Maneuver coordination service in vehicular networks
Maneuver Coordination Services (MCS) may be used in various implementations of vehicular networks. Emergency Group Maneuver Coordination (EGMC) may be used for detected unexpected safety-critical situations (USCS) on the road. EGMC provides cooperative maneuver coordination among a group of vehicles to ensure safer collective actions in the case of USCS. An MCS and EGMC may utilize a Maneuver Coordination Message (MCM) based on procedures for the Generation and Transmission of MCM with reduced communication overhead.
1. An apparatus to provide Maneuver Coordination Service (MCS) by an Intelligent Transport System Station (ITS-S), the apparatus comprising:
memory circuitry to store an MCS facility within a facilities layer of the ITS-S; and
processor circuitry connected to the memory circuitry, the processor circuitry is to operate the MCS facility to:
generate a Maneuver Coordination Message (MCM) to indicate a detected event for maneuver coordination;
cause transmission or broadcast of the MCM to one or more other ITS-Ss proximate to the ITS-S;
cause execution of one or more actions of an individual maneuver change based on the detected event when the individual maneuver change without coordination is determined to be sufficient for the detected event; and
initiate group coordination for the detected event when the individual maneuver change is determined not to be sufficient for the detected event, wherein the group coordination involves a group of two or more other vehicles or ITS-Ss separate from the ITS-S, and wherein to initiate the group coordination, the processor circuitry is to operate the MCS facility to:
determine whether a consensus is reached within the group coordination for acceptance or rejection of a set of candidate maneuver coordination strategies,
select a maneuver coordination strategy from the set of candidate maneuver coordination strategies based on whether the consensus is reached within the group coordination, wherein:
when the consensus is reached, the selected maneuver coordination strategy is a first candidate maneuver coordination strategy selected by the group, and
when the consensus is not reached, the selected maneuver coordination strategy is another candidate maneuver coordination strategy that is selected by a leader of the group; and
cause transmission or broadcast of another MCM to the one or more other ITS-Ss indicating the selected maneuver coordination strategy, to cause performance of one or more maneuver tasks of the selected maneuver coordination strategy.
2. The apparatus of claim 1 , wherein the MCM is a first MCM, and to initiate the group coordination, the processor circuitry is to operate the MCS facility to:
calculate an amount of time for execution of one or more maneuver coordination strategies;
determine a set of the one or more other ITS-Ss to be included in a maneuver coordination group (MCG); and
cause transmission or broadcast of a second MCM to the determined ITS-Ss in the MCG, the second MCM including MCG information and indicating the detected event.
3. The apparatus of claim 2 , wherein the processor circuitry is to operate the MCS facility to:
determine the set of candidate maneuver coordination strategies, each maneuver coordination strategy of the set of candidate maneuver coordination strategies including one or more coordinated and sequential maneuver tasks for some or all ITS-Ss in the MCG;
calculate a cost for each maneuver coordination strategy; and
cause transmission or broadcast of a third MCM to the ITS-Ss in the MCG, the third MCM including a first candidate maneuver coordination strategy based on the calculated costs.
4. The apparatus of claim 3 , further comprising:
receiving, from one or more ITS-Ss in the MCG, respective fourth MCMs indicating acceptance or rejection of the first candidate maneuver coordination strategy;
declaring that a consensus is reached based on a number of the respective fourth MCMs received within the calculated amount of time; and
cause transmission or broadcast of another third MCM to the ITS-Ss in the MCG when a consensus is determined to not be reached, the another third MCM including a second candidate maneuver coordination strategy ranked lower than the first candidate maneuver coordination strategy.
5. The apparatus of claim 4 , wherein the processor circuitry is to operate the MCS facility to:
select the maneuver coordination strategy from the set of candidate maneuver coordination strategies, as indicated by one or more of the respective fourth MCMs, based on whether the consensus is reached; and
cause transmission or broadcast of a fifth MCM to the ITS-Ss in the MCG indicating the selected maneuver coordination strategy.
6. The apparatus of claim 5 , wherein the processor circuitry is to operate the MCS facility to:
receive a sixth MCM from at least one of the ITS-Ss in the MCG, the sixth MCM indicating confirmation of execution of the selected maneuver coordination strategy.
