Systems and methods for achieving road action consensus, for example among autonomous vehicles, in a network of moving things

• US 10,490,068 B2
• Filed: 05/10/2017
• Issued: 11/26/2019
• Est. Priority Date: 10/31/2016
• Status: Active Grant

• Current Assignee: Veniam Inc.
• Original Assignee: Veniam Inc.
• Inventors: Nascimento, Dario, Russell, Roy
• Primary Examiner(s): To, Tuan C
• Application Number:
  US15/591,937
• Publication Number:
  US 20180122234A1
• Time in Patent Office: 930 Days
• Field of Search: 701 2
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0116 from roadside infrastructure, e.g. beacons
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/0133 for classifying traffic situation
• CPC Class Codes: G08G 1/0145 for active traffic flow control
• CPC Class Codes: G08G 1/093 Data selection, e.g. prioritizing information, managing message queues, selecting the information to be output
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/09675 where a selection from the received information takes place in the vehicle
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04W 4/44 for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
• CPC Class Codes: H04W 4/46 for vehicle-to-vehicle communication [V2V]
• CPC Class Codes: H04W 84/005 Moving wireless networks
• CPC Class Codes: H04W 84/12 WLAN [Wireless Local Area Networks]
• CPC Class Codes: H04W 88/08 Access point devices

Abstract

Systems and methods for achieving road action consensus in a network of moving things. As non-limiting examples, various aspects of this disclosure provide systems and methods for achieving road action consensus in vehicles (e.g., autonomous vehicles, manually controlled vehicles, etc.) of a network of moving things.

Claims

1. A system for determining road actions in a vehicle communication network, the system comprising:

a fixed access point (FAP) of a vehicle communication network, the fixed access point comprising;

at least one FAP wireless transceiver; and

at least one FAP module, comprising at least a FAP processor and a FAP memory, operable to, at least;

receive, for each of a plurality of traffic intersections within communication range of the fixed access point, respective traffic intersection context information from a plurality of mobile access points that have passed through the traffic intersection;

determine a road action for vehicles traveling through each of the plurality of intersections based, at least in part, on the received traffic intersection context information; and

communicate information indicating the determined road actions to mobile access points of the vehicles; and

a mobile access point (MAP) of the vehicle communication network, the mobile access point comprising;

at least one MAP wireless transceiver; and

at least one MAP module, comprising at least a MAP processor and a MAP memory, operable to, at least;

utilize the at least one wireless transceiver to communicate with other mobile access points of the vehicle communication network;

utilize the at least one wireless transceiver to communicate with fixed access points of the vehicle communication network;

utilize the at least one wireless transceiver to provide wireless local area network (WLAN) connectivity to client nodes of the mobile access point;

as the mobile access point travels toward a traffic intersection, receive traffic intersection context information for the traffic intersection from another mobile access point that has passed through the intersection; and

determine a road action for a vehicle associated with the mobile access point based, at least in part, on the traffic intersection context information received from the other mobile access point.

2. The system of claim 1, wherein the at least one MAP module is operable to determine the road action for the vehicle based also, at least in part, on information received from the FAP indicating the road action determined by the FAP.

3. The system of claim 1, wherein the respective traffic intersection context information received by the at least one FAP module from the mobile access points comprises information regarding one or more vehicles that have passed through the intersection.

4. A mobile access point (MAP) of a vehicle communication network, the mobile access point comprising:

at least one wireless transceiver;

at least one module, comprising at least a processor and a memory, operable to at least;

utilize the at least one wireless transceiver to communicate with other mobile access points of the vehicle communication network;

utilize the at least one wireless transceiver to communicate with fixed access points of the vehicle communication network;

utilize the at least one wireless transceiver to provide wireless local area network (WLAN) connectivity to client nodes of the mobile access point;

as the mobile access point travels toward a traffic intersection, receive traffic intersection context information for the traffic intersection from another mobile access point that has passed through the intersection; and

determine a road action for a vehicle associated with the mobile access point based, at least in part, on the traffic intersection context information received from the other mobile access point.

5. The mobile access point of claim 4, wherein the at least one module is operable to communicate the traffic intersection context information received from the other mobile access point to another node of the vehicle communication network.

6. The mobile access point of claim 4, wherein the at least one module is operable to, if the MAP is approaching the traffic intersection and has not received information indicative of the current context of the traffic intersection, request current traffic intersection context information for the traffic intersection from a fixed access point of the vehicle communication network.

7. The mobile access point of claim 4, wherein the at least one module is operable to, if the MAP is approaching the traffic intersection and has not received road action instructions from another node, communicate with other mobile access points approaching the intersection to reach a consensus regarding respective road actions to take.

8. The mobile access point of claim 4, wherein the at least one module is operable to:

receive second traffic intersection context information for the traffic intersection from a fixed access point of the vehicle communication network; and

determine the road action for the vehicle associated with the mobile access point based, at least in part, on the traffic context information received from the other mobile access point and on the second traffic intersection context information received from the fixed access point.

9. The mobile access point of claim 4, wherein the at least one module is operable to:

receive second traffic intersection context information for the traffic intersection from a cloud source via the vehicle communication network; and

determine the road action for the vehicle associated with the mobile access point based, at least in part, on the traffic context information received from the other mobile access point and on the second traffic intersection context information received from the cloud source.

10. The mobile access point of claim 4, wherein the at least one module is operable to:

receive road action optimization instructions from a cloud source via the vehicle communication network; and

determine the road action for the vehicle associated with the mobile access point based, at least in part, on the road action optimization instructions received from the cloud source.

11. The mobile access point of claim 4, wherein the at least one module is operable to, after the mobile access point passes through the traffic intersection, communicate current traffic intersection context information for the traffic intersection to another mobile access point that is approaching the traffic intersection.

12. The mobile access point of claim 4, wherein the at least one module is operable to identify a manner in which to determine the road action for the vehicle associated with the mobile access point based, at least in part, on latency requirements for a determination of the road action.

13. The mobile access point of claim 12, wherein the at least one module is operable to:

determine a latency associated with a centralized road action determination;

determine to utilize a centralized road action determination strategy if the determined latency is not too large; and

determine to utilize a MAP-based determination strategy if the determined latency is too large.

14. The mobile access point of claim 4, wherein the at least one module is operable to utilize a MAP-based determination strategy for determining the road action, unless road action instructions are received from a fixed node source.

15. The mobile access point of claim 4, wherein the at least one module is operable to:

request road action instructions from another node;

before receiving the requested road action instructions, determine the road action for the vehicle locally;

if the requested road action instructions arrive within a deadline, follow the requested road action instructions; and

if the requested road action instructions do not arrive within the deadline, perform the locally-determined road action.

16. The mobile access point of claim 4, wherein the at least one wireless transceiver and the at least one module are housed in a same housing.