Dynamic V2X networks and vehicle routing
Disclosed embodiments prioritize gaps in V2X coverage and then selectively route traffic based on the prioritized gaps. Some embodiments combine historical vehicle presence along a route with predicted prospective vehicle traffic along the route to generate a map of regions that have a high confidence of a need for V2X coverage. This high confidence map is compared to a historical V2X coverage in those regions. From this comparison, a set of high priority V2X gaps is identified. Vehicles are then selectively routed either around or into the gaps.
1. A vehicle control system, comprising:
hardware processing circuitry; and
one or more hardware memories storing instructions that when executed configure the hardware processing circuitry to perform operations comprising:
determining historical frequencies of vehicle-to-everything (V2X) messages in each of a plurality of regions based on information received via at least one wireless communication link from V2X-enabled vehicles, the information indicating a count of the V2X messages received by the V2X-enabled vehicles while traveling the plurality of regions and across different time periods;
determining a number of historical trips by the V2X-enabled vehicles through each of the plurality of regions;
determining, based on the number of historical trips and a number of V2X messages exchanged by the V2X-enabled vehicles during the historical trips, a V2X coverage gap associated with a need for V2X wireless coverage in each of the plurality of regions during a prospective time period;
receiving via at least one wireless communication link, a travel request for travel from an origin to a destination during the prospective time period;
identifying the historical frequencies applicable to the prospective time period;
determining a first route including the origin and the destination based on the identified historical frequencies and the need for the V2X wireless coverage; and
controlling repositioning of an autonomous vehicle of the V2X-enabled vehicles along the first route, the autonomous vehicle to provide the V2X wireless coverage to fill the V2X coverage gap.
2. The vehicle control system of claim 1 , the operations further comprising:
determining a plurality of routes of a corresponding plurality of prospective vehicle trips, each of the plurality of routes traversing one or more of the plurality of regions; and
determining, based on the identified historical frequencies, further based on the need for the V2X wireless coverage, and further based on the plurality of routes, a second plurality of regions having inadequate V2X density, wherein the determining of the first route is based on the second plurality of regions.
3. The vehicle control system of claim 2 , the operations further comprising:
predicting a number of prospective vehicle trips in each of the plurality of regions based on the determined plurality of routes and the need for the V2X wireless coverage; and
determining a subset of the plurality of regions having a predicted number of prospective vehicle trips meeting a first criterion and having a historical frequency meeting a second criterion, wherein the second plurality of regions is based on the subset.
4. The vehicle control system of claim 2 , wherein the determining of the first route includes a first region of the second plurality of regions in the first route based on the first region having inadequate V2X density.
5. The vehicle control system of claim 4 , wherein the determining of the first route assigns the first region as a destination of the first route based on the first region having inadequate V2X density, and wherein the assigning of the first route to the autonomous vehicle is based on an idle status of the autonomous vehicle.
6. The vehicle control system of claim 4 , the operations further comprising:
determining an amount and distribution over time of vehicle traffic necessary to provide adequate V2X density in the first region;
generating a plurality of routes to include the first region based on the determined amount and the distribution over time; and
assigning a corresponding plurality of idle V2X-enabled vehicles to the plurality of routes.
7. The vehicle control system of claim 6 , the operations further comprising determining availability of parking in the first region or proximity of the idle vehicle to the first region, wherein the assigning of the second route to the idle vehicle is based on the availability or the proximity.
8. The vehicle control system of claim 2 , wherein the determining of the first route excludes a first region of the second plurality of regions based on the first region having inadequate V2X density.
9. The vehicle control system of claim 4 , the operations further comprising:
receiving, from a vehicle, a notification that it is available to provide V2X data, the notification further indicating the vehicle is located in the first region;
requesting, from the vehicle, V2X data based on the notification, the indicated location, and that the first region has inadequate V2X density; and
obtaining V2X data generated by the vehicle, wherein the determining of the historical frequencies is based on the V2X data generated by the vehicle.
10. At least one non-transitory computer-readable storage medium comprising instructions that, when executed, configure hardware processing circuitry to perform operations comprising:
determining historical frequencies of vehicle-to-everything (V2X) messages in each of a plurality of regions based on information received via at least one wireless communication link from V2X-enabled vehicles, the information indicating a count of the V2X messages received by the V2X-enabled vehicles while traveling the plurality of regions and across different time periods;
determining a number of historical trips by V2X-enabled vehicles through each of the plurality of regions;
determining, based on the number of historical trips and a number of V2X messages exchanged by the V2X-enabled vehicles during the historical trips, a V2X coverage gap associated with a need for V2X wireless coverage in each of the plurality of regions during a prospective time period;
receiving via at least one wireless communication link, a travel request for travel from an origin to a destination during the prospective time period;
identifying the historical frequencies applicable to the prospective time period;
determining a first route including the origin and the destination based on the identified historical frequencies and the need for the V2X wireless coverage; and
controlling repositioning of an autonomous vehicle of the V2X-enabled vehicles along the first route, the autonomous vehicle to provide the V2X wireless coverage to fill the V2X coverage gap.