7. The apparatus of claim 6 , wherein the processor circuitry is to operate the MCS facility to:
cause transmission or broadcast of a seventh MCM to the ITS-Ss in the MCG based on the sixth MCM, the seventh MCM including a disbanding MCG indication.
8. The apparatus of claim 7 , wherein each of the first, second, third, fourth, fifth, sixth, and seventh MCMs include an ITS Protocol Data Unit (PDU) Header and one or more containers, the ITS PDU Header including information regarding protocol version, Radio Access Technology (RAT) type, message type, or a node identifier (ID) of the MCS or an originating station, the originating station being a station including the MCS, and wherein the one or more containers include:
an MCM Management Container, the MCM Management Container including information about the MCM, the information about the MCM including one or more of a station type of the originating station, a message ID, a message type indicator, an MCM generation and transmission scheme, and segmentation information; and
at least one container selected from a group of containers including:
a Station Data Container, the Station Data Container including additional information about the originating station;
a Maneuver Sharing Container, the Maneuver Sharing Container including a Maneuver Intention Container and a Planned Trajectory Container, the Maneuver Intention Container including information related to one or more intended maneuvers of the originating station given a current arrangement of other stations neighboring or proximate to the originating station, and the Planned Trajectory Container including trajectory information indicating a planned or predicted trajectory of the ITS-S;
a Detected Situations/Maneuvers Container, the Detected Situations/Maneuvers Container including information regarding driving/traffic situations and the neighbors' maneuvers detected by the originating station or determined from one or more received MCMs;
a Maneuver Coordination Container, the Maneuver Coordination Container including information about maneuver coordination requests or responses sent or received by the originating station; and
a Layered Cost Map Container, the Layered Cost Map Container including information for one or more layers of a layered cost map, the one or more layers including a master layer and one or more supporting layers.
9. The apparatus of claim 8 , wherein one or more of the first, second, third, fourth, fifth, sixth, and seventh MCMs are a combined MCM-Cooperative Perception Message (CPM) further including one or more CPM containers, and the one or more CPM containers include:
a Sensor Information Container, the Sensor Information Container including sensor capabilities of the originating station, wherein the sensor capabilities include one or more of a sensor ID of each sensor operated by or accessible to the originating station, sensor type of each sensor, a position of each sensor, an orientation of each sensor, or a field-of-view (FoV) of each sensor;
a Sensing Data Container, the Sensing Data Container including shared (raw) sensor data and a description of the shared (raw) sensor data; and
a Perceived Object Container for each perceived object, the Perceived Object Container for each perceived object including information about the corresponding perceived object with respect to a disseminating station.
10. The apparatus of claim 8 , wherein the processor circuitry is to operate the MCS facility to:
obtain the trajectory information from an application in an application layer of the originating station;
determine one or more points per trajectory based on one or more driving conditions, wherein the one or more driving conditions include one or more of a current speed of the ITS-S, a detected speed of the one or more other ITS-Ss, a situation intensity indicating a probability of a collision, a station type of the ITS-S, and a station type of the one or more other ITS-Ss, and wherein the determination of the one or more points per trajectory includes:
determining the one or more points per trajectory such that a larger number of points per trajectory are selected as the current speed or the detected speed of the one or more neighboring stations increases, or
determining the one or more points per trajectory comprises determining the one or more points per trajectory such that, for higher probabilities of a collision, a larger number of points per trajectory are selected; and
generate the trajectory information based on the one or more points per trajectory.
11. The apparatus of claim 8 , wherein the trajectory information includes a plurality of waypoints smoothed by a spline linking each of the plurality of waypoints or a parametric representation including one or more Frenet frames.
12. The apparatus of claim 1 , wherein, to cause transmission or broadcast of the MCM, the processor circuitry is to operate the MCS facility to:
cause transmission or broadcast of the MCM with a periodicity (T MCM ), wherein the T MCM is selected between a minimum periodicity parameter (T MCM_Min ) and a maximum periodicity parameter (T MCM_Max ).
13. The apparatus of claim 12 , wherein the processor circuitry is to operate the MCS facility to:
determine the T MCM based on one or more of network congestion levels, channel congestion levels, signal strength measurements, signal quality measurements, quality (confidence) levels of perceived object(s), safety levels of the perceived object(s), geolocation, a node or traffic density, current or predicted communication resources, and a communication resource selection scheme.
