Title:
SYSTEMS AND METHODS FOR COOPERATIVE NAVIGATION WITH AUTONOMOUS VEHICLES
Document Type and Number:
WIPO Patent Application WO/2024/044396
Kind Code:
A1
Abstract:
An example for performing cooperative navigation with autonomous vehicles includes an autonomous vehicle; a communication system; and a vehicle control system operably coupled to the autonomous vehicle, the vehicle control system including a processor and a memory, the memory having computer-executable instructions stored thereon that, when executed by the processor, cause the processor to: receive traffic information from the communication system, where the traffic information includes information from a plurality of roadside communication devices and information from a second vehicle; receive a plurality of vehicle parameters associated with the autonomous vehicle; and determine, based on the traffic information and the vehicle parameters, a cooperative navigation solution.
Inventors:
KHAN RAHAN (US)
HANIF ATHAR (US)
AHMED QADEER (US)
HANIF ATHAR (US)
AHMED QADEER (US)
Application Number:
PCT/US2023/031230
Publication Date:
February 29, 2024
Filing Date:
August 28, 2023
Export Citation:
Assignee:
OHIO STATE INNOVATION FOUNDATION (US)
International Classes:
G08G1/16; B60W30/09; H04W4/44; H04W4/46; B60W60/00
Domestic Patent References:
WO2021118675A1 | 2021-06-17 |
Foreign References:
CN113335278A | 2021-09-03 | |||
US20200219386A1 | 2020-07-09 | |||
US20190049968A1 | 2019-02-14 |
Other References:
YU GUIZHEN, LI HAN, WANG YUNPENG, CHEN PENG, ZHOU BIN: "A review on cooperative perception and control supported infrastructure-vehicle system", GREEN ENERGY AND INTELLIGENT TRANSPORTATION, vol. 1, no. 3, 1 December 2022 (2022-12-01), pages 100023, XP093026952, ISSN: 2773-1537, DOI: 10.1016/j.geits.2022.100023
Attorney, Agent or Firm:
HAMILTON, Lee G. et al. (US)
Download PDF:
Claims:
MCC Ref. No.: 103361‐329WO1 WHAT IS CLAIMED: 1. A system for performing cooperative navigation with autonomous vehicles, the system comprising: an autonomous vehicle; a communication system; and a vehicle control system, the vehicle control system comprising a processor and a memory, the memory having computer‐executable instructions stored thereon that, when executed by the processor, cause the processor to: receive traffic information from the communication system, wