Patent ID: 12219445

It is to be understood that the figures are not necessarily drawn to scale, nor are the objects in the figures necessarily drawn to scale in relationship to one another. The figures are depictions that are intended to bring clarity and understanding to various embodiments of apparatuses, systems, and methods disclosed herein. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. Moreover, it should be appreciated that the drawings are not intended to limit the scope of the present teachings in any way.

DETAILED DESCRIPTION

In some embodiments, provided herein is technology related to a vehicle on-board unit (OBU) configured to provide transportation management and operations and vehicle control for connected and automated vehicles (CAV). In some embodiments, the OBU provides transportation management and operations and vehicle control for CAV in coordination with an intelligent road infrastructure system (IRIS). In some embodiments, the technology provides a system for controlling CAVs by sending customized, detailed, and time-sensitive control instructions and traffic information for automated vehicle driving to individual vehicles, such as vehicle following, lane changing, route guidance, and other related information (e.g., a CAVH system (e.g., as described in U.S. patent application Ser. No. 15/628,331, filed Jun. 20, 2017 and U.S. Provisional Patent Application Ser. Nos. 62/626,862, filed Feb. 6, 2018, 62/627,005, filed Feb. 6, 2018, 62/655,651, filed Apr. 10, 2018, and 62/669,215, filed May 9, 2018, the disclosures of which are herein incorporated by reference in their entireties). In some embodiments, the technology comprises a cloud system as described in U.S. Provisional Patent Application Ser. No. 62/691,391, incorporated herein by reference in its entirety.

In some embodiments, the technology comprises technologies related to safety systems as described in U.S. Provisional Patent Application Ser. No. 62/695,938, incorporated herein by reference in its entirety. In some embodiments, the technology relates to the use of a connected automated vehicle highway system and methods and/or components thereof for heavy and special vehicles, e.g., as described in U.S. Provisional Patent Application Ser. No. 62/687,435, filed Jun. 20, 2018, which is incorporated herein by reference.

In this detailed description of the various embodiments, for purposes of explanation, numerous specific details are set forth to provide a thorough understanding of the embodiments disclosed. One skilled in the art will appreciate, however, that these various embodiments may be practiced with or without these specific details. In other instances, structures and devices are shown in block diagram form. Furthermore, one skilled in the art can readily appreciate that the specific sequences in which methods are presented and performed are illustrative and it is contemplated that the sequences can be varied and still remain within the spirit and scope of the various embodiments disclosed herein.

All literature and similar materials cited in this application, including but not limited to, patents, patent applications, articles, books, treatises, and internet web pages are expressly incorporated by reference in their entirety for any purpose. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as is commonly understood by one of ordinary skill in the art to which the various embodiments described herein belongs. When definitions of terms in incorporated references appear to differ from the definitions provided in the present teachings, the definition provided in the present teachings shall control. The section headings used herein are for organizational purposes only and are not to be construed as limiting the described subject matter in any way.

Definitions

To facilitate an understanding of the present technology, a number of terms and phrases are defined below. Additional definitions are set forth throughout the detailed description.

Throughout the specification and claims, the following terms take the meanings explicitly associated herein, unless the context clearly dictates otherwise. The phrase “in one embodiment” as used herein does not necessarily refer to the same embodiment, though it may. Furthermore, the phrase “in another embodiment” as used herein does not necessarily refer to a different embodiment, although it may. Thus, as described below, various embodiments of the invention may be readily combined, without departing from the scope or spirit of the invention.

In addition, as used herein, the term “or” is an inclusive “or” operator and is equivalent to the term “and/or” unless the context clearly dictates otherwise. The term “based on” is not exclusive and allows for being based on additional factors not described, unless the context clearly dictates otherwise. In addition, throughout the specification, the meaning of “a”, “an”, and “the” include plural references. The meaning of “in” includes “in” and “on.”

