VEHICLE-ROAD DRIVING INTELLIGENCE ALLOCATION

Abstract

The present invention relates to systems and methods that allocate, arrange, and distribute certain types of functions and intelligence, for connected automated vehicle highway (CAVH) systems, to facilitate vehicle operations and controls, to improve the general safety of the whole transportation system, and to ensure the efficiency, intelligence, reliability, and resilience of CAVH systems. The present invention also provides methods to define CAVH system intelligence and its levels, which are based on two dimensions: the vehicle intelligence and infrastructure intelligence.

Claims

1-25. (canceled)

26. An autonomous vehicle (AV) control system comprising: a vehicle subsystem comprising a vehicle, said vehicle comprising an onboard unit (OBU), and said OBU comprising a vehicle control component, wherein said vehicle subsystem operates at a vehicle intelligence level V; and a roadside unit (RSU), wherein said RSU operates at an infrastructure intelligence level I, wherein: said AV control system operates at a system intelligence level S = 1, 2, 3, 4, or 5 during vehicle operation by: identifying the vehicle intelligence level V of said vehicle subsystem during vehicle operation and identifying the infrastructure intelligence level I of said RSU during vehicle operation; and using the vehicle control component to allocate functions and intelligence to the vehicle subsystem and to the RSU to provide said AV control system with system intelligence S so that the AV control system manages the RSU and the vehicles to facilitate vehicle operations and controls during vehicle operation.

27. The AV control system of claim 26, wherein said AV control system: identifies a system intelligence level S to achieve; identifies present levels of automation for I and V during vehicle operation; and uses the vehicle control component to allocate driving functions and driving intelligence to the vehicle subsystem and to the RSU to achieve the system intelligence level S so that the AV control system provides vehicle operation and control to the vehicle during vehicle operation.

28. The AV control system of claim 26, wherein said AV control system provides: sensing; transportation behavior prediction and management; planning and decision making; and vehicle control;.

29. The AV control system of claim 26, wherein said vehicle control component executes time-sensitive vehicle control instructions to control vehicle longitudinal and lateral position; speed; steering; and control.

30. The AV control system of claim 26, further comprising a traffic control center/traffic control unit (TCC/TCU) communication link providing communication between the AV control system and a traffic control center (TCC) and/or between the AV control system and a traffic control unit (TCU).

31. The AV control system of claim 30, wherein said TCU and/or TCC comprises a TCU/TCC control component that generates time-sensitive vehicle control instructions and provides the time-sensitive vehicle control instructions to the OBU, wherein said time-sensitive vehicle control instructions comprise instructions for vehicle longitudinal and lateral position; speed; steering; and control.

32. The AV control system of claim 26, further comprising a cloud-based platform configured to provide storage as a service, control as a service, computing as a service, and/or sensing as a service.

33. The AV control system of claim 26, wherein said AV control system is supported by real-time communication over wired and/or wireless media; a power supply network; and a cyber safety and security system.

34. The AV control system of claim 26, wherein said RSU comprises an RSU control component that generates time-sensitive vehicle control instructions and provides the time-sensitive vehicle control instructions to the OBU, wherein said time-sensitive vehicle control instructions comprise instructions for vehicle longitudinal and lateral position; speed; steering; and control.

35. The AV control system of claim 26, wherein using the vehicle control component to allocate functions and intelligence to the vehicle subsystem and to the RSU comprises allocating sensing functions to the vehicle subsystem and to the RSU.

36. The AV control system of claim 26, wherein using the vehicle control component to allocate functions and intelligence to the vehicle subsystem and to the RSU comprises allocating transportation behavior prediction and management functions to the vehicle subsystem and to the RSU.

37. The AV control system of claim 26, wherein using the vehicle control component to allocate functions and intelligence to the vehicle subsystem and to the RSU comprises allocating planning and decision-making functions to the vehicle subsystem and to the RSU.

38. The AV control system of claim 26, wherein using the vehicle control component to allocate functions and intelligence to the vehicle subsystem and to the RSU comprises allocating vehicle control functions to the vehicle subsystem and to the RSU.

