Vehicle Intent Inference From Lane-Aware Cooperative Sensing
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Solution Overview
Problem
Current vehicle connected communications, such as V2X, do not effectively determine a vehicle's context and intent when the remote vehicle is not equipped with V2V technology, as they only receive position, speed, and location data, lacking information on the vehicle's history and predicted path.
Innovation Solution
A communication system that uses controllers to receive and process cooperative infrastructure sensing messages, convert coordinate pairs, apply noise modeling, and utilize a Kalman filter to determine vehicle parameters, associate vehicles with lanes, and calculate context and intent based on maneuvers, egress lanes, and speed limits, even when V2V communication is not available.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If cooperative sensor sharing is used to transmit basic vehicle data (position, speed, location), then data transmission is achieved, but vehicle context and intent information is lost
Solution Approach 1:
The patent introduces an infrastructure camera as an intermediary that captures vehicle images and transmits them to the host vehicle. This intermediary enables the host vehicle to obtain context and intent information (such as brake lights, turn signals, and vehicle姿态) that would otherwise be unavailable from basic V2X data packets alone
Solution Approach 2:
The patent segments the information acquisition process into multiple components: basic vehicle data from V2X communication, visual data from infrastructure cameras, and processed context/intent information. This segmentation allows the system to combine different data sources to overcome the limitations of each individual source
2Adaptability or versatility
If V2X technology is not equipped on remote vehicles, then communication compatibility is improved, but context and intent determination capability deteriorates
Solution Approach 1:
The patent makes the infrastructure camera serve multiple functions: it acts as both a traffic monitoring device and a source of context/intent information for V2X communication. This multi-functionality allows the system to maintain compatibility with vehicles that lack V2X equipment while still providing enhanced information through the camera's visual data
Solution Approach 2:
The infrastructure camera creates a visual copy of the remote vehicle's state (including context and intent indicators), which is then transmitted to the host vehicle. This copying mechanism allows the host vehicle to infer the remote vehicle's intentions without requiring direct V2V communication capabilities from the remote vehicle
3Measurement precision
If coordinate conversion with noise modeling is applied, then measurement accuracy is improved, but processing complexity increases
Solution Approach 1:
The patent performs coordinate conversion and noise modeling in advance before the actual vehicle parameter determination. By pre-processing the coordinate data and establishing noise models beforehand, the system reduces the computational burden during real-time operation while maintaining high measurement precision
Data Source
AI summary
A communication system that determines a context and an intent of a specific remote vehicle located in a surrounding environment of a host vehicle includes one or more controllers for receiving sensed perception data including sensed perception data. The one or more controllers execute instructions to determine a plurality of vehicle parameters related to the specific remote vehicle. The the one or more controllers execute instructions to associate the specific remote vehicle with a specific lane of travel of a roadway based on map data. The one or more controllers determines possible maneuvers, possible egress lanes, and a speed limit for the specific remote vehicle for the specific lane of travel based on the map data, and determines the context and the intent of the specific remote vehicle based on the plurality of vehicle parameters, the possible maneuvers, the possible egress lanes for the specific remote vehicle, and the speed limit related to the specific remote vehicle.