As used herein, the terms “about”, “approximately”, “substantially”, and “significantly” are understood by persons of ordinary skill in the art and will vary to some extent on the context in which they are used. If there are uses of these terms that are not clear to persons of ordinary skill in the art given the context in which they are used, “about” and “approximately” mean plus or minus less than or equal to 10% of the particular term and “substantially” and “significantly” mean plus or minus greater than 10% of the particular term.

As used herein, the suffix “-free” refers to an embodiment of the technology that omits the feature of the base root of the word to which “-free” is appended. That is, the term “X-free” as used herein means “without X”, where X is a feature of the technology omitted in the “X-free” technology. For example, a “sensing-free” method does not comprise a sensing step, a “controller-free” system does not comprise a controller, etc.

As used herein, the term “support” when used in reference to one or more components of the CAVH system providing support to and/or supporting one or more other components of the CAVH system refers to, e.g., exchange of information and/or data between components and/or levels of the CAVH system, sending and/or receiving instructions between components and/or levels of the CAVH system, and/or other interaction between components and/or levels of the CAVH system that provide functions such as information exchange, data transfer, messaging, and/or alerting.

Description

In some embodiments, provided herein is a vehicle control on-board unit (OBU) that communicates with a vehicle infrastructure coordination transportation system. In some embodiments, the OBU described herein comprises sensing modules to sense and characterize the driving environment, components configured to enhance data processing and communication capabilities, a component to provide data backups, and/or a component to improve the automation level of the vehicle.

In some embodiments, e.g., as shown inFIG.1, the technology comprises an I2X communication environment. In some embodiments, the I2X communication environment is associated with I2X communication systems, devices, and methods. In some embodiments, the I2X system comprises an RSU configured to communicate with the cloud, traffic signals, nearby pedestrians, the mobile network, and the vehicles on the road, e.g., using wireless communication (see, e.g.,FIG.1:101,103,104,105,106). In some embodiments, the RSU communicates with other RSUs using land optical fiber or other wired communication method (FIG.1,102).

In some embodiments, e.g., as shown inFIG.2, the technology comprises a V2V communication environment. In some embodiments, the V2V communication environment is associated with V2V communication systems, devices, and methods. In some embodiments, a vehicle communicates with other nearby vehicles, e.g., through wireless communication (FIG.2,203). In some embodiments, a vehicle communicates with pedestrians (e.g., on sidewalk), e.g., using wireless communication (FIG.2,202). In some embodiments, a vehicle communicates with a nearby RSU, e.g., using wireless communication (FIG.2,203).

In some embodiments, e.g., as shown inFIG.3, the technology comprises data transmission between sensors and/or information collecting modules and data fusion units (e.g., OBU, RSU, TCU, and TCC). In some embodiments, e.g., at the microscopic level, vehicle sensory data, cabin passenger data, and basic safety message are collected. In some embodiments, data (e.g., vehicle sensory data, cabin passenger data, and basic safety message) are collected by sensors mounted on vehicle exterior, inside vehicle cabin, and from CAN bus interface. In some embodiments, microscopic level data are sent to OBU for data fusion. In some embodiments, e.g., at the mesoscopic level, roadside sensory data are collected, e.g., by sensors mounted on RSU. In some embodiments, mesoscopic level data are sent to RSU/TCU for data fusion. In some embodiments, e.g., at the macroscopic level, macroscopic traffic information is collected by information collecting module and sent to TCC for data fusion.

In some embodiments, e.g., as shown isFIG.4, the technology provides a prediction module and associated methods and systems for prediction. In some embodiments, an OBU comprises a prediction module, e.g., in some embodiments prediction methods are provided by the OBU. In some embodiments, the OBU prediction module is configured to provide three levels of prediction methods and systems. In some embodiments, the prediction module predicts vehicle behaviors. In some embodiments, the prediction module predicts environmental information for the control module. In some embodiments, the prediction module predicts environmental information for the decision-making module. In some embodiments, predictions are based on historical and current information collected by the sensing module of OBU and/or RSU.