39. The AV control system of claim 26, wherein identifying the vehicle intelligence level V of said vehicle subsystem during vehicle operation comprises: identifying vehicle intelligence level V = 0 for a vehicle providing no automation functions during operation; identifying vehicle intelligence level V = 1 for a vehicle providing assistance for controlling a vehicle during operation; identifying vehicle intelligence level V = 2 for a vehicle providing assistance for controlling a vehicle and comprising sensing functions during operation; identifying vehicle intelligence level V = 3 for a vehicle providing sensing functions that sense the environment in detail and in real-time and providing management of driving tasks during operation; identifying vehicle intelligence level V = 4 for a vehicle that drives autonomously for some conditions during operation; and/or identifying vehicle intelligence level V = 5 for a vehicle that drives autonomously for all conditions during operation.

40. The AV control system of claim 26, wherein identifying said infrastructure intelligence level I of said RSU during vehicle operation comprises: identifying infrastructure intelligence level I = 0 for an RSU providing no functions; identifying infrastructure intelligence level I = 1 for an RSU providing aggregated traffic data collection and planning and decision making to support traffic management; identifying infrastructure intelligence level I = 2 for an RSU providing sensing functions for pavement condition detection and vehicle kinematics detection for a portion of traffic and providing traffic information and vehicle control suggestions and instructions for vehicles through I2X communication; identifying infrastructure intelligence level I = 3 for an RSU providing individual vehicles with information describing the dynamics of surrounding vehicles and other objects, providing full automated driving on CAVH-compatible vehicle dedicated lanes, and providing transportation behavior prediction; identifying infrastructure intelligence level I = 4 for an RSU providing detailed driving instructions to control vehicles; and/or identifying infrastructure intelligence level I = 5 for an RSU providing full control and management for individual vehicles and provides full active safety functions for vehicles.

41. The AV control system of claim 26, wherein said system intelligence S is dependent on the vehicle intelligence V and the infrastructure intelligence I during vehicle operation.

42. The AV control system of claim 26, wherein: said AV control system operates at a system intelligence level S = 2, wherein said AV control system detects vehicle functioning status, vehicle acceleration, traffic signs, and traffic signals; said vehicle control component is used to provide intelligence to said vehicle; and said vehicle makes decisions based on its own information and performs driving automation functions comprising: sensing, wherein said vehicle subsystem provides more sensing than the RSU; transportation behavior prediction and management, wherein said vehicle subsystem provides more transportation behavior prediction and management than the RSU; planning and decision making, wherein said vehicle subsystem provides more planning and decision making than the RSU; and vehicle control, wherein said vehicle subsystem provides more vehicle control than the RSU.

43. The AV control system of claim 26, wherein: said AV control system operates at a system intelligence level S = 2; the vehicle control component of said AV control system is used by said AV control system to allocate functions to said vehicle; said RSU helps the vehicle maintain speeds and provides collision warnings; and said vehicle resolves control decision conflicts between the vehicle and the RSU.

44. The AV control system of claim 26, wherein: said AV control system operates at a system intelligence level S = 3, wherein said AV control system integrates information collected from a plurality of vehicles, provides ad-hoc prediction and decision making for said vehicle, and manages conditional automation driving tasks; said vehicle control component is used by the AV control system to assign functions to said vehicle subsystem and/or to said RSU; said RSU assists the vehicle to make decisions based on the local environment and assists the vehicle to operate for: following strategies, lane keeping strategies, lane changing strategies, merging and diverging strategies, and passing intersections; and said vehicle resolves control decision conflicts between the vehicle and the RSU.

45. The AV control system of claim 26, wherein: said AV control system operates at a system intelligence level S = 4, wherein said AV control system manages its driving behavior within a road network, detects and communicates detailed information within the road network, makes decisions based on the vehicle and transportation information within the road network, manages driving automation tasks, and provides vehicle trajectories within a road network; said vehicle control component is used by the AV control system to assign functions to said vehicle subsystem and said RSU for sensing, decision making, and vehicle control; and said vehicle resolves control decision conflicts between the vehicle and the RSU.

