Automated Vehicle Crossing Arbitration Without V2V Communication
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Solution Overview
Problem
Automated vehicles face unclear right-of-way situations at crossings of equal-ranking roads, where existing methods require communication or complex coordination between vehicles, especially when interacting with both automated and manually operated vehicles.
Innovation Solution
The method involves granting other vehicles right-of-way for a predetermined waiting time, using an arbitration rule based on vehicle number plates to determine priority, allowing the automated vehicle to initiate crossing traversal only if it has priority and if other vehicles have not moved during the waiting period, without requiring communication devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If automated vehicles use communication devices to coordinate at crossings, then right-of-way determination becomes more reliable, but device complexity and cost increase
Solution Approach 1:
The automated vehicle independently determines right-of-way by observing other vehicles' behaviors and applying arbitration rules locally, without requiring external communication devices. The vehicle serves itself by using its own sensors and processing capabilities to resolve crossing conflicts.
Solution Approach 2:
The patent introduces an intermediary arbitration rule based on vehicle identification data (number plates) that mediates right-of-way determination without requiring direct vehicle-to-vehicle communication. This intermediary mechanism provides a standardized way to resolve conflicts.
2Productivity
If automated vehicles immediately traverse crossings without waiting, then productivity increases, but safety decreases due to potential conflicts with other vehicles
Solution Approach 1:
The vehicle performs preliminary actions by first granting right-of-way to other vehicles for a predetermined waiting time before attempting to traverse the crossing. This preliminary yielding action prevents conflicts while maintaining eventual traversal efficiency.
Solution Approach 2:
The vehicle dynamically adjusts its crossing strategy based on real-time observation of other vehicles' behaviors. If the crossing remains clear after the waiting period, the vehicle proceeds; otherwise, it continues to wait, making the traversal timing flexible rather than fixed.
3Measurement precision
If automated vehicles apply complex coordination algorithms, then right-of-way determination becomes more accurate, but computational requirements and processing time increase
Solution Approach 1:
The patent changes the parameter basis for priority determination from complex multi-factor algorithms to a simpler parameter set based on vehicle identification data and basic behavioral observations. This parameter simplification maintains sufficient accuracy while reducing computational burden.
Solution Approach 2:
The arbitration rules are pre-established and stored in the vehicle's system, allowing for rapid lookup and application during crossing situations rather than computing complex algorithms in real-time. This preliminary preparation reduces processing time during critical moments.
Data Source
AI summary
A method for controlling an automated vehicle when driving into a crossing of equal-ranking roads involves the vehicle granting grants the further vehicles right of way at least for a pre-determined waiting time. The vehicle determines, according to a pre-determined arbitration rule, whether it should have priority over the further vehicles for passing through the crossing. After the waiting time has passed, the vehicle begins a crossing traversal maneuver to traverse the crossing if it is determined that it should have priority for passing through the crossing and if none of the further vehicles has driven on in the interim.