In some embodiments, e.g., at a microscopic level, an OBU predicts information based on data collected by the OBU. In some embodiments, the OBU is assisted by data transmitted from an RSU. In some embodiments, the OBU prediction module is configured to predict car following behaviors, e.g., accelerating, decelerating, maintaining current speed, emergency braking, overtaking, and/or lane changing. In some embodiments, predicted car following behaviors are predicted by an OBU and, in some embodiments, predicted car following behaviors are modified based on historical and/or predicted traffic condition information and/or weather information collected by an RSU.

In some embodiments, e.g., at a mesoscopic level, an OBU predicts information by integrating the data collected by the OBU and data transmitted from an RSU. In some embodiments, road environmental information (e.g., road network traffic status, roadblocks, and weather information) are predicted by the RSU. In some embodiments, following, overtaking, and/or changing lanes are predicted by the RSU and details of car following behaviors are predicted by OBU.

In some embodiments, e.g., at a macroscopic level, the OBU predicts information based on data received from the RSU and adjusts the prediction according to information collected by the OBU. In some embodiments, single vehicle behaviors, vehicle flow, and environmental information are predicted by the RSU. In some embodiments, data collected through the vehicle CANBU and real-time location information collected by a GPS device on the OBU are sent to the RSU as supplementary information.

In some embodiments, e.g., as shown inFIG.5, the technology provides a decision-making module and associated methods and systems for decision making. In some embodiments, a decision includes producing a driving plan, e.g., comprising instructions for controlling a vehicle. In some embodiments, an OBU provides decision-making methods three levels. In some embodiments, the decision-making module makes driving decisions for the control module, e.g., based on the information collected by the OBU and received from the RSU. In some embodiments, e.g., at a microscopic level, the OBU makes decisions based on the vehicle data collected by the OBU. In some embodiments, the OBU makes decisions based on the vehicle data collected by the OBU with assistance by the transmitted by the RSU. In some embodiments, at a mesoscopic level, the OBU makes decisions by integrating data collected by the vehicle (e.g., by a vehicle OBU) and data transmitted by the RSU. In some embodiments, e.g., at a macroscopic level, the OBU makes decisions based on data received from the RSU and adjusts the decision in real time based on vehicle state information.

In some embodiments, e.g., as shown inFIG.6, the technology provides a module configured to control a vehicle and associated methods and systems for control. In some embodiments, the technology provides a control module (e.g., of the OBU) configured to function at different levels. In some embodiments, the control module controls the vehicle, e.g., using information provided by the decision-making module. In some embodiments, e.g., at a microscopic level, a vehicle is controlled by the control module of OBU. In some embodiments, e.g., at a mesoscopic level, a vehicle is controlled by the control module of OBU receiving some instructions from RSU. In some embodiments, e.g., at a macroscopic level, a vehicle is controlled by RSU and the vehicle adjusts itself according to the instructions of OBU.

In some embodiments, e.g., as shown inFIG.7, the technology provides a cloud subsystem. In some embodiments, the technology comprises a cloud system as described in U.S. Provisional Patent Application Ser. No. 62/691,391, incorporated herein by reference in its entirety. In some embodiments, the technology provides an OBU Cloud platform residing in a CAVH system (see, e.g., the connected automated vehicle highway system and methods and/or components thereof as described in U.S. patent application Ser. No. 15/628,331, filed Jun. 20, 2017 and U.S. Provisional Patent Application Ser. Nos. 62/626,862, filed Feb. 6, 2018, 62/627,005, filed Feb. 6, 2018, 62/655,651, filed Apr. 10, 2018, and 62/669,215, filed May 9, 2018, the disclosures of which are herein incorporated by reference in their entireties). In some embodiments, OBU cloud services interact with CAVH users702, vehicles704(e.g., including CAVH and non-CAVH vehicles), CAVH IRIS infrastructure703, general transportation infrastructure705, and CAVH Cloud706. In some embodiments, e.g., for OBU cloud-user end709, the OBU cloud stores users preferences and behavior, e.g., to provide inputs for executing pre-trip, within-trip and post-trip methods. In some embodiments, e.g., for OBU cloud-vehicle end707, the OBU cloud stores vehicle profile information, e.g., to execute driving tasks, e.g., navigation, guidance, and control. In some embodiments, e.g., for OBU cloud-infrastructure end710and708, the OBU cloud interacts with IRIS infrastructure and/or transportation infrastructure, e.g., to coordinate functions such as sensing, planning, prediction, control, and data management. In some embodiments, e.g., for OBU-cloud system end711, the OBU cloud interacts with the CAVH system for global optimization and analysis. In some embodiments, e.g., for an area similar to TCU control range but that is not under CAVH control, the OBU cloud aggregates computation resources, sensors, and communications from CAVs in the area to provide crowd-sensing, coordinated control, fleet/vehicle management, and operational optimization for each CAVs to increase safety, efficiency, and mobility.