46. The AV control system of claim 26, wherein: said AV control system operates at a system intelligence level S = 5, wherein said AV control system provides vehicle automation, detects and communicates detailed information within the transportation network, makes decisions based on information within the transportation network, and manages full driving automation tasks for all conditions; and said vehicle control component is used by the AV control system to assign functions to said vehicle subsystem and said RSU, wherein control decisions are made by the AV control system and the vehicle resolves control decision conflicts between the vehicle and the RSU.

47. The AV control system of claim 26, wherein: said AV control system collects vehicle-generated data, sends collected data to said RSU, and receives inputs from said RSU; said OBU facilitates vehicle control based on the inputs from the RSU; and said OBU assumes control of a vehicle having a failed vehicle control system.

48. The AV control system of claim 26, wherein said RSU: facilitates vehicle operations and control for the AV control system; provides the vehicle with detailed customized information and time-sensitive vehicle control instructions for the vehicle to fulfill driving tasks; and provides operations and maintenance services for the vehicle.

Description

DRAWINGS

[0037] The patent or application file contains at least one drawing executed in color. Copies of this patent or patent application publication with color drawing(s) will be provided by the Office upon request and payment of the necessary fee.

[0038] FIG. 1 provides a graph showing the non-linear combination levels of system automation and intelligence.

[0039] FIG. 2 shows two and three dimensional graphs of system intelligence levels plotting system automation level versus vehicle automation level and infrastructure automation level.

[0040] FIG. 3 shows an exemplary vehicle subsystem.

[0041] FIG. 4 shows an exemplary IRIS configuration.

[0042] FIG. 5 shows an exemplary AV-only approach.

[0043] FIG. 6 shows an exemplary V2V- and V2I-based approach.

[0044] FIG. 7 shows an exemplary CAVH approach.

[0045] FIG. 8 shows an exemplary intelligence allocation approach at Level 2 system intelligence.

[0046] FIG. 9 shows an exemplary flow chart of vehicle control.

DETAILED DESCRIPTION

[0047] Exemplary embodiments of the technology are described below. It should be understood that these are illustrative embodiments and that the invention is not limited to these particular embodiments.

[0048] FIG. 1 provides a graph showing that the automation level of the system is the combination of the vehicle automation level and infrastructure automation level. The level of the global system is not limited to a direct combination of the degrees of both subsystems. The functions of the global system are distributed to vehicle sub-systems and infrastructure sub-systems.

[0049] This system realizes following function categories: a) Sensing; b) Transportation behavior prediction and management; c) Planning and decision making; and d) Vehicle control.

[0050] FIG. 2 shows two-and three-dimensional graphs showing the relationship between system automation level relative to vehicle automation level and infrastructure automation level. Table 1 below provides an additional representation with the numbers in each row and column representing the system dimension for each vehicle and infrastructure automation level combination.

TABLE-US-00001 Exemplary system intelligence level determination Vehicle Automation Level 1 2 3 4 5 Infrastructure Automation Level 1 1 1 2 3 3 2 2 2 3 3 4 3 3 3 4 4 4 4 3 4 4 4 4 5 4 4 5 5 5

[0051] FIG. 3 shows an exemplary vehicle subsystem having components: [0052] 301—Vehicle. [0053] 302—OBU: on-board unit that controls the vehicle and collects and sends data. [0054] 303—Communication module: that transfers data between RSUs and the OBU. [0055] 304—Data collection module: that collects data of the vehicle dynamic and static state and generated by humans. [0056] 305—Vehicle control module: that executes control commands from RSUs. When the control system of the vehicle is damaged, it can take over control and stop the vehicle safely. [0057] 306—RSU: roadside units that collect and send data.

[0058] As shown in FIG. 3, a vehicle subsystem comprises all vehicles 301 in CAVH system. For each vehicle, the OBU 302 contains a communication module 303, data collection module 304, and vehicle control module 305. The data collection module collects data from the vehicle and inputs from human drivers, and then sends it to RSU 306 through the communication module. Also, the OBU receives data of the RSU through the communication module. Based on the data from the RSU, the vehicle control module assists to control the vehicle.

