US 12,219,445 B2
Vehicle on-board unit for connected and automated vehicle systems
Shen Li, Madison, WI (US); Bin Ran, Fitchburg, WI (US); Zhen Zhang, Madison, WI (US); Yang Cheng, Middleton, WI (US); Huachun Tan, Madison, WI (US); Tianyi Chen, Madison, WI (US); Shuoxuan Dong, Madison, WI (US); Kunsong Shi, Madison, WI (US); Linhui Ye, Madison, WI (US); Qin Li, Madison, WI (US); Zhijun Chen, Fitchburg, WI (US); Linchao Li, Madison, WI (US); Linghui Xu, Madison, WI (US); Xia Wan, Fitchburg, WI (US); and Xiaoxuan Chen, Fitchburg, WI (US)
Assigned to CAVH LLC, Fitchburg, WI (US)
Filed by CAVH LLC, Fitchburg, WI (US)
Filed on Jul. 8, 2019, as Appl. No. 16/505,034.
Claims priority of provisional application 62/695,964, filed on Jul. 10, 2018.
Prior Publication US 2020/0021961 A1, Jan. 16, 2020
Int. Cl. H04W 4/44 (2018.01); G05D 1/00 (2024.01); G08G 1/01 (2006.01); H04W 4/46 (2018.01); H04W 4/80 (2018.01)
CPC H04W 4/44 (2018.02) [G05D 1/0022 (2013.01); G05D 1/0291 (2013.01); G08G 1/0116 (2013.01); H04W 4/46 (2018.02); H04W 4/80 (2018.02)] 21 Claims
OG exemplary drawing
 
1. A vehicle on-board unit (OBU) comprising:
a data collection and storage component configured to receive vehicle motion state parameters and vehicle environment parameters;
a communications module capable of transmitting information and receiving information from a roadside unit (RSU) comprising a sensing module,
wherein said RSU fuses data from individual vehicles, the sensing module, and a cloud system to produce fused data; predicts longitudinal and lateral movement behavior for individual vehicles at a microscopic level based on the fused data to produce prediction information comprising predicted single vehicle behavior information, predicted vehicle flow information, and predicted environmental information; provides planning and decision making functions; and provides vehicle-specific control instructions comprising a longitudinal acceleration rate, a lateral acceleration rate, and a vehicle orientation; and
wherein the communications module receives the fused data, the prediction information, and the vehicle-specific control instructions from the RSU;
wherein said RSU modifies prediction results according to off-line vehicle data, online speed data, engine revolution speed data, travelled distance, and information collected and predicted by said OBU;
wherein said RSU provides high-resolution maps comprising lane width, lane approach, grade, and road geometry information to said OBU;
a location component comprising a high-resolution map and a global positioning system device;
a data fusion unit configured to fuse the data from the vehicle, the RSU, and the cloud system;
a prediction module configured to predict behavior of individual vehicles at a microscopic level based on the fused data; and
a vehicle controller configured to execute said vehicle-specific control instructions for driving tasks,
wherein said vehicle-specific control instructions comprise control instructions for vehicle longitudinal acceleration and speed, lateral acceleration and speed, and vehicle orientation and direction; and
wherein said OBU is configured to perform said vehicle-specific control functions by the vehicle controller controlling vehicle longitudinal acceleration and speed, lateral acceleration and speed, and vehicle orientation and direction according to said vehicle control instructions.