In some embodiments, e.g., as shown inFIG.8, the technology provides systems and methods for vehicle control. In some embodiments, e.g., for roads comprising an RSU network, an OBU on a vehicle receives traffic information (e.g., complete, effectively, and/or substantially complete traffic information), e.g., comprising information about the vehicle environment and roads, from RSU, e.g., using I2V communication. In some embodiments, the information is provided as inputs for vehicle control. In some embodiments, other information, e.g., information form V2V communication, supplements the information provided by the RSU to the OBU. In some embodiments, e.g., for roads comprising a partial RSU network, an OBU on a vehicle receives partial traffic information, e.g., comprising information about the vehicle environment and roads, from RSU, e.g., using I2V communication. In some embodiments, other data sources, such as information provided by exchange between cloud and vehicle, and information provided by exchange between two vehicles, is provided for control of a vehicle. In some embodiments, e.g., for roads that do not comprise an RSU or RSU network (e.g., roads that are not effectively served by an RSU or RSU network), information from other vehicles and satellites provide information for vehicle control.

In some embodiments, e.g., as shown inFIG.9, the technology provides a computation module and associated systems and methods. In some embodiments, the computation module is configured to perform computation tasks. In some embodiments, computation tasks comprise sequential works. In some embodiments, computation tasks comprise parallel works. In some embodiments, sequential works and parallel works are identified and/or divided based on their properties. In some embodiments, computation tasks are provided as inputs to a general purpose processor and/or a special purpose processor, e.g., in a computation system, respectively. In some embodiments, sequential works are provided as inputs to a general purpose processor. In some embodiments, parallel works are provided as inputs to a special purpose processor. In some embodiments, a data storage system and/or memory unit provide support for computation process during computation.

In some embodiments, e.g., as shown inFIG.10, the technology provides a data storage subsystem. In some embodiments, the technology comprises a data flow, e.g., data flow to and from the data storage subsystem. In some embodiments, a data storage subsystem hosts data, e.g., fro a source or from from multiple sources. In some embodiments, a source comprises short-range environment information detected and/or provided by on-board sensors, a high-definition (HD) map (e.g., from TCC/TCU), and fused data (e.g., from RSU).

In some embodiments, e.g., as shown inFIG.11, the technology provides a cyber security system. In some embodiments, the cyber security system comprises a design and an architecture. In some embodiments, the cyber security system provides cyber protections across multiple levels, e.g., critical OBU component level, application level, network level, and cloud level. In some embodiments, the cyber security system prevents several types of attacks, i.e. attacks on confidentiality, attacks on integrity, and attacks on availability.

