Cooperative Driving Trajectory Checks Against V2X Latency
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Solution Overview
Problem
Cooperative driving maneuvers face safety risks due to latency in sensor-based data exchange between vehicles, leading to outdated trajectory information and potential collisions, as delays in data processing and communication result in outdated sensor data being used for maneuver planning.
Innovation Solution
An electronic control device for a vehicle checks planned trajectories for safety-critical situations using real-time sensor information from at least one sensor or fused data from multiple sensors, reducing latency by verifying the trajectory and initiating safety measures if necessary, thereby ensuring timely reactions to potential hazards.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If vehicles exchange V2X messages with sensor-based data for cooperative driving maneuvers, then coordination between vehicles is improved, but latency accumulates through multiple processing steps causing trajectory information to become outdated
Solution Approach 1:
The system performs preliminary safety checks on received trajectories using current sensor data before executing cooperative maneuvers. The checking apparatus validates whether the received trajectory remains safe and drivable given current environmental conditions, preventing execution of outdated or unsafe trajectories without waiting for replanning cycles.
Solution Approach 2:
The system implements a feedback mechanism where the checking apparatus continuously monitors the validity of received trajectories against current sensor data and provides feedback signals to trigger replanning when trajectories become outdated or unsafe, creating a closed-loop control system that adapts to changing conditions.
2Measurement precision
If multiple processing steps are performed for trajectory planning and communication, then coordination accuracy is improved, but the delay chain increases causing safety-critical situations to be missed
Solution Approach 1:
Safety checks are performed preliminarily on received trajectories using current sensor data before the trajectory is executed. This preliminary validation ensures that even though processing delays exist, the trajectory remains safe and drivable given current conditions, compensating for the inherent latency in the processing chain.
Solution Approach 2:
The system dynamically adjusts its operation by continuously checking received trajectories against current sensor data and triggering replanning only when necessary. This dynamic approach optimizes the balance between processing accuracy and response time, avoiding unnecessary replanning while ensuring safety.
3Adaptability or versatility
If sensor data is processed and fused through multiple vehicles, then cooperative maneuver planning is improved, but the delay chain causes the basis for decisions to become outdated
Solution Approach 1:
The checking apparatus performs preliminary validation of received trajectories using current sensor data before execution. This ensures that even though data has traversed multiple vehicles and processing steps, the trajectory remains valid and safe for current conditions, effectively compensating for the time loss in the delay chain.
Solution Approach 2:
The system implements feedback by continuously monitoring received trajectories against current sensor data and triggering replanning when trajectories become outdated. This feedback mechanism ensures that cooperative coordination remains adaptive and responsive despite the inherent delays in multi-vehicle data processing.
Data Source
AI summary
Disclosed is an electronic control device of a first vehicle configured to carry out a method of:checking a trajectory of the first vehicle, which trajectory is planned cooperatively with a second vehicle, with respect to a potential safety-critical traffic situation by means of a checking apparatus of the first vehicle on the basis of sensor information from at least one sensor of the first vehicle and/or on the basis of object data from a fusion of sensor information from at least two sensors of the first vehicle; andoutputting a signal for initiating a safety measure or executing the planned trajectory depending on a result of the check.