US 11,792,687 B2
Message management for cooperative driving among connected vehicles
Sergei S. Avedisov, Mountain View, CA (US); Ahmed H. Sakr, Mountain View, CA (US); Takamasa Higuchi, Mountain View, CA (US); Seyhan Ucar, Mountain View, CA (US); Onur Altintas, Mountain View, CA (US); and Akihiko Yamamuro, Mountain View, CA (US)
Filed by Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US)
Filed on Oct. 9, 2020, as Appl. No. 17/67,348.
Prior Publication US 2022/0116820 A1, Apr. 14, 2022
Int. Cl. H04W 28/08 (2023.01); H04W 28/02 (2009.01); H04W 4/40 (2018.01); H04W 24/08 (2009.01); H04W 4/38 (2018.01); G08G 1/09 (2006.01); G05D 1/02 (2020.01); H04Q 9/00 (2006.01)
CPC H04W 28/08 (2013.01) [G05D 1/028 (2013.01); G05D 1/0287 (2013.01); G08G 1/09 (2013.01); H04Q 9/00 (2013.01); H04W 4/38 (2018.02); H04W 4/40 (2018.02); H04W 24/08 (2013.01); H04W 28/0289 (2013.01); G05D 2201/0213 (2013.01); H04Q 2209/40 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for message management by an ego vehicle for a Vehicle-to-Everything (V2X) channel used in V2X messages for providing a cooperative driving service, the method comprising:
receiving, by the V2X channel, a first V2X message including remote sensor data recorded by a remote vehicle;
causing an onboard sensor set of the ego vehicle to record ego sensor data;
determining a channel busy ratio of the V2X channel;
determining a set of factors affecting a state of a recipient vehicle that receives a second V2X message;
selecting a cooperation message species class and an aggregation message species class of the second V2X message; and
selecting, from a set of available classes, a specific class of the second V2X message wherein the set of available classes is based at least in part on the channel busy ratio.