US 12,246,753 B2
Systems and methods for cooperative driving of connected autonomous vehicles in smart cities using responsibility-sensitive safety rules
Mohammad Khayatian, Tempe, AZ (US); Mohammadreza Mehrabian, Tempe, AZ (US); Harshith Allamsetti, Milpitas, CA (US); Kai-Wei Liu, Taipei (TW); Po-Yu Huang, Taipei (TW); Chung-Wei Lin, Taipei (TW); and Aviral Shrivastava, Phoenix, AZ (US)
Assigned to Arizona Board of Regents on Behalf of Arizona State University, Tempe, AZ (US); and National Taiwan University, Taipei (TW)
Filed by Arizona Board of Regents on Behalf of Arizona State University, Tempe, AZ (US)
Filed on Mar. 16, 2022, as Appl. No. 17/696,450.
Claims priority of provisional application 63/177,107, filed on Apr. 20, 2021.
Prior Publication US 2022/0340177 A1, Oct. 27, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01)
CPC B60W 60/00272 (2020.02) [B60W 30/18109 (2013.01); B60W 60/00274 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4049 (2020.02)] 21 Claims
OG exemplary drawing
 
1. An ego connected autonomous vehicle (CAV), comprising:
a processor in communication with a memory, the memory including instructions, which, when executed, cause the processor to:
determine a planned future path of the ego CAV of a plurality of connected autonomous vehicles (CAVs) based on a known starting location and a known destination location relative to a world map;
exchange, through a network interface in association with the memory of the ego CAV, a set of ego CAV information including the planned future path of the ego CAV with one or more additional CAVs of the plurality of CAVs, wherein a set of additional CAV information received at the ego CAV from a respective additional CAV of the one or more additional CAVs includes a planned future path of the additional CAV;
exchange, through the network interface, one or more partial dependency graphs, wherein a partial dependency graph of the one or more partial dependency graphs is maintained by the ego CAV and is associated with the one or more additional CAVs, wherein the partial dependency graph is indicative of one or more conflict zones that exist on the world map between the planned future path of the ego CAV and the planned future paths of the one or more additional CAVs of the plurality of CAVs;
construct, at the ego CAV, a complete dependency graph based on the one or more partial dependency graphs computed by the ego CAV and one or more partial dependency graphs received from each respective additional CAV of the one or more additional CAVs of the plurality of CAVs;
iteratively resolve, at the ego CAV, one or more deadlocks identified within the complete dependency graph; and
apply an updated future path to a motion controller of the ego CAV based on the complete dependency graph.