Message Broadcasting for Vehicles

Abstract

Various aspects may include methods enabling a vehicle to broadcast intentions and/or motion plans to surrounding vehicles. Various aspects include methods for using intentions and/or motion plans received from one or more surrounding vehicles.

What is claimed is: 
     
         1 . A method of controlling a vehicle, comprising:
 receiving an intention message including a motion plan for a vehicle transmitting the motion plan (the “transmitting vehicle”), wherein the motion plan comprises a trajectory of the transmitting vehicle and one or more vehicle descriptors associated with the transmitting vehicle;   parsing the intention message to identify the motion plan for the transmitting vehicle; and   controlling the vehicle based at least in part on the motion plan.   
     
     
         2 . The method of  claim 1 , wherein the one or more vehicle descriptors comprise a sensor perceptible attribute. 
     
     
         3 . The method of  claim 2 , wherein controlling the vehicle based at least in part on the motion plan comprises:
 determining an expected region of interest for the vehicle based at least in part on the motion plan; and   applying a detection algorithm to received sensor data at the expected region of interest to detect the transmitting vehicle in the received sensor data based at least in part on the sensor perceptible attribute.   
     
     
         4 . The method of  claim 3 , further comprising selecting the detection algorithm based at least in part on the received motion plan. 
     
     
         5 . The method of  claim 2 , wherein controlling the vehicle based at least in part on the motion plan comprises:
 correlating vehicle detection sensor data with the transmitting vehicle based at least in part on the sensor perceptible attribute.   
     
     
         6 . The method of  claim 1 , wherein the one or more vehicle descriptors comprise a vehicle physical capability. 
     
     
         7 . The method of  claim 6 , wherein controlling the vehicle based at least in part on the motion plan comprises:
 setting a behavior prediction for the transmitting vehicle based at least in part on the motion plan.   
     
     
         8 . The method of  claim 7 , further comprising:
 determining whether a behavior of the transmitting vehicle conforms to the behavior prediction; and   updating the behavior prediction based at least in part on the vehicle physical capability in response to determining that the behavior of the transmitting vehicle does not conform to the behavior prediction.   
     
     
         9 . The method of  claim 1 , wherein the one or more vehicle descriptors comprise a vehicle location attribute. 
     
     
         10 . The method of  claim 9 , wherein controlling the vehicle based at least in part on the motion plan comprises:
 determining a position of the transmitting vehicle based at least in part on the vehicle location attribute;   determining whether a comparison between a position of the vehicle and the position of the transmitting vehicle indicate an error; and   triggering a recalculation of the position of the vehicle in response to determining the comparison between the position of the vehicle and the position of the transmitting vehicle indicate an error.   
     
     
         11 . The method of  claim 1 , wherein controlling the vehicle based at least in part on the motion plan comprises:
 determining whether the motion plan is unsafe; and   sending a safety warning to the transmitting vehicle in response to determining the motion plan is unsafe.   
     
     
         12 . A method for broadcasting a message from a vehicle, comprising:
 determining a motion plan for the vehicle, wherein the motion plan comprises a trajectory of the vehicle and one or more vehicle descriptors of the vehicle;   generating an intention message based at least in part on the determined motion plan; and   broadcasting the intention message from the vehicle.   
     
     
         13 . The method of  claim 12 , wherein the one or more vehicle descriptors comprise a sensor perceptible attribute, a vehicle physical capability, or a vehicle location attribute. 
     
     
         14 . A processing device for use in a vehicle, the processing device configured to:
 receive an intention message including a motion plan for a vehicle transmitting the motion plan (the “transmitting vehicle”), wherein the motion plan comprises a trajectory of the transmitting vehicle and one or more vehicle descriptors associated with the transmitting vehicle;   parse the intention message to identify the motion plan for the transmitting vehicle; and   control the vehicle based at least in part on the motion plan.   
     
     
         15 . The processing device of  claim 14 , wherein the one or more vehicle descriptors comprise a sensor perceptible attribute. 
     
     
         16 . The processing device of  claim 15 , wherein the processing device is configured to control the vehicle based at least in part on the motion plan by:
 determining an expected region of interest for the vehicle based at least in part on the motion plan; and   applying a detection algorithm to received sensor data at the expected region of interest to detect the transmitting vehicle in the received sensor data based at least in part on the sensor perceptible attribute.   
     
     
         17 . The processing device of  claim 16 , wherein the processing device is further configured to select the detection algorithm based at least in part on the received motion plan. 
     
     
         18 . The processing device of  claim 15 , wherein the processing device is configured to control the vehicle based at least in part on the motion plan by:
 correlating vehicle detection sensor data with the transmitting vehicle based at least in part on the sensor perceptible attribute.   
     
     
         19 . The processing device of  claim 14 , wherein the one or more vehicle descriptors comprise a vehicle physical capability. 
     
     
         20 . The processing device of  claim 19 , wherein the processing device is configured to control the vehicle based at least in part on the motion plan by:
 setting a behavior prediction for the transmitting vehicle based at least in part on the motion plan.   
     
     
         21 . The processing device of  claim 20 , wherein the processing device is further configured to:
 determine whether a behavior of the transmitting vehicle conforms to the behavior prediction; and   update the behavior prediction based at least in part on the vehicle physical capability in response to determining that the behavior of the transmitting vehicle does not conform to the behavior prediction.   
     
     
         22 . The processing device of  claim 14 , wherein the one or more vehicle descriptors comprise a vehicle location attribute. 
     
     
         23 . The processing device of  claim 22 , wherein the processing device is configured to control the vehicle based at least in part on the motion plan by:
 determining a position of the transmitting vehicle based at least in part on the vehicle location attribute;   determining whether a comparison between a position of the vehicle and the position of the transmitting vehicle indicate an error; and   triggering a recalculation of the position of the vehicle in response to determining the comparison between the position of the vehicle and the position of the transmitting vehicle indicate an error.   
     
     
         24 . The processing device of  claim 14 , wherein the processing device is configured to control the vehicle based at least in part on the motion plan by:
 determining whether the motion plan is unsafe; and   sending a safety warning to the transmitting vehicle in response to determining the motion plan is unsafe.   
     
     
         25 . A processing device for use in a vehicle, the processing device configured to:
 determine a motion plan for the vehicle, wherein the motion plan comprises a trajectory of the vehicle and one or more vehicle descriptors of the vehicle;   generate an intention message based at least in part on the determined motion plan; and   broadcast the intention message from the vehicle.   
     
     
         26 . The processing device of  claim 25 , wherein the one or more vehicle descriptors comprise a sensor perceptible attribute, a vehicle physical capability, or a vehicle location attribute.