In some embodiments, e.g., as shown inFIG.12, the technology comprises a module configured to manage information flow for shared driverless vehicles. In some embodiments, the technology provides a module to choose a route based on data and/or information related to a microscale, mesoscale, and/or macroscale user requirement and/or information provided by a microscale, mesoscale, and/or macroscale CAVH system requirement. In some embodiments, the module manages a vehicle having a passenger. In some embodiments, the module manages user interactions between a vehicle and passengers. In some embodiments, the module comprises methods and systems for selecting passengers and optimizing (e.g., coordinating) selection of routes and passengers along a route. In some embodiments, the module comprises methods and systems for selecting a route and optimizing (e.g., coordinating) selection of passengers and routes comprising passengers. In some embodiments, the module manages a vehicle that does not have a passenger (e.g., a passenger-free vehcile). In some embodiments, the module provides systems and methods for optimizing the activity of idle vehicles. In some embodiments, the module provides methods and systems for finding a parking space (e.g., nearest parking space (e.g., free parking space)). In some embodiments, the module configured to manage information flow for shared driverless vehicles comprises methods and systems to predict and/or direct one or more vehicles to a high demand area. In some embodiments, the module comprises methods and systems for optimizing route choice to pick up passengers. In some embodiments, the module provides methods and systems for operational control adjustment with and without passenger input. In some embodiments, the module provides prediction methods and systems for choosing a lane and/or providing instructions to a car to enter a chosen lane. In some embodiments, the module comprises algorithms, data, profiles, and information; and systems and methods for mimicking human driver behavior. In some embodiments, the module is configured to support passenger and driverless car interaction and communication. In some embodiments, the module is configured to provide customized service for passenger, e.g., to support and/or manage user interaction between vehicle and passengers and/or to provide real-time route optimization base on the requirement of passenger.

In some embodiments, e.g., as shown inFIG.13, the technology provides a module optimized to perform optimization methods and systems to optimize routes and/or picking up and dropping off passengers, e.g., for taxis and other hired vehicles (e.g, car services, shuttles, etc.) In some embodiments, an OBU support real-time communication between taxis and a regional dispatching center. In some embodiments, the module produces a command message. In some embodiments, the command message is relayed to a dispatching center and/or issued by a dispatching center. In some embodiments, the command message provides instructions relating to optimization methods, e.g., predicting high demand areas, optimizing regional routes, recommending routes, and adjusting routes in real time (e.g., real-time re-routing). In some embodiments, the OBU updates and optimizes a route based on real-time requirements of passengers. In some embodiments, the module provides methods and systems for safety. For example, in some embodiments, the module provides sensing and/or computing methods and systems for safety. In some embodiments, an OBU accepts, processes, and understands a passenger requirement. In some embodiments, OBU provide real-time safety support and management for taxis and other vehicles that frequently park. In some embodiments, the module provides systems and methods configured to perform a stop, e.g., in some embodiments the module sends instructions to a vehicle to stop the vehicle. In some embodiments, the instructions comprise steps to instruct a vehicle to make an emergency stop. In some embodiments, a stop is based on a passenger command. In some embodiments, the safety module provides a recording function, e.g., to record the output of one or more sensors characterizing the velocity, acceleration, location, etc. of a vehicle. In some embodiments, the safety module provides systems and modules for information backup. In some embodiments, the safety module provides a “black box” function similar to a black box for an airplane as known in the art. In some embodiments, the safety module provides systems and methods for recording video and/or audio inside a vehicle, recording video and/or audio outside a vehicle, and for backing up the recorded information in inside video in the CAVH cloud.

In some embodiments, e.g., as shown inFIG.14, the technology provides a human-machine interface and related systems and methods. In some embodiments, the human-machine interface comprises a Command/Signal Processor. In some embodiments, the Command/Signal Processor is configured to receive and/or process input from a human and/or a vehicle. In some embodiments, the Command/Signal Processor is configured to send an output command and/or a message to one or more other modules or components, e.g., including ROS, speech synthesis, touch screen, RSU, and Communication with other vehicles. In some embodiments, inputs are from a human, e.g., speaking, gestures, eye-gaze, and touch screen or control buttons. In some embodiments, the inputs are from a vehicle, e.g., LIDAR/Radar/Camera, Info from the vehicle, RSU, and Communication with Other vehicles.