[0059] FIG. 1 shows an exemplary Intelligent Road Infrastructure System (IRIS) having components: [0060] 401— Macroscopic TCC/TOC: highest-level TCC/TOC that manages regional TCCs. [0061] 402— Regional TCC: high-level TCC that manages corridor TCCs. [0062] 403— Corridor TCC: mid-level TCC that manages segment TCUs. [0063] 404— Segment TCU: low-level TCU that manages point TCUs. [0064] 405— Point TCU: lowest-level TCU that manages RSUs.

[0065] FIG. 4 shows the structure of an exemplary IRIS. A macroscopic TCC 401, which may or may not collaborate with an external TOC 401, manages a certain number of regional TCCs 402 in its coverage area. Similarly, a regional TCC manages a certain number of corridor TCCs 403, a corridor TCC manages a certain number of segment TCUs 404, a segment TCU manages a certain number of point TCUs 405, and a point TCUs manages a certain number of RSUs 306. An RSU sends customized traffic information and controls instructions to vehicles 301 and receives information provided by vehicles. Moreover, in the example shown, the IRIS is supported by cloud services.

[0066] Three exemplary approaches comprise: [0067] 1. Autonomous vehicles approach; [0068] 2. Connected and automated vehicles approach, with the assistance of V2I and V2V technologies; and [0069] 3. CAVH-IRIS, infrastructure-based approach with sensing, prediction, and decision making from roadside systems.

[0070] Approach 1 has decades of history. There are several exemplary methods to support this approach, such as those described in U.S. Pat. Nos. 9,120,485 (The autonomous vehicle is configured to follow a baseline trajectory. The vehicle’s computer system receives changes to trajectory and optimizes new trajectory for the vehicle), 9,665,101 (The system determines a route from a current location to a destination for the vehicle), and 9,349,055 (Used for the Google autonomous vehicle to detect other vehicles when it tries to sense the environment), and U.S. Publ. No. 20170039435 (Used for the Google autonomous vehicle to detect traffic signals when it tries to sense the environment), each of which is herein incorporated by reference in their entireties. The products and their technologies developed by vehicle manufactures and AI research groups have been implemented. However, the approach lacks the planning and decision-making from the perspective of global optimization. The human drivers can be substituted by autonomous driving AI but cannot achieve better performance in terms of transportation systems. The approach also suffers from insufficient sensing range, insufficient computing capabilities of the vehicles, and does not suffice to address the complexity and limit that will be confronted in the future.

[0071] FIG. 5 shows and exemplary AV-Only Approach having components: [0072] 501— Sensors on vehicles. [0073] 502— Pedestrians on road. [0074] 503— Roadside infrastructures.

[0075] FIG. 5 shows how automated vehicles 301 work in this approach. The AV is continuously sensing the environment with multiple sensors 501 when it is on the road. The environment includes other vehicles 301 around it, the pedestrians 502, the road infrastructures 503 and others. In this example, the AV detects the two pedestrians in front of it, the three vehicles around it, and a stop sign at the intersection. With the information it obtains, the AV make decisions and operates properly and safely on the road.

[0076] Connected and automated vehicles approach, with the assistance of communications. The approach has been attempted for a few years. Some prototypes are already developed, such as those described in US 2012/0059574 (The vehicle unit transmits a vehicle speed to the roadside unit, when in wireless communication range. The roadside unit transmits the vehicle speed to the traffic controller. The traffic controller receives vehicle speed data from a plurality of vehicles, and determines a suggested speed for each vehicle) and U.S. Pat. No. 7,425,903 (In this grid system, a motor vehicle is equipped with a transmitter, receiver, computer and a selection of sensors. Other adjacent vehicles also contain the same of equipment for transmitting and receiving signals. When the sensors in a vehicle detect a change such as hard braking (rapid deceleration) or very slow speed (blockages), it automatically sends this information via the transmitter over a wireless communication channel to any other receivers in the vicinity), herein incorporated by reference in their entireties. With V2V and V2I communication technologies, the system can make relatively better performance than individual autonomous vehicles. However, without help from a system level intervention, the system cannot achieve overall system or global optimization. The approach also suffers limited sensing, storing, and computing capabilities.

