US 12,488,682 B2
Message broadcasting for vehicles
Stephen Marc Chaves, Philadelphia, PA (US); Daniel Warren Mellinger, III, Raleigh, NC (US); Paul Daniel Martin, Devon, PA (US); and Michael Joshua Shomin, Philadelphia, PA (US)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Jun. 23, 2023, as Appl. No. 18/340,294.
Application 18/340,294 is a continuation of application No. 16/439,956, filed on Jun. 13, 2019, abandoned.
Claims priority of provisional application 62/782,573, filed on Dec. 20, 2018.
Prior Publication US 2023/0334983 A1, Oct. 19, 2023
Int. Cl. G08G 1/01 (2006.01); G08G 1/16 (2006.01)
CPC G08G 1/0141 (2013.01) [G08G 1/0112 (2013.01); G08G 1/162 (2013.01); G08G 1/166 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle, comprising:
receiving an intention message including a motion plan from a transmitting vehicle,
wherein the motion plan comprises a trajectory of the transmitting vehicle and one or more vehicle descriptors associated with the transmitting vehicle and wherein the one or more vehicle descriptors comprise a vehicle physical capability,
wherein the vehicle physical capability comprises at least one of a turning radius, a vehicle top speed, and a vehicle maximum acceleration;
parsing the intention message to identify the motion plan for the transmitting vehicle;
determining an expected region of interest for the vehicle based at least in part on the motion plan;
selecting a first detection algorithm for detecting a sensor perceptible attribute of the transmitting vehicle based on receiving the motion plan of the transmitting vehicle,
wherein the first detection algorithm is associated with a first confidence threshold for reporting detection of the transmitting vehicle in the expected region of interest,
wherein the first confidence threshold is lower than a second confidence threshold associated with a second detection algorithm;
receiving sensor data from one or more sensors disposed in or on the vehicle;
applying the selected first detection algorithm to a limited subset of received sensor data from the expected region of interest;
setting a future behavior prediction for the transmitting vehicle based at least in part on a vehicle behavior model for the transmitting vehicle limited by the vehicle physical capability and the expected region of interest, wherein setting the future behavior prediction for the transmitting vehicle is based on the application of the selected first detection algorithm; and
controlling the vehicle based at least in part on the motion plan and the future behavior prediction.