11. The at least one non-transitory computer-readable storage medium of claim 10 , the operations further comprising:
determining a plurality of routes of a corresponding plurality of prospective vehicle trips, each of the plurality of routes traversing one or more of the plurality of regions; and
determining, based on the identified historical frequencies, further based on the need for the V2X wireless coverage, and further based on the plurality of routes, a second plurality of regions having inadequate V2X density, wherein the determining of the first route is based on the second plurality of regions.
12. The at least one non-transitory computer-readable storage medium of claim 11 , the operations further comprising:
predicting a number of prospective vehicle trips in each of the plurality of regions based on the determined plurality of routes and the need for the V2X wireless coverage; and
determining a subset of the plurality of regions having a predicted number of prospective vehicle trips meeting a first criterion and having a historical frequency meeting a second criterion, wherein the second plurality of regions is based on the subset.
13. The at least one non-transitory computer-readable storage medium of claim 11 , wherein the determining of the first route includes a first region of the second plurality of regions in the first route based on the first region having inadequate V2X density.
14. The at least one non-transitory computer-readable storage medium of claim 13 , wherein the determining of the first route assigns the first region as a destination of the first route based on the first region having inadequate V2X density, and wherein the assigning of the first route to the autonomous vehicle is based on an idle status of the autonomous vehicle.
15. The at least one non-transitory computer-readable storage medium of claim 14 , the operations further comprising:
determining an amount and distribution over time of vehicle traffic necessary to provide adequate V2X density in the first region;
generating a plurality of routes to include the first region based on the determined amount and the distribution over time; and
assigning a corresponding plurality of idle V2X-enabled vehicles to the plurality of routes.
16. The at least one non-transitory computer-readable storage medium of claim 15 , the operations further comprising determining availability of parking in the first region or proximity of the idle vehicle to the first region, wherein the assigning of the second route to the idle vehicle is based on the availability or the proximity.
17. The at least one non-transitory computer-readable storage medium of claim 11 , wherein the determining of the first route excludes a first region of the second plurality of regions based on the first region having inadequate V2X density.
18. The at least one non-transitory computer-readable storage medium of claim 13 , the operations further comprising:
receiving, from a vehicle, a notification that it is available to provide V2X data, the notification further indicating the vehicle is located in the first region;
requesting, from the vehicle, V2X data based on the notification, the indicated location, and that the first region has inadequate V2X density; and
obtaining V2X data generated by the vehicle, wherein the determining of the historical frequencies is based on the V2X data generated by the vehicle.
19. A vehicle control apparatus, comprising:
means for determining historical frequencies of vehicle-to-everything (V2X) messages in each of a plurality of regions based on information received via at least one wireless communication link from V2X-enabled vehicles, the information indicating a count of the V2X messages received by the V2X-enabled vehicles while traveling the plurality of regions and across different time periods;
means for determining a number of historical trips by V2X-enabled vehicles through each of the plurality of regions;
means for determining, based on the number of historical trips and a number of V2X messages exchanged by the V2X-enabled vehicles during the historical trips, a V2X coverage gap associated with a need for V2X wireless coverage in each of the plurality of regions during a prospective time period;
means for receiving via at least one wireless communication link, a travel request for travel from an origin to a destination during the prospective time period;
means for identifying the historical frequencies applicable to the prospective time period;
means for determining a first route including the origin and the destination based on the identified historical frequencies and the need for the V2X wireless coverage; and
means for controlling repositioning of an autonomous vehicle of the V2X-enabled vehicles along the first route, the autonomous vehicle to provide the V2X wireless coverage to fill the V2X coverage gap.
20. The vehicle control apparatus of claim 19 , further comprising:
means for determining a plurality of routes of a corresponding plurality of prospective vehicle trips, each of the plurality of routes traversing one or more of the plurality of regions;
means for determining, based on the identified historical frequencies, further based on the need for the V2X wireless coverage, and further based on the plurality of routes, a second plurality of regions having inadequate V2X density, wherein the determining of the first route is based on the second plurality of regions;
means for predicting a number of prospective vehicle trips in each of the plurality of regions based on the determined plurality of routes and the need for the V2X wireless coverage; and
means for determining a subset of the plurality of regions having a predicted number of prospective vehicle trips meeting a first criterion and having a historical frequency meeting a second criterion, wherein the second plurality of regions is based on the subset.