[0077] FIG. 6 shows exemplary V2V- and V2I-based approach comprising component 601: Roadside infrastructure facilitating communication. FIG. 6 shows how V2V- and V2I-based approach works. The approach has been employed for several years. Some prototypes have been developed. With V2V and V2I communications technologies, the system can make relatively better performance than individual autonomous vehicles. Each vehicle 301 receives the information detected by surrounding infrastructure 601 and other vehicles 301. The information includes cars, passengers, traffic situation, etc. With the provided information, a vehicle has an enhanced awareness of surrounding to make decisions. However, without help from a system level intervention, the system cannot achieve overall system or global optimization. The approach also suffers limited sensing, storing and computing capabilities.

[0078] FIG. 7 shows an exemplary CAVH-IRIS approach. The system has the ability to make system-level optimum decisions, makes maneuvers to individual vehicles, and is beneficial for the overall transportation system. The system is configured with more powerful computing and storing capabilities but can suffer from limits in communication. The embodiment in FIG. 7 comprises components: [0079] 701— Roadside sensors. [0080] 702— Higher-level of IRIS. [0081] 703— Cloud: that assists data storage and computation.

[0082] FIG. 7 is a demonstration of the CAVH-IRIS approach. The RSU 306 in FIG. 7 uses sensors 701 on the road to senses the road, the vehicle 301, and the driving environment. The information is sent to higher level IRIS 702. The system, using the data from the sensors, can make system-level optimum decisions, can make maneuvers to individual vehicles, is beneficial for the overall transportation system. The system communicates with the OBU 302 to control the vehicles. The system can be configured with more powerful computing and storing capabilities by communicating with the cloud 703 as shown in FIG. 7.

[0083] FIG. 8 shows an intelligence allocation example at Level 2 system intelligence comprising components: [0084] 801: Ultrasonic sensors on vehicle. [0085] 802: Cameras on vehicle. [0086] 803: LiDARs on vehicle. [0087] 804: Long-range radars on vehicle. [0088] 805: RSU detection area on vehicle. [0089] 806: Road side unit. [0090] 807: Communication between RSU and vehicle. [0091] 808: Vehicles in CAVH system.

[0092] FIG. 8 shows an example combination of intelligence distributed among the vehicle and infrastructure: [0093] a) Sensing: The vehicle sub-system is the dominating part, which means the driving environment is primarily detected by sensors such as ultrasonic sensors 801, cameras 802, LiDARs 803, long-range radars 804 etc. that are located on the vehicle 808. Meanwhile, infrastructure sub-system 806 detects the traffic under the coverage area 805, and keeps communication with vehicle sub-system 807, and transmits the traffic information to complete the driving environment. [0094] b) Transportation behavior prediction and management: Vehicle sub-system is the dominating part. The infrastructure sub-system mainly coordinates with the vehicle sub-system. It can predict the event from the macroscopic level, such as a long-distance traffic jam. [0095] c) Planning and decision making: The vehicle sub-system is the major component. However, the infrastructure sub-system can suggest optimizing the system from the global perspective. [0096] d) Vehicle control: The vehicle sub-system is the major component. The infrastructure sub-system only gives simple control commands that are judged by the vehicle sub-system. If the control command of two sub-systems conflict, the vehicle follows the instruction sent from the vehicle-subsystem. The system reports and stores the conflict event.

[0097] FIG. 9 shows that under the intelligence allocation method 2 above, vehicle sub-systems play a dominating role. Under this circumstance, vehicle-subsystems give a safety range to control the vehicle, and the IRIS sub-system gives its control command from the global perspective. The instruction from the IRIS must meet the safety range that are given by the vehicle. Otherwise, the vehicle follows the instruction sent from the vehicle sub-system. A conflicts record is stored and reported.