Leader selection in V2X group management
Techniques described herein provide for leader selection of a group of vehicles, based on inter-vehicle communications. According to embodiments, a host vehicle can determine it qualifies to be the leader of a potential group by comparing vehicle information of other cars in the potential group with its own vehicle information. Once the determination has been made, the host vehicle can then send a request to be the group leader to the other vehicles. If the other vehicles accept, the host vehicle can initiate group formation. Otherwise, another vehicle can reject the request and send its own request to become the group leader, reinitiating group leader negotiation until a group leader is determined.
1. A method of leader selection in vehicle group formation, the method comprising:
receiving, at a first vehicle, a message from each vehicle of one or more other vehicles, wherein each message includes vehicle information comprising a location, motion state, and an intended maneuver of the respective other vehicle;
determining, by the first vehicle and based on a comparison of the vehicle information of each message with corresponding vehicle information of the first vehicle, that the first vehicle qualifies to be a group leader for a group of vehicles to be created to execute the intended maneuver; and
in response to determining that the first vehicle qualifies to be the group leader, sending, from the first vehicle, a first request to each of the one or more other vehicles, wherein the first request is a request for the first vehicle to be the group leader.
2. The method of claim 1 , further comprising:
receiving, at the first vehicle, an acceptance of the first request from each of the one or more other vehicles; and
in response to receiving the acceptance of the first request, initiating group formation by the first vehicle.
3. The method of claim 2 , wherein initiating group formation by the first vehicle comprises:
sending, from the first vehicle, a second request to each of the one or more other vehicles, wherein the second request is a request to form the group of vehicles;
receiving, at the first vehicle, an acceptance of the second request from each of the one or more other vehicles; and
in response to receiving the acceptance of the second request:
determining, by the first vehicle, one or more group properties for the group of vehicles; and
sending, from the first vehicle, a group property announcement to each of the one or more other vehicles, wherein the group property announcement comprises information indicative of the one or more group properties for the group of vehicles.
4. The method of claim 1 , further comprising:
receiving, at the first vehicle, a rejection of the first request from a second vehicle of the one or more other vehicles;
receiving, at the first vehicle, additional vehicle information regarding the second vehicle;
receiving, at the first vehicle, a third request from the second vehicle, wherein the third request is a request for the second vehicle to be the group leader;
determining, at the first vehicle and based on the additional vehicle information regarding the second vehicle, to accept the request; and
sending, from the first vehicle to the second vehicle, an acceptance of the third request.
5. The method of claim 4 , wherein the additional vehicle information regarding the second vehicle is received in the rejection of the first request from the second vehicle.
6. The method of claim 1 , wherein determining that the first vehicle qualifies to be the group leader for the group of vehicles comprises determining that the first vehicle is closer to a beginning location of the intended maneuver than any vehicle of the one or more other vehicles.
7. The method of claim 1 , wherein determining that the first vehicle qualifies to be the group leader for the group of vehicles comprises determining that the first vehicle has more maneuver-related capabilities than any vehicle of the one or more other vehicles.
8. The method of claim 7 , wherein the maneuver-related capabilities comprise:
sensor capabilities,
communication capabilities, or
computation capabilities, or
any combination thereof.
9. A method of leader selection in vehicle group formation, the method comprising:
receiving a message from a first vehicle at a second vehicle, wherein the message includes vehicle information comprising a location, motion state, and an intended maneuver of the first vehicle;
receiving, at the second vehicle, a first request from the first vehicle, wherein the first request is a request for the first vehicle to be a group leader for a group of vehicles to be created to execute the intended maneuver;
determining, by the second vehicle and based on a comparison of the vehicle information of the messages with corresponding vehicle information of the second vehicle, that the second vehicle qualifies to be the group leader; and
in response to determining that the second vehicle qualifies to be the group leader, sending, from the second vehicle to the first vehicle:
a rejection of the first request; and
a second request, wherein the second request is a request for the second vehicle to be the group leader.
10. The method of claim 9 , further comprising:
receiving, at the second vehicle, an acceptance of the second request from the first vehicle; and
in response to receiving the acceptance of the second request, initiating group formation by the second vehicle.