SYSTEM AND METHOD FOR V2X TRANSMISSION CONGESTION CONTROL BASED ON SAFETY RELEVANCE AND MOVEMENT SIMILARITY
In a vehicle-to-everything (V2X) environment and by a self-vehicle, methods and systems therefor, the methods comprising calculating a safety relevance value of a sensor detected road user or calculating a first movement similarity between the self-vehicle and a road user ahead or behind the self-vehicle and a second movement similarity between a sensor detected road user and a road user ahead or behind the sensor detected road user, and adjusting Dynamic Congestion Control (DCC) triggering condition parameters based on the calculated safety relevance value or based on the calculated first and/or second movement similarities.
1 . A method, comprising: in a vehicle-to-everything (V2X) environment and by a self-vehicle:
calculating a safety relevance value of a sensor detected road user; and
adjusting Dynamic Congestion Control (DCC) triggering condition parameters based on the calculated safety relevance value.
2 . The method of claim 1 , wherein the calculating the safety relevance value of a sensor detected road user includes categorizing V2X detected road users by respective directions of arrival relative to the self-vehicle and checking an arrival time of each sensor detected road user in each category.
3 . The method of claim 1 , wherein the adjusting the DCC triggering condition parameters includes, by the self-vehicle or by a sensor detected road user found to be non-safety relevant, increasing from a previously transmitted value a respective value of a parameter selected from the group consisting of a minimal distance travelled, a minimal speed change, a minimal heading change, and a combination thereof.
4 . The method of claim 1 , further comprising using the adjusted DCC triggering condition parameters to control transmission of both V2X Day1 and V2X Day2 information on a single channel.
5 . The method of claim 2 , further comprising using the adjusted DCC triggering condition parameters to control transmission of both V2X Day1 and V2X Day2 information on a single channel.
6 . The method of claim 3 , further comprising using the adjusted DCC triggering condition parameters to control transmission of both V2X Day1 and V2X Day2 information on a single channel.
7 . A method, comprising: in a vehicle-to-everything (V2X) environment and by a self-vehicle:
calculating a first movement similarity between the self-vehicle and a road user ahead or behind the self-vehicle, and a second movement similarity between a sensor detected road user and a road user ahead or behind the sensor detected road user; and
adjusting Dynamic Congestion Control (DCC) triggering condition parameters based on the calculated first and/or second movement similarities.
8 . The method of claim 7 , wherein the calculating the first movement similarity includes matching a parameter selected from the group consisting of distance, speed and heading between the self-vehicle and the respective road user ahead or behind, and wherein the calculating the second movement similarity includes matching a parameter selected from the group consisting of distance, speed and heading between the sensor detected road user and the respective road user ahead or behind.
9 . The method of claim 7 , wherein the adjusting the DCC triggering condition parameters includes increasing from a previously transmitted value a respective value of a parameter selected from the group consisting of a minimal distance travelled, a minimal speed change, a minimal heading change, and a combination thereof.
10 . The method of claim 7 , wherein the calculating a first movement similarity between the self-vehicle and a road user ahead or behind the self-vehicle includes checking if the self-vehicle and the road user ahead or behind are distanced by more than a given time value when fast or distanced less than a given distance value when slow, and wherein the calculating a second movement similarity between a sensor detected road user and a road user ahead or behind the sensor detected road user includes checking if the sensor detected road user and the road user ahead or behind are distanced by more than a given time value when fast or distanced less than a given distance value when slow.
11 . The method of claim 7 , further comprising using the adjusted DCC triggering condition parameters to control transmission of both V2X Day1 and V2X Day2 information on a single channel.
12 . The method of claim 8 , further comprising using the adjusted DCC triggering condition parameters to control transmission of both V2X Day1 and V2X Day2 information on a single channel.
13 . The method of claim 9 , further comprising using the adjusted DCC triggering condition parameters to control transmission of both V2X Day1 and V2X Day2 information on a single channel.
14 . The method of claim 10 , further comprising using the adjusted DCC triggering condition parameters to control transmission of both V2X Day1 and V2X Day2 information on a single channel.
15 . In a vehicle-to-everything (V2X) environment, a system installed in a self-vehicle and comprising:
a V2X Day1 communication module for transmitting and receiving Day1 messages that include data of the self-vehicle;
a V2X Day2 communication module for transmitting and receiving Day2 sensor sharing messages that include data of sensor detected road users;
a first database for storing data of V2X detected road users;
a second database a first database for storing data of the sensor detected road users;
a safety relevance and/or movement similarity calculation module for determining road user safety relevance and/or movement similarity; and
a Dynamic Congestion Control (DCC) module for determining triggering conditions based on the safety relevance and/or movement similarity and on channel load.