to perform operations including:

18. When executed by a processing unit, the processing unit: receiving sensor data relating to connected and unconnected road users near an intersection; receiving a V2X communication comprising V2X data containing information about a connected road user near the intersection; processing the sensor data and V2X communications to generate a virtual map showing connected and non-connected road users and their parameters near the intersection; using the virtual map to detect, among the road users depicted on the virtual map, one or more Authorized Road Users (ARUs) that are authorized to receive preemption according to one or more current road network rules, and identifying the connected or disconnected status of the ARUs and a classification characterizing the ARUs, the classification indicating a preemption-related class defined by one or more current road network rules; processing the received data to obtain an estimated time of arrival (ETA) for each of the detected ARUs at a predetermined location; - creating a record of detected ARUs, each ARU in said record being characterized by its ETA and by a priority defined by said one or more current road network rules corresponding to said ARU's classification; For each ARU in the record, using the ETA and its characteristic priority to evaluate whether it may cause an interruption to a higher priority ARU, where for each connected ARU, cross-validating data transmitted by V2X communications from the connected road user with respective sensor-based data and proceeding with preemption based on a positive match; generating a control signal in accordance with the evaluation and transmitting the generated control signal to a traffic signal controller to allow traversal of the intersection in accordance with the one or more current road network rules; a non-transitory computer readable medium comprising instructions for causing said traffic signal controllers at intersections of a road network to be controlled according to a method comprising:

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