14. The apparatus of claim 13 , wherein the detected event is a periodic MCM generation event.
15. The apparatus of claim 1 , wherein the ITS-S is one of a vehicle ITS-S or a Roadside ITS-S, and the one or more other ITS-Ss are vehicle ITS-Ss.
16. One or more non-transitory computer-readable media comprising instructions of a Maneuver Coordination Service (MCS) facility, wherein execution of the instructions by one or more processors of an Intelligent Transport System Station (ITS-S) is to cause the ITS-S to:
generate a Maneuver Coordination Message (MCM) to indicate a detected event for maneuver coordination;
cause transmission or broadcast of the MCM to one or more other ITS-Ss proximate to the ITS-S;
execute one or more actions of an individual maneuver change based on the detected event when the individual maneuver change without coordination is determined to be sufficient for the detected event; and
initiate group coordination for the detected event when the individual maneuver change is determined not to be sufficient for the detected event, wherein the group coordination involves a group of two or more other vehicles or ITS-Ss separate from the ITS-S, and wherein to initiate the group coordination, the processor circuitry is to operate the MCS facility to:
determine whether a consensus is reached within the group coordination for acceptance or rejection of a set of candidate maneuver coordination strategies;
select a maneuver coordination strategy from the set of candidate maneuver coordination strategies based on whether the consensus is reached within the group coordination, wherein:
when the consensus is reached, the selected maneuver coordination strategy is a first candidate maneuver coordination strategy selected by the group, and
when the consensus is not reached, the selected maneuver coordination strategy is another candidate maneuver coordination strategy that is selected by a leader of the group; and
cause transmission or broadcast of another MCM to the one or more other ITS-Ss indicating the selected maneuver coordination strategy, to cause performance of one or more maneuver tasks of the selected maneuver coordination strategy.
17. The one or more non-transitory computer-readable media of claim 16 , wherein the MCM is a first MCM, and initiating group coordination comprises:
calculate an amount of time for execution of one or more maneuver coordination strategies;
determine a set of the one or more other ITS-Ss to be included in a maneuver coordination group (MCG); and
cause transmission or broadcast of a second MCM to the determined ITS-Ss in the MCG, the second MCM including MCG information and indicating the detected event.
18. The one or more non-transitory computer-readable media of claim 17 , wherein execution of the instructions is to cause the ITS-S to:
determine the set of candidate maneuver coordination strategies, each maneuver coordination strategy of the set of candidate maneuver coordination strategies including one or more coordinated and sequential maneuver tasks for some or all ITS-Ss in the MCG;
calculate a cost for each maneuver coordination strategy; and
cause transmission or broadcast of a third MCM to the ITS-Ss in the MCG, the third MCM including a first candidate maneuver coordination strategy based on the calculated costs.
19. The one or more non-transitory computer-readable media of claim 18 , wherein execution of the instructions is to cause the ITS-S to:
receive, from one or more ITS-Ss in the MCG, respective fourth MCMs indicating acceptance or rejection of the first candidate maneuver coordination strategy;
declare that a consensus is reached based on a number of the respective fourth MCMs received within the calculated amount of time; and
cause transmission or broadcast of another third MCM to the ITS-Ss in the MCG when a consensus is determined to not be reached, the another third MCM including a second candidate maneuver coordination strategy ranked lower than the first candidate maneuver coordination strategy.
20. The one or more non-transitory computer-readable media of claim 19 , wherein execution of the instructions is to cause the ITS-S to:
select the maneuver coordination strategy from the set of candidate maneuver coordination strategies, as indicated by one or more of the respective fourth MCMs, based on whether the consensus is reached; and
cause transmission or broadcast of a fifth MCM to the ITS-Ss in the MCG indicating the selected maneuver coordination strategy.
21. The one or more non-transitory computer-readable media of claim 20 , wherein execution of the instructions is to cause the ITS-S to:
receive a sixth MCM from at least one of the ITS-Ss in the MCG, the sixth MCM indicating confirmation of execution of the selected maneuver coordination strategy; and
cause transmission or broadcast of a seventh MCM to the ITS-Ss in the MCG based on the sixth MCM, the seventh MCM including a disbanding MCG indication.
