Vehicle on-board unit for connected and automated vehicle systems
This technology provides designs and methods for the vehicle on-board unit (OBU), which facilitates vehicle operations and control for connected automated vehicle highway (CAVH) systems. OBU systems provide vehicles with individually customized information and real-time control instructions for vehicle to fulfill the driving tasks such as car following, lane changing, route guidance. OBU systems also realize transportation operations and management services for both freeways and urban arterials. The OBU composed of the following devices: 1) a vehicle motion state parameter and environment parameter collection unit; 2) a multi-mode communication unit; 3) a location unit; 4) an intelligent gateway unit, and 5) a vehicle motion control unit. The OBU systems realize one or more of the following function categories: sensing, transportation behavior prediction and management, planning and decision making, and vehicle control. OBU is supported by real-time wired and/or wireless communication, the power supply networks, the cloud, cyber safety, security services, and the human machine interface.
1. A vehicle on-board unit (OBU) comprising:
a data collection and storage component configured to receive vehicle motion state parameters and vehicle environment parameters;
a communications module capable of transmitting information and receiving information from a roadside unit (RSU) comprising a sensing module,
wherein said RSU fuses data from individual vehicles, the sensing module, and a cloud system to produce fused data; predicts longitudinal and lateral movement behavior for individual vehicles at a microscopic level based on the fused data to produce prediction information comprising predicted single vehicle behavior information, predicted vehicle flow information, and predicted environmental information; provides planning and decision making functions; and provides vehicle-specific control instructions comprising a longitudinal acceleration rate, a lateral acceleration rate, and a vehicle orientation; and
wherein the communications module receives the fused data, the prediction information, and the vehicle-specific control instructions from the RSU;
wherein said RSU modifies prediction results according to off-line vehicle data, online speed data, engine revolution speed data, travelled distance, and information collected and predicted by said OBU;
wherein said RSU provides high-resolution maps comprising lane width, lane approach, grade, and road geometry information to said OBU;
a location component comprising a high-resolution map and a global positioning system device;
a data fusion unit configured to fuse the data from the vehicle, the RSU, and the cloud system;
a prediction module configured to predict behavior of individual vehicles at a microscopic level based on the fused data; and
a vehicle controller configured to execute said vehicle-specific control instructions for driving tasks,
wherein said vehicle-specific control instructions comprise control instructions for vehicle longitudinal acceleration and speed, lateral acceleration and speed, and vehicle orientation and direction; and
wherein said OBU is configured to perform said vehicle-specific control functions by the vehicle controller controlling vehicle longitudinal acceleration and speed, lateral acceleration and speed, and vehicle orientation and direction according to said vehicle control instructions.
2. The OBU of claim 1 configured to communicate in real-time with components of a connected and automated vehicle highway (CAVH) system using wireless media or with other vehicles using wireless media.
3. The OBU of claim 1 configured to communicate with a CAVH cloud.
4. The OBU of claim 1 configured to:
receive data and said prediction information from a roadside unit (RSU), wherein said data and said prediction information are used to control a connected and automated vehicle (CAV);
receive data from an RSU; and use said data, said vehicle motion state parameters, and said vehicle environment parameters to control a CAV; or request data from an RSU; and use said data, said vehicle motion state parameters, and said vehicle environment parameters to control a CAV.
5. The OBU of claim 1 wherein said communications module is configured to communicate with an RSU, a CAVH system, people, or other vehicles.
6. The OBU of claim 1 wherein said data collection and storage component is configured to receive data from external vehicle sensors, RSU sensors, or in-vehicle sensors.
7. The OBU of claim 1 configured to perform a method comprising:
detecting objects in the driving environment;
receiving supplemental driving environment data from a CAVH system;
receiving traffic status information, weather information, or special event information from a CAVH system;
receiving basic safety message (BSM) data;
receiving vehicle occupant data describing vehicle occupant status; or receiving a high definition map and, optionally, vehicle position information.
8. The OBU of claim 1 configured to perform a method comprising:
predicting vehicle behavior using said vehicle motion state parameters, said vehicle environment parameters, and data received from an RSU;
receiving predicted environmental status from an RSU; or receiving predicted vehicle behavior or predicted traffic flow from an RSU.
9. The OBU of claim 1 configured to perform a method comprising:
making vehicle control decisions using said vehicle motion state parameters, said vehicle environment parameters, and data received from an RSU;
making path and route decisions using said vehicle motion state parameters, said vehicle environment parameters, and data received from an RSU; or
making route optimization decisions using data received from an RSU and, optionally, modifying route optimization decisions using said vehicle motion state parameters and said vehicle environment parameters.
10. The OBU of claim 1 configured to perform a method comprising:
controlling a vehicle by controlling vehicle longitudinal acceleration and speed, lateral acceleration and speed, and vehicle orientation and direction;
receiving information from an RSU to assist vehicle control; or
receiving control instructions from an RSU.
11. The OBU of claim 1 wherein said components are separate modules or are integrated into a system on a chip.
12. The OBU of claim 1 further comprising a central processing unit (CPU), a graphics processing unit (GPU), a memory unit, a power supply, a CAN bus, or a human machine interface.
13. The OBU of claim 1 , wherein said data collection and storage component is configured to store said vehicle motion state parameters and said vehicle environment parameters; a high definition map; or processed and aggregated environment information received from an RSU.
14. The OBU of claim 1 , wherein said data collection and storage component is configured to store data from external vehicle sensors, RSU sensors, in-vehicle sensors, a traffic control center (TCC), or a traffic control unit (TCU) in long-term reliable storage and to update said data periodically.
15. The OBU of claim 1 , wherein said OBU is configured to be supported by a cyber security subsystem.
16. The OBU of claim 1 , wherein said OBU is configured to be supported by a safety subsystem.
17. The OBU of claim 1 , wherein said OBU is configured to
receive complete vehicle control instructions from a CAVH system;
receive partial vehicle control instructions from a CAVH system and partial vehicle control instructions from a driver; or
receive complete vehicle control instructions from a driver,
wherein said complete or partial vehicle control instructions comprise instructions for vehicle longitudinal acceleration and speed, lateral acceleration and speed, and vehicle orientation and direction.
18. The OBU of claim 1 , wherein said OBU is configured to:
receive information or vehicle control instructions from RSUs providing complete coverage of CAVH roads;
receive information from RSUs providing partial coverage of CAVH roads and receive vehicle control instructions from other sources; or
receive information from non-RSU sources for vehicle control.
19. The OBU of claim 1 configured to provide vehicle-to-vehicle or vehicle-to-infrastructure communication using a wireless communication technology.
20. The OBU of claim 1 wherein one or more of said components is provided as a hardware component or one or more of said components is provided as a software component.
21. A method of controlling a vehicle comprising providing a CAVH system and an OBU of claim 1 to a vehicle.