Systems and methods to group and move vehicles cooperatively to mitigate anomalous driving behavior

Inventors: Seyhan Ucar (Mountain View, CA); Baik Hoh (Mountain View, CA); Kentaro Oguchi (Mountain View, CA)

G08G1/0133 G08G1/0112 G08G1/0141 G08G1/0145 G08G1/123 G08G1/20

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Quick Facts

Patent No.: US 12664884
App. No.: 17/005,258
Granted: Jun 23, 2026
Kind: B2

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Abstract

The disclosure includes embodiments for transforming anomalous behavior into model behavior to mitigate the anomalous behavior. In some embodiments, a method includes analyzing sensor data to identify an occurrence of anomalous behavior in a roadway environment. The method includes determining a model behavior which is non-anomalous. The method includes determining a number of vehicles that is optimal to transform anomalous behavior into the model behavior. The method includes forming a vehicular micro cloud which complies with the number of vehicles that is optimal. The formation of the vehicular micro cloud is triggered by the identification of the anomalous behavior. The method includes providing individualized control messages on a vehicle-by-vehicle basis to members of the vehicular micro cloud. The control messages include digital data which instructs the members on how to behave in order to transform the anomalous behavior into the model behavior.

Claims (39)

1 . A method comprising:

analyzing sensor data to identify an occurrence of anomalous behavior in a roadway environment, wherein the sensor data describes sensor measurements of the roadway environment;

determining a non-anomalous model behavior;

determining a number of vehicles that is required to transform anomalous behavior into the model behavior, wherein the number of vehicles is greater than one and determined dynamically based at least in part on an impact of the anomalous behavior on the roadway environment;

forming a vehicular micro cloud that includes the determined number of vehicles;

determining that the vehicles in the vehicular micro cloud have made their unused computing resources available to the other vehicles in the vehicular micro cloud; and

providing individualized control messages on a vehicle-by-vehicle basis to the vehicles in the vehicular micro cloud, wherein the control messages include digital data instructing the vehicles on how to behave in order to transform the anomalous behavior into the non-anomalous model behavior.

2 . The method of claim 1 , wherein the method is executed by an ego vehicle which is a hub of the vehicular micro cloud.

3 . The method of claim 1 , wherein the model behavior is determined based on a digital twin simulation.

4 . The method of claim 1 , wherein the anomalous behavior satisfies a threshold for risk.

5 . The method of claim 1 , further comprising a feedback loop which provides status messages describing a status of the transformation from the anomalous behavior into the model behavior, and wherein the status prompts the number of vehicles included in the vehicular micro cloud to be changed and wherein this change is implemented by a hub of the vehicular micro cloud which is operable to change a membership of the vehicular micro cloud.

6 . The method of claim 1 , further comprising a feedback loop which provides status messages describing a status of the transformation from the anomalous behavior into the model behavior, and wherein the status prompts the individualized control messages to be changed so that the digital data included in the individualized control messages includes new instructions for how the vehicles are to behave.

7 . The method of claim 1 , wherein the method is executed by an ego vehicle that is not a hub of the vehicular micro cloud.

8 . A system comprising:

a computer system including a non-transitory memory storing computer code which, when executed by the computer system, causes the computer system to execute steps including:

analyzing sensor data to identify an occurrence of anomalous behavior in a roadway environment, wherein the sensor data describes sensor measurements of the roadway environment;

determining a non-anomalous model behavior;

forming a vehicular micro cloud that includes the determined number of vehicles;

determining that the vehicles in the vehicular micro cloud have made their unused computing resources available to the other vehicles in the vehicular micro cloud; and

9 . The system of claim 8 , wherein the steps are executed by an ego vehicle which is a hub of the vehicular micro cloud.

10 . The system of claim 8 , wherein the model behavior is determined based on a digital twin simulation.

11 . The system of claim 8 , wherein the anomalous behavior satisfies a threshold for risk.

12 . The system of claim 8 , wherein the steps further comprise a feedback loop which provides status messages describing a status of the transformation from the anomalous behavior into the model behavior, and wherein the status prompts the number of vehicles included in the vehicular micro cloud to be changed and wherein this change is implemented by a hub of the vehicular micro cloud which is operable to change a membership of the vehicular micro cloud.

13 . The system of claim 8 , wherein the steps further comprise a feedback loop which provides status messages describing a status of the transformation from the anomalous behavior into the model behavior, and wherein the status prompts the individualized control messages to be changed so that the digital data included in the individualized control messages includes new instructions for how the vehicles are to behave.

14 . The system of claim 8 , wherein the steps are executed by an ego vehicle that is not a hub of the vehicular micro cloud.

15 . A computer program product including computer code stored on a non-transitory memory, wherein the computer code is operable, when executed by a processor, to cause the processor to execute steps comprising:

analyzing sensor data to identify an occurrence of anomalous behavior in a roadway environment, wherein the sensor data describes sensor measurements of the roadway environment;

determining a non-anomalous model behavior;

forming a vehicular micro cloud that includes the determined number of vehicles;

determining that the vehicles in the vehicular micro cloud have made their unused computing resources available to the other vehicles in the vehicular micro cloud; and

16 . The computer program product of claim 15 , wherein the steps are executed by an ego vehicle which is a hub of the vehicular micro cloud.

17 . The computer program product of claim 15 , wherein the model behavior is determined based on a digital twin simulation.

18 . The computer program product of claim 15 , wherein the anomalous behavior satisfies a threshold for risk.

19 . The computer program product of claim 15 , wherein the steps further comprise a feedback loop which provides status messages describing a status of the transformation from the anomalous behavior into the model behavior, and wherein the status prompts the number of vehicles included in the vehicular micro cloud to be changed and wherein this change is implemented by a hub of the vehicular micro cloud which is operable to change a membership of the vehicular micro cloud.

20 . The computer program product of claim 15 , wherein the steps further comprise a feedback loop which provides status messages describing a status of the transformation from the anomalous behavior into the model behavior, and wherein the status prompts the individualized control messages to be changed so that the digital data included in the individualized control messages includes new instructions for how the vehicles are to behave.