Granted Patent B2

US 12,367,768 · App. 18/098,441 · Granted Jul 22, 2025

Inventors: Shin-Kyung Lee (Daejeon, KR); Yoo-Seung Song (Daejeon, KR); Kyoung-Wook Min (Daejeon, KR); Yong-Woo Jo (Daejeon, KR)

Assignee: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

G08G1/096791B60W60/001G08G1/096725B60W2556/65H04L67/12

Abstract

Claims (36)

1. A method for processing a driving cooperation message, comprising:

receiving multiple first driving cooperation messages from neighboring autonomous vehicles;

adjusting cooperation classes of the multiple first driving cooperation messages;

creating driving strategies corresponding to the adjusted cooperation classes in descending order of priorities of the adjusted cooperation classes;

setting a parameter value for executing the driving strategies;

generating second driving cooperation messages including the adjusted cooperation classes and the driving strategies corresponding to the adjusted cooperation classes, the second driving cooperation messages generated based on the set parameter value; and

sending the second driving cooperation messages to the neighboring autonomous vehicles requiring cooperative driving,

wherein, when a first driving cooperation message having an adjusted cooperation class, a priority of which is higher than that of a currently adjusted cooperation class, is received, a second driving cooperation message is generated based on the first driving cooperation message having the adjusted cooperation class, the priority of which is higher.

2. The method of claim 1 , wherein the cooperation classes comprise at least one of class A which is a cooperative driving class through sharing of a driving status, class B which is a cooperative driving class through sharing of a driving intent, class C which is a cooperative driving class through driving cooperation, or class D which is a cooperative driving class through prescriptive cooperation, or a combination thereof, and priorities of the cooperation classes are determined in an order of the class D, the class C, the class B, and the class A.

3. The method of claim 2 , wherein, among the adjusted cooperation classes, the class C and the class D are classes, a priority of which is identical to that of cooperation classes of the first driving cooperation messages sent from the neighboring autonomous vehicles, or are adjusted to classes, a priority of which is higher than that of the cooperation classes of the first driving cooperation messages.

4. The method of claim 2 , wherein when a cooperation class of a corresponding first driving cooperation messages is the class D, generating the second driving cooperation messages and sending the second driving cooperation messages to the neighboring autonomous vehicles are skipped.

5. The method of claim 1 , wherein, when multiple first driving cooperation messages having the adjusted cooperation classes are present, the second driving cooperation messages are generated in an order in which the first driving cooperation messages are received.

6. The method of claim 1 , further comprising:

when driving negotiation with a corresponding one of the neighboring autonomous vehicles is completed based on the second driving cooperation messages, performing cooperative driving with the corresponding neighboring autonomous vehicle with which the driving negotiation is completed.

7. A method for processing a driving cooperation message, comprising:

receiving multiple first driving cooperation messages from neighboring autonomous vehicles;

adjusting cooperation classes of the multiple first driving cooperation messages;

creating driving strategies corresponding to the adjusted cooperation classes in descending order of priorities of the adjusted cooperation classes;

setting a parameter value for executing the driving strategies;

generating second driving cooperation messages including the adjusted cooperation classes and the driving strategies corresponding to the adjusted cooperation classes, the second driving cooperation messages generated based on the set parameter value; and

sending the second driving cooperation messages to the neighboring autonomous vehicles requiring cooperative driving,

wherein, the cooperation classes comprise at least one of class A which is a cooperative driving class through sharing of a driving status, class B which is a cooperative driving class through sharing of a driving intent, class C which is a cooperative driving class through driving cooperation, or class D which is a cooperative driving class through prescriptive cooperation, or a combination thereof,

priorities of the cooperation classes are determined in an order of the class D, the class C, the class B, and the class A, and

among the adjusted cooperation classes, the class A and the class B are adjusted based on cooperation classes of the first driving cooperation messages sent from the neighboring autonomous vehicles.

8. An apparatus for processing a driving cooperation message, comprising:

a memory configured to store a control program for processing a driving cooperation message; and

a processor configured to execute the control program,

wherein the processor is configured to receive multiple first driving cooperation messages from neighboring autonomous vehicles, adjust cooperation classes of the multiple first driving cooperation messages, create driving strategies corresponding to the adjusted cooperation classes in descending order of priorities of the adjusted cooperation classes, generate second driving cooperation messages including the adjusted cooperation classes and the driving strategies corresponding to the adjusted cooperation classes, and send the second driving cooperation messages to the neighboring autonomous vehicles requiring cooperative driving,

when a first driving cooperation message having an adjusted cooperation class, a priority of which is higher than that of a currently adjusted cooperation class, is received, a second driving cooperation message is generated based on the first driving cooperation message having the adjusted cooperation class, the priority of which is higher, and

a parameter value for executing the driving strategies is set, and the second driving cooperation messages are generated based on the set parameter value.

9. The apparatus of claim 8 , wherein the cooperation classes comprise at least one of class A which is a cooperative driving class through sharing of a driving status, class B which is a cooperative driving class through sharing of a driving intent, class C which is a cooperative driving class through driving cooperation, or class D which is a cooperative driving class through prescriptive cooperation, or a combination thereof, and priorities of the cooperation classes are determined in an order of the class D, the class C, the class B, and the class A.

10. The apparatus of claim 9 , wherein, among the adjusted cooperation classes, the class A and the class B are adjusted based on cooperation classes of the first driving cooperation messages sent from the neighboring autonomous vehicles.

11. The apparatus of claim 9 , wherein, among the adjusted cooperation classes, the class C and the class D are classes, a priority of which is identical to that of cooperation classes of the first driving cooperation messages sent from the neighboring autonomous vehicles, or are adjusted to classes, a priority of which is higher than that of the cooperation classes of the first driving cooperation messages.

12. The apparatus of claim 9 , wherein, when a cooperation class of a corresponding first driving cooperation messages is the class D, generation of the second driving cooperation messages and sending of the second driving cooperation messages to the neighboring autonomous vehicles are skipped.

13. The apparatus of claim 8 , wherein, when multiple first driving cooperation messages having the adjusted cooperation classes are present, the second driving cooperation messages are generated in an order in which the first driving cooperation messages are received.

14. The apparatus of claim 8 , wherein, when driving negotiation with a corresponding one of the neighboring autonomous vehicles is completed based on the second driving cooperation messages, cooperative driving with the corresponding neighboring autonomous vehicle, with which the driving negotiation is completed, is performed.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (15)