Autonomous Vehicle Merge Coordination Using V2X ETA Messaging
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Solution Overview
Problem
Existing V2X services struggle to provide direct support for complex driving maneuvers like merging and lane changes in autonomous vehicles, limiting effective cooperative driving capabilities.
Innovation Solution
A communication protocol and control method for autonomous vehicles using V2X technology, enabling vehicles to exchange merge request and approval messages, as well as approach notifications, to prevent collisions during lane changes and merges through precise timing calculations and speed adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If V2X communication services are used for autonomous driving, then vehicle-to-everything communication capabilities are provided, but direct support for complex driving maneuvers like merging and lane changes is limited
Solution Approach 1:
The communication protocol is segmented into distinct message types (merge request messages, merge approval messages, approach notification messages) with specific formats and fields. Each message type handles a particular aspect of merging operations, allowing the system to manage complex maneuvers through structured, modular communication rather than a monolithic protocol
Solution Approach 2:
The patent introduces standardized message formats as intermediaries between vehicles. These messages include specific fields (driving lane information, estimated time of arrival, merging point coordinates) that mediate the communication between merging and non-merging vehicles, enabling coordinated action without direct complex vehicle-to-vehicle negotiation
2Reliability
If merge request messages are exchanged between vehicles, then collision prevention during merging is improved, but communication overhead and processing requirements increase
Solution Approach 1:
The system performs preliminary actions by calculating estimated time of arrival (ETA) at merging points before the actual merge occurs. Vehicles send merge request messages with ETA information in advance, allowing receiving vehicles to assess potential conflicts and prepare appropriate responses (approval or denial) before the merging vehicle reaches the critical zone
Solution Approach 2:
The patent implements a feedback mechanism where non-merging vehicles respond to merge requests with either approval or denial messages. This feedback loop allows the merging vehicle to adjust its maneuver based on real-time responses from other vehicles, improving collision prevention while managing communication efficiently through targeted rather than continuous exchange
3Measurement precision
If precise timing calculations are performed for merge operations, then merging accuracy is improved, but computational load increases
Solution Approach 1:
The patent extracts the critical timing calculation to a specific parameter: estimated time of arrival (ETA) at the merging point. By focusing computational resources on calculating this single key parameter rather than analyzing all possible motion variables, the system achieves sufficient merge timing accuracy while minimizing computational energy consumption
Data Source
AI summary
Disclosed herein is a method of controlling an autonomous vehicle driving in a lane of a main line. The method may include determining whether the autonomous vehicle is driving in a target lane to accommodate merging traffic, determining whether a merge request message is received from a merging vehicle when the autonomous vehicle is determined to drive in the target lane, determining whether a collision with the merging vehicle will occur based on the merge request message when the merge request message is received, and sending a merge approval message to the merging vehicle when the collision with the merging vehicle is expected.