Cooperative Vehicle Sensor Sharing for V2X Message Suppression
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Solution Overview
Problem
Existing vehicle-to-everything (V2X) systems face issues with sensing information duplication and channel congestion due to multiple vehicles redundantly sharing sensor data, which can overload communications channels and computing resources.
Innovation Solution
A cooperative sensor sharing system that employs a probability function and tessellation to determine whether to transmit sensor data, suppressing redundant messages and optimizing sensing space among vehicles based on distance overlap, channel busy level, and detection confidence.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple vehicles redundantly share sensor data, then situational awareness is improved, but channel congestion and information duplication increase
Solution Approach 1:
The patent merges sensor data from multiple vehicles by having each vehicle suppress redundant messages when another vehicle's message is received. The controller compares detected objects with received connected messages and suppresses transmissions of objects that have already been reported by other vehicles, thereby combining the sensing capabilities of multiple vehicles while eliminating redundant information transmission.
Solution Approach 2:
The system implements feedback by having each vehicle receive connected messages from other vehicles and use this information to determine whether to suppress its own transmissions. The controller continuously monitors received messages and adjusts transmission decisions based on this feedback, creating a cooperative system that dynamically adapts to prevent redundancy.
2Loss of information
If vehicles transmit all detected sensor data, then information completeness is improved, but computing resources are overwhelmed
Solution Approach 1:
The patent extracts only the necessary information by having each vehicle suppress transmissions of objects that have already been detected and reported by other vehicles. The controller identifies and filters out redundant information based on object detection overlap, extracting only unique sensor data for transmission and processing, thereby reducing computing resource requirements while maintaining information completeness.
Solution Approach 2:
The system applies partial action by transmitting only a subset of detected sensor data - specifically, only those objects that have not been previously reported by other vehicles. This selective transmission approach processes only necessary information rather than all detected data, reducing computing burden while preserving essential situational awareness.
Data Source
AI summary
A first connected message is received, by a controller of a host vehicle, from a remote vehicle via a transceiver of the host vehicle. The first connected message indicates a first object along a roadway detected by the remote vehicle. Presence of a second object along the roadway is identified using sensors of the host vehicle. A probability function is utilized to determine a result indicative of whether to send a second connected message indicating the second object. The second connected message is sent responsive to the result indicating to send the second connected message. The second connected message is suppressed responsive to the result indicating not to send the second connected message.