V2V safety system using consensus
First Claim
1. A vehicle-to-vehicle (V2V) communication transponder, comprising a processor and a radio, configured to operate in a first vehicle wherein the transponder is configured to accept as input a first location of the first vehicle and a vehicle heading of the first vehicle, and wherein the radio is configured to broadcast a series of V2V safety messages wherein a majority of V2V safety messages comprise:
- (i) the first vehicle position;
(ii) the first vehicle heading; and
(iii) a first vehicle speed;
wherein the improvement is;
the processor uses a basic time interval (“
frame”
) of predetermined duration wherein the frame repeats continuously;
wherein the frame comprises n time slots of predetermined duration, enumerated and contiguous;
wherein the frame is subdivided into a priority class region comprising contiguous time slots from a first time slot S1 to a last time slot S2; and
a non-priority class region comprising contiguous time slots from a first time slot S3 to a last time slot S4;
wherein the range S1 to S2 and the range S3 to S4 do not overlap;
wherein the radio transmits only time-critical V2V safety messages in the priority class region;
wherein the radio broadcasts a V2V safety message in one self-selected time slot in the priority class region in every frame;
wherein the transponder comprises a parameter, a baseline value for the parameter, and an as-used value for the parameter;
wherein the processor determines a subset of one or more vehicles within communication range, the “
consensus set”
;
wherein the processor computes, for each vehicle in the consensus set, a remote as-used value for the parameter for each vehicle;
wherein the processor computes a new as-used value for the parameter responsive to the remote as-used values, the baseline value, and previous as-used value;
wherein the processor incorporates the new as-used value in one or more V2V safety message broadcasts;
wherein the baseline value of the parameter is not responsive to the remote as-used values;
wherein the processor repeats the steps of determining a baseline value, determining a consensus set, computing a remote as-used value for each vehicle in the consensus set, and computing a new as-used value repetitively;
wherein at least one other transponder in the consensus set performs the same steps of determining their consensus set;
computing a remote as-used value for each vehicle in their consensus set, and computing a new as-used value repetitively; and
wherein the consensus sets for vehicles in the consensus set may not be the same.
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Accused Products
Abstract
A vehicle-to-vehicle (V2V) communication system, method and transponder for use in V2V communication, safety and anti-collision systems uses a continual, iterative consensus algorithm involving a consensus subset of vehicles within a communication range. The consensus set of vehicles participating in the consensus algorithm may not be the same. The algorithm comprises determining a parameter value used by the vehicles in the consensus set, then averaging, with modifications and rate of change limitations, the values from the consensus set for next use by each transponder. Parameters include two axis of location, elevation, transmit power and time base. Transmit power is responsive to demand and range. Methods of obtaining the as-used values include using equations and ranges. Embodiments include a hybrid protocol using both TDMA and CSMA. The invention is free of both central authority and road-side equipment (RSU).
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Citations
18 Claims
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1. A vehicle-to-vehicle (V2V) communication transponder, comprising a processor and a radio, configured to operate in a first vehicle wherein the transponder is configured to accept as input a first location of the first vehicle and a vehicle heading of the first vehicle, and wherein the radio is configured to broadcast a series of V2V safety messages wherein a majority of V2V safety messages comprise:
- (i) the first vehicle position;
(ii) the first vehicle heading; and
(iii) a first vehicle speed;
wherein the improvement is;the processor uses a basic time interval (“
frame”
) of predetermined duration wherein the frame repeats continuously;wherein the frame comprises n time slots of predetermined duration, enumerated and contiguous; wherein the frame is subdivided into a priority class region comprising contiguous time slots from a first time slot S1 to a last time slot S2; and a non-priority class region comprising contiguous time slots from a first time slot S3 to a last time slot S4; wherein the range S1 to S2 and the range S3 to S4 do not overlap; wherein the radio transmits only time-critical V2V safety messages in the priority class region; wherein the radio broadcasts a V2V safety message in one self-selected time slot in the priority class region in every frame; wherein the transponder comprises a parameter, a baseline value for the parameter, and an as-used value for the parameter; wherein the processor determines a subset of one or more vehicles within communication range, the “
consensus set”
;wherein the processor computes, for each vehicle in the consensus set, a remote as-used value for the parameter for each vehicle; wherein the processor computes a new as-used value for the parameter responsive to the remote as-used values, the baseline value, and previous as-used value; wherein the processor incorporates the new as-used value in one or more V2V safety message broadcasts; wherein the baseline value of the parameter is not responsive to the remote as-used values; wherein the processor repeats the steps of determining a baseline value, determining a consensus set, computing a remote as-used value for each vehicle in the consensus set, and computing a new as-used value repetitively; wherein at least one other transponder in the consensus set performs the same steps of determining their consensus set;
computing a remote as-used value for each vehicle in their consensus set, and computing a new as-used value repetitively; andwherein the consensus sets for vehicles in the consensus set may not be the same. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
- (i) the first vehicle position;
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18. A method of reaching consensus on a parameter in a V2V safety system wherein a first V2V transponder, comprising a processor and a radio, performs the steps of:
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selecting a parameter; computing an initial as-used value for the parameter from a baseline value for the parameter; determining, from a set of V2V transponders broadcasting V2V safety messages reliably received by the first transponder, a “
consensus set”
;computing for each transponder in the consensus set a remote as-used parameter value for the each transponder; computing a new as-used parameter value responsive to;
(i) the remote as-used parameter values for each transponder in the consensus set, and (ii) a previous as-used value;incorporating the new as-used parameter value in one or more V2V safety message broadcasts; setting the previous as-used parameter value to the new as-used parameter value; repeating the above five steps continually; wherein the consensus set transponders perform the same above steps for the same parameter; wherein the consensus sets of the transponders in the consensus set may not be the same; wherein the first transponder is configured to operate in a first vehicle; and wherein the transponder is configured to accept as input a first location of the first vehicle and a vehicle heading of the first vehicle, and wherein the transponder is configured to broadcast a series of V2V safety messages wherein a majority of V2V safety messages comprise;
(i) the first vehicle position;
(ii) the first vehicle heading; and
(iii) a first vehicle speed.
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Specification