Vehicle-to-everything (V2X) full-duplex localization assistance for V2X receivers
An assistance system modifies an operation of a vehicle component based on a Vehicle-to-Everything (V2X) communication. A method includes receiving, by a remote vehicle, a request message inquiring what additional identifying information of an ego vehicle the remote vehicle requests so that the remote vehicle has a capacity to identify the ego vehicle as a transmitter of a V2X message. The method includes transmitting a response message including response data that describes the additional identifying information of the ego vehicle that provides the remote vehicle with the capacity to identify the ego vehicle as the transmitter of the V2X message when the ego vehicle is among a plurality of vehicles. The method includes receiving the V2X message that includes assistance data describing the additional identifying information. The method includes modifying the operation of the vehicle component of the remote vehicle based on the assistance data.
1. A method for modifying an operation of a vehicle component of a remote vehicle based on assistance data included in a Vehicle-to-Everything (V2X) message, the method comprising:
receiving, by the remote vehicle, from an ego vehicle a request message on a first channel, the request message inquiring about additional identifying information for the remote vehicle to identify the ego vehicle as a transmitter of a V2X communication when the ego vehicle is among a plurality of other vehicles, wherein the request message is transmitted responsive to the ego vehicle determining that the remote vehicle is unable to identify the ego vehicle as the transmitter of the V2X communication based on sensor data describing a roadway environment in which the ego vehicle and one or more remote vehicles are present and wherein the request message incudes digital data specifying which channel the remote vehicle should use for transmitting a response message;
transmitting, by the remote vehicle, to the ego vehicle the response message on a second channel, the response message including response data that describes the additional identifying information, wherein the response message and the request message are transmitted contemporaneously;
receiving, by the remote vehicle, from the ego vehicle the V2X message that includes the assistance data describing the additional identifying information; and
modifying, by the remote vehicle, the operation of the vehicle component of the remote vehicle based on the assistance data.
2. The method of claim 1 , wherein the additional identifying information includes one or more of an image to a left of the ego vehicle, an image to a right of the ego vehicle, or a description of a license plate number of the ego vehicle.
3. The method of claim 1 , further comprising:
determining a proactive action to execute responsive to the assistance data and the proactive action includes modifying the operation of the vehicle component.
4. The method of claim 1 , wherein the response message and the request message are received using the first channel and the second channel as part of a full-duplex sequence.
5. The method of claim 1 , wherein the assistance data describes a location of the ego vehicle with an accuracy of substantially plus or minus half a width of a roadway which is being traveled by the ego vehicle.
6. The method of claim 1 , wherein the request message is broadcast by the ego vehicle, the response message is unicast by the remote vehicle, and the V2X communication is broadcast by the ego vehicle.
7. The method of claim 1 , wherein the ego vehicle receives a plurality of response messages from multiple remote vehicles and the assistance data accounts for the response data from the plurality of response messages.
8. A system for modifying an operation of a vehicle component of a remote vehicle based on assistance data included in a Vehicle-to-Everything (V2X) message, the system comprising:
a processor; and
a non-transitory memory communicatively coupled to the processor, wherein the non-transitory memory stores computer code that is operable, when executed by the processor, to cause the processor to execute steps comprising:
receiving, by the remote vehicle, from an ego vehicle a request message on a first channel, the request message inquiring about additional identifying information for the remote vehicle to identify the ego vehicle as a transmitter of a V2X communication when the ego vehicle is among a plurality of other vehicles, wherein the request message is transmitted responsive to the ego vehicle determining that the remote vehicle is unable to identify the ego vehicle as the transmitter of the V2X communication based on sensor data describing a roadway environment in which the ego vehicle and one or more remote vehicles are present and wherein the request message incudes digital data specifying which channel the remote vehicle should use for transmitting a response message;
transmitting, by the remote vehicle, to the ego vehicle a response message on a second channel, the response message including response data that describes the additional identifying information, wherein the response message and the request message are transmitted contemporaneously;
receiving, by the remote vehicle, from the ego vehicle the V2X message that includes assistance data describing the additional identifying information; and
modifying, by an advanced driver assistance system (ADAS) of the remote vehicle, the operation of the vehicle component of the remote vehicle based on the assistance data.
9. The system of claim 8 , wherein the additional identifying information includes one or more of an image to a left of the ego vehicle, an image to a right of the ego vehicle, or a description of a license plate number of the ego vehicle.
10. The system of claim 8 , further comprising determining a proactive action to execute responsive to the assistance data and the proactive action includes modifying the operation of the vehicle component.
11. The system of claim 8 , wherein the response message and the request message are received at the substantially same time using the first channel and the second channel as part of a full-duplex sequence.
12. The system of claim 8 , wherein the assistance data describes a location of the ego vehicle with an accuracy of substantially plus or minus half a width of a roadway which is being traveled by the ego vehicle.
13. The system of claim 8 , wherein the request message is broadcast by the ego vehicle, the response message is unicast by the remote vehicle, and the V2X communication is broadcast by the ego vehicle.
14. The system of claim 8 , wherein the assistance data is generated by a sensor set of the ego vehicle.
15. A computer program product comprising a non-transitory computer-readable storage medium that is operable to modify an operation of a vehicle component of a remote vehicle based on assistance data included in a Vehicle-to-Everything (V2X) message, wherein the computer program product comprises instructions that, when executed by a processor of the remote vehicle, causes the processor to perform operations comprising:
receiving, by a remote vehicle, from an ego vehicle a request message on a first channel, the request message inquiring about additional identifying information for the remote vehicle to identify the ego vehicle as a transmitter of a V2X communication when the ego vehicle is among a plurality of other vehicles, wherein the request message is transmitted responsive to the ego vehicle determining that the remote vehicle is unable to identify the ego vehicle as the transmitter of the V2X communication based on sensor data describing a roadway environment in which the ego vehicle and one or more remote vehicles are present and wherein the request message incudes digital data specifying which channel the remote vehicle should use for transmitting a response message;
transmitting, by the remote vehicle, to the ego vehicle a response message on a second channel, the response message including response data that describes the additional identifying information, wherein the response message and the request message are transmitted contemporaneously;
receiving, by the remote vehicle, from the ego vehicle the V2X message that includes assistance data describing the additional identifying information; and
modifying, by an advanced driver assistance system (ADAS) of the remote vehicle, the operation of the vehicle component of the remote vehicle based on the assistance data.
16. The computer program product of claim 15 , wherein the response message and the request message are received at the substantially same time using the first channel and the second channel as part of a full-duplex sequence.
17. The computer program product of claim 15 , further comprising determining a proactive action to execute responsive to the assistance data and the proactive action includes modifying the operation of the vehicle component.
18. The computer program product of claim 15 , wherein the V2X communication includes payload data that describes the ego vehicle, the assistance data helps the remote vehicle to know with an acceptable level of certainty which of the plurality of other vehicles is described by the payload data, and the operation of the vehicle component is modified based on the payload data.
19. The computer program product of claim 15 , wherein the assistance data describes a location of the ego vehicle with an accuracy of substantially plus or minus half a width of a roadway which is being traveled by the ego vehicle.
20. The computer program product of claim 15 , wherein the request message is broadcast by the ego vehicle, the response message is unicast by the remote vehicle, and the V2X communication is broadcast by the ego vehicle.