Adaptive vehicle-infrastructure communications
Respective priorities are assigned to data about each of a plurality of objects based on a collision severity and a classification of each of the objects. A message is generated including at least some of the data ordered according to the priorities.
1. A system, comprising a computer including a processor and a non-transitory memory, the non-transitory memory storing instructions executable by the processor to cause the processor to:
perform a simulation of predicted motion of each of a plurality of objects identified from sensor data;
determine, for one or more of the objects, that the simulation predicts a collision of the one or more objects with a vehicle;
determine a respective collision severity for each of the objects identified from the sensor data, wherein the collision severity is zero for any object for which a collision was not predicted in the simulation, and is non-zero for the one or more objects for which a collision was predicted;
assign respective priorities to data about each of the plurality of objects based on the collision severity and a classification of each of the objects; and
generate a message including at least some of the data ordered according to the priorities.
2. The system of claim 1 , wherein the instructions further include instructions to, prior to assigning the priorities and generating the message, determine that an aggregate size of the data exceeds a maximum payload of the message.
3. The system of claim 1 , wherein the instructions to assign the respective priorities further include instructions to first initialize the priorities according to an object classification and then to adjust the priorities based on the collision severity or the classification of the respective object.
4. The system of claim 3 , wherein the instructions to adjust the respective priorities further include instructions to adjust the priority of a first object based on a sensor blind spot of a second object.
5. The system of claim 3 , wherein the instructions to adjust the respective priorities further include instructions to adjust the priority of an object for which data was omitted in a prior message.
6. The system of claim 3 , wherein the instructions to adjust the respective priorities further include instructions to adjust the priority of an object within a specified distance of an intersection or a road curve.
7. The system of claim 1 , wherein the instructions further include instructions to generate a second message including data that was omitted from the message according to the priorities.
8. The system of claim 1 , further comprising a stationary infrastructure element, wherein the computer is mounted to the stationary infrastructure element.
9. The system of claim 1 , further comprising a vehicle, wherein the computer is included in the vehicle.
10. The system of claim 1 , further comprising a LIDAR sensor, wherein the instructions further include instructions to receive data from the LIDAR sensor.
11. A method, comprising:
performing a simulation of predicted motion of each of a plurality of objects identified from sensor data;
determining, for one or more of the objects, that the simulation predicts a collision of the one or more objects with a vehicle;
determining a respective collision severity for each of the objects identified from the sensor data, wherein the collision severity is zero for any object for which a collision was not predicted in the simulation, and is non-zero for the one or more objects for which a collision was predicted;
assigning respective priorities to data about each of the plurality of objects based on the collision severity and a classification of each of the objects; and
generating a digital message including at least some of the data ordered according to the priorities.
12. The method of claim 11 , further comprising, prior to assigning the priorities and generating the message, determining that an aggregate size of the data exceeds a maximum payload of the message.
13. The method of claim 11 , wherein assigning the respective priorities further comprises first initializing the priorities according to an object classification and then adjusting the priorities based on the collision severity or the classification of the respective object.
14. The method of claim 13 , wherein adjusting the respective priorities further comprises adjusting the priority of a first object based on a sensor blind spot of a second object.
15. The method of claim 13 , wherein adjusting the respective priorities further comprises adjusting the priority of an object for which data was omitted in a prior message.
16. The method of claim 13 , wherein adjusting the respective priorities further comprises adjusting the priority of an object within a specified distance of an intersection or a road curve.
17. The method of claim 11 , further comprising generating a second message including data that was omitted from the message according to the priorities.
18. The method of claim 11 , wherein the message is sent from a computer mounted to a stationary infrastructure element.
19. The method of claim 11 , wherein the message is sent from a computer included in a vehicle.
20. The method of claim 11 , further comprising receiving data from a LIDAR sensor.