DENM Collision Warning for Occluded Vehicle Pre-Crash Detection
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Solution Overview
Problem
Existing Cooperative Intelligent Transport Systems (C-ITS) are limited in their ability to effectively communicate collision risks between vehicles that are not in sight of each other, particularly in situations where occlusions occur, such as at intersections.
Innovation Solution
A method and system for generating a Decentralized Environmental Notification Message (DENM) that includes additional containers with object information, allowing road-side units (RSUs) to report collision risks to vehicles that may not be in sight of each other, leveraging their broader view and processing capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If vehicles use direct V2V communication for collision warning, then response time is reduced, but coverage is limited to vehicles in sight of each other
Solution Approach 1:
The patent introduces RSUs as intermediary entities that receive sensor data from vehicles, detect collision risks independently, and send warnings to vehicles that cannot communicate directly. This mediator approach extends coverage to occluded vehicles while maintaining reliable collision detection through the RSU's broader environmental awareness.
2Adaptability or versatility
If RSUs monitor and detect collision risks for occluded vehicles, then coverage is improved, but system complexity increases
Solution Approach 1:
The system segments functionality between vehicles and RSUs: vehicles perform local sensing and direct V2V communication, while RSUs perform environmental monitoring and V2I communication. This segmentation allows each component to have specialized, optimized functionality, managing overall system complexity through clear role division.
Solution Approach 2:
The DENM message format is designed to be universal, serving both direct V2V collision warnings and indirect V2I warnings from RSUs. This multi-functional message structure handles different communication paths and information sources without requiring separate protocols, reducing system complexity.
3Loss of information
If DENM messages include detailed object information from multiple containers, then information completeness is improved, but message size and processing load increase
Solution Approach 1:
The patent extracts only the essential collision-related information from the full sensor environment model, placing it in dedicated containers within the DENM message. This selective extraction provides complete collision data while minimizing message size by excluding unrelated environmental information.
Solution Approach 2:
The DENM message structure nests multiple containers (basic DENM data, perceived objects, collision risk information) within a hierarchical framework. This nesting organizes information efficiently, allowing receivers to process only relevant containers based on their specific needs, reducing overall processing load.
Data Source
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AI summary
The present invention regards Cooperative Intelligent Transportation Systems, C-ITS. A single DENM, i.e. a warning message announcing a detected event such as an accident/collision or a risk of collision or a pre-crash situation, conveys information about multiple objects involved in the detected situation, in particular about the critical objects involved in the collision. The originating ITS station, ITS-S, quickly builds the DENM because containers describing the objects it perceives are already built in a so-called Local Dynamic Map or Environment Model. On the other side, the receiving ITS-S involved in the detected event obtains more information from the single DENM, compared to known technics (CAMs or CPMs). It can then perform a quicker analysis of the situation and then decide earlier to activate or not anti-collision or pre-crash functions.