22. The one or more non-transitory computer-readable media of claim 21 , wherein each of the first, second, third, fourth, fifth, sixth, and seventh MCMs include an ITS Protocol Data Unit (PDU) Header and one or more containers, the ITS PDU Header including information regarding protocol version, Radio Access Technology (RAT) type, message type, or a node identifier (ID) of the MCS or an originating station, the originating station being a station including the MCS, and wherein the one or more containers include:
an MCM Management Container, the MCM Management Container including information about the MCM, the information about the MCM including one or more of a station type of the originating station, a message ID, a message type indicator, an MCM generation and transmission scheme, and segmentation information; and
at least one container selected from a group of containers including:
a Station Data Container, the Station Data Container including additional information about the originating station;
a Maneuver Sharing Container, the Maneuver Sharing Container including a Maneuver Intention Container and a Planned Trajectory Container, the Maneuver Intention Container including information related to one or more intended maneuvers of the originating station given a current arrangement of other stations neighboring or proximate to the originating station, and the Planned Trajectory Container including trajectory information indicating a planned or predicted trajectory of the ITS-S;
a Detected Situations/Maneuvers Container, the Detected Situations/Maneuvers Container including information regarding driving/traffic situations and the neighbors' maneuvers detected by the originating station or determined from one or more received MCMs;
a Maneuver Coordination Container, the Maneuver Coordination Container including information about maneuver coordination requests or responses sent or received by the originating station; and
a Layered Cost Map Container, the Layered Cost Map Container including information for one or more layers of a layered cost map, the one or more layers including a master layer and one or more supporting layers.
23. The one or more non-transitory computer-readable media of claim 22 , wherein execution of the instructions is to cause the ITS-S to:
obtain the trajectory information from an application in an application layer of the originating station;
determine one or more points per trajectory based on one or more driving conditions, wherein the one or more driving conditions include one or more of a current speed of the ITS-S, a detected speed of the one or more other ITS-Ss, a situation intensity indicating a probability of a collision, a station type of the ITS-S, and a station type of the one or more other ITS-Ss, and wherein the determination of the one or more points per trajectory includes:
determining the one or more points per trajectory such that a larger number of points per trajectory are selected as the current speed or the detected speed of the one or more neighboring stations increases, or
determining the one or more points per trajectory comprises determining the one or more points per trajectory such that, for higher probabilities of a collision, a larger number of points per trajectory are selected; and
generate the trajectory information based on the one or more points per trajectory.
24. The one or more non-transitory computer-readable media of claim 22 , wherein the trajectory information includes a plurality of waypoints smoothed by a spline linking each of the plurality of waypoints or a parametric representation including one or more Frenet frames.
25. The one or more non-transitory computer-readable media of claim 22 , wherein one or more of the first, second, third, fourth, fifth, sixth, and seventh MCMs are a combined MCM-Cooperative Perception Message (CPM) further including one or more CPM containers, and the one or more CPM containers include:
a Sensor Information Container, the Sensor Information Container including sensor capabilities of the originating station, wherein the sensor capabilities include one or more of a sensor ID of each sensor operated by or accessible to the originating station, sensor type of each sensor, a position of each sensor, an orientation of each sensor, or a field-of-view (FoV) of each sensor;
a Sensing Data Container, the Sensing Data Container including shared (raw) sensor data and a description of the shared (raw) sensor data; and
a Perceived Object Container for each perceived object, the Perceived Object Container for each perceived object including information about the corresponding perceived object with respect to a disseminating station.
26. The one or more non-transitory computer-readable media of claim 16 , wherein the transmission or broadcast of the MCM includes cause transmission or broadcast of the MCM with a periodicity (T MCM ), wherein the T MCM is selected between a minimum periodicity parameter (T MCM_Min ) and a maximum periodicity parameter (T MCM_Max ), and execution of the instructions is to cause the ITS-S to:
determine the T MCM based on one or more of network congestion levels, channel congestion levels, signal strength measurements, signal quality measurements, quality (confidence) levels of perceived object(s), safety levels of the perceived object(s), geolocation, a node or traffic density, current or predicted communication resources, and a communication resource selection scheme.