Inter-Vehicle Maneuver Requests With Estimation Accuracy Cues
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Solution Overview
Problem
Existing inter-vehicle communication systems for automated driving lack accuracy in predicting future vehicle maneuvers due to changes in external and internal conditions, leading to less precise temporal and spatial parameter estimates as maneuvers are planned further in advance.
Innovation Solution
Incorporating accuracy estimates for predicted maneuver parameters in inter-vehicle messages, such as start/stop times, locations, and trajectories, to improve the precision of maneuver negotiations by accounting for potential errors and changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of moving object
If inter-vehicle communication systems negotiate maneuvers in advance, then vehicles can plan coordinated maneuvers, but the accuracy of temporal and spatial parameter estimates deteriorates as maneuvers are planned further in advance due to changes in external and internal conditions
Solution Approach 1:
The system performs preliminary maneuver negotiations by exchanging inter-vehicle messages that include estimated temporal and spatial parameters. Vehicles prepare and communicate their intended maneuvers in advance, allowing other vehicles to plan coordinated actions while accounting for the inherent uncertainty in long-term predictions.
Solution Approach 2:
The system changes the parameter representation by including not only estimated temporal and spatial parameters but also uncertainty indicators that quantify the prediction accuracy. This allows receiving vehicles to understand the reliability of the estimates and adjust their planning accordingly, rather than treating all estimates as equally precise.
2Measurement precision
If vehicles exchange detailed maneuver information, then coordination accuracy improves, but communication time and message complexity increase
Solution Approach 1:
The system extracts only the essential maneuver parameters (temporal and spatial estimates with their uncertainty indicators) from the full vehicle state information. By transmitting only these critical parameters rather than complete vehicle data, the system achieves sufficient coordination accuracy while minimizing communication time and message complexity.
3Reliability
If vehicles account for changes in conditions during maneuver planning, then maneuver execution reliability improves, but the complexity of prediction and negotiation increases
Solution Approach 1:
The system applies beforehand cushioning by incorporating uncertainty indicators that represent the potential deviation from predicted maneuvers. These indicators act as a cushion or buffer that allows receiving vehicles to plan with appropriate margins of safety, accounting for possible changes in conditions without requiring complex real-time adjustment mechanisms.
Data Source
Figure 1
Figure 2A~2B
Figure 3A~3C
AI summary
A user equipment (UE) in a vehicle may transmit to another vehicle an inter-vehicle message with a driving maneuver request for a driving maneuver to be executed by the vehicle. The inter-vehicle message may include one or more estimated parameters, such as temporal, spatial, or trajectory parameters, for the driving maneuver. The inter-vehicle message may include further includes an indication of an estimation accuracy for the one or more estimated parameters. A UE in a vehicle that receives the inter-vehicle message may determine whether to grant, reject, or submit a counter-proposal to the request based at least in part on the estimated parameters and the indication of the estimation accuracy for the estimated parameters. A response to the maneuver request may be transmitted to the requesting vehicle that grants, rejects, or provides a counter proposal to the maneuver request.