V2X Message Prioritization for Low-Latency Vehicle Perception
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Solution Overview
Problem
V2X messages in modern vehicles may contain unreliable sensor data due to malicious spoofing or sensor malfunctions, leading to inaccurate environmental perception, and verifying the accuracy of all received messages causes unacceptable latency in ADAS and autonomous driving systems.
Innovation Solution
A processing system that assigns priority scores to V2X messages based on the capability and proximity of remote connected vehicles' forward-facing sensors to measure an object of interest, allowing higher-ranked messages to be processed first and lower-ranked or inaccurate messages to be ignored, thereby reducing latency and improving the reliability of sensor data used by ADAS and autonomous driving systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the accuracy of sensor data in all received V2X messages is verified, then the reliability of sensor data is improved, but the latency in ADAS and autonomous driving systems increases to unacceptable levels
Solution Approach 1:
The patent segments the verification process by dividing V2X messages into different priority levels based on sensor type, vehicle state, and environmental context. High-priority messages (e.g., from vehicles with relevant forward-facing sensors detecting objects of interest) undergo full accuracy verification, while low-priority messages are processed with reduced verification or discarded, thereby resolving the contradiction between comprehensive verification and acceptable latency
Solution Approach 2:
The patent applies different verification rigor levels to different portions of the message stream based on local characteristics. Messages containing sensor data about objects of interest or from vehicles in critical positions receive enhanced verification, while other messages receive standard or minimal verification, optimizing the balance between reliability and processing speed
2Measurement precision
If all received V2X messages are processed to determine validity, then the accuracy of environmental perception is improved, but the computational processing time increases
Solution Approach 1:
The patent performs preliminary filtering and prioritization of V2X messages before full validation processing. By pre-identifying high-value messages based on sensor relevance, vehicle state, and spatial-temporal context, the system prepares a filtered subset for intensive validation, reducing overall computational time while maintaining perception accuracy for critical data
Solution Approach 2:
The patent applies partial verification to low-priority messages and excessive (full) verification to high-priority messages. This differential approach ensures that computational resources are concentrated on messages that most impact environmental perception accuracy, achieving high measurement precision for critical data while minimizing total processing time
3Ease of operation
If V2X messages from all remote vehicles are processed equally, then fairness in data processing is maintained, but the efficiency of processing valuable sensor data is reduced
Solution Approach 1:
The patent changes the processing parameter from uniform treatment to priority-based treatment by introducing a scoring mechanism that evaluates messages based on sensor capability, vehicle state, and environmental context. This parameter transformation enables the system to differentiate message importance dynamically, improving processing efficiency for valuable data while maintaining operational simplicity through automated scoring
Data Source
AI summary
The disclosure includes embodiments for processing a set of wireless messages by an ego vehicle. A method includes determining a location of an object of interest in a roadway environment that includes the ego vehicle and a set of remote connected vehicles. The method includes segmenting the roadway environment into a plurality of segments. The method includes assigning priority scores to each of the segments based on (1) whether the forward-facing sensors of the remote connected vehicles present in the segment are capable of measuring the object of interest and (2) proximity of the remote connected vehicles in the segment to the object of interest, wherein segments have higher priority scores if the remote connected vehicles present in the segment have forward-facing sensors that are capable of measuring the object of interest and the remote connected vehicles present in the segment are closer to the object of interest.