US 11,670,172 B2
Planning and control framework with communication messaging
Benjamin Lund, Escondido, CA (US); Edwin Chongwoo Park, San Diego, CA (US); Anthony Blow, San Diego, CA (US); and Garrett Shriver, Santee, CA (US)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Dec. 2, 2021, as Appl. No. 17/540,852.
Application 17/540,852 is a continuation of application No. 16/547,901, filed on Aug. 22, 2019, granted, now 11,222,542.
Prior Publication US 2022/0092986 A1, Mar. 24, 2022
Int. Cl. G08G 1/16 (2006.01); H04W 4/44 (2018.01); G08G 1/005 (2006.01); G08G 1/04 (2006.01); G06V 20/52 (2022.01)
CPC G08G 1/166 (2013.01) [G06V 20/52 (2022.01); G08G 1/005 (2013.01); G08G 1/04 (2013.01); H04W 4/44 (2018.02)] 24 Claims
OG exemplary drawing
 
1. A method of operating a first device, the method comprising:
obtaining, by the first device, environment information in proximity to the first device;
receiving, by the first device, one or more communication messages from a second device, wherein the one or more communication messages include relevance criteria, wherein the relevance criteria indicates one or more devices, one or more sets of device characteristics, one or more lanes, one or more intersections or areas, one or more pedestrian paths or bicycle paths, one or more signal characteristics from the second device or any combination thereof;
determining, by the first device, whether the one or more communication messages are relevant to the first device based on the relevance criteria and the environment information; and
determining whether the first device is to coordinate with the second device based on one or more device characteristics of the second device from the one or more sets of device characteristics and the environment information, wherein the determining whether the first device is to coordinate with the second device comprises:
transmitting one or more requests to the second device, wherein the one or more requests indicate the second device to perform an action, capture one or more images of the first device or a third device from the second device, or any combination thereof;
determining whether the second device is a non-spoofed device based on a response to the one or more requests; and
performing, by the first device, an operation in response to the determination of whether the one or more communication messages are relevant to the first device and in response to the determination of whether the first device is to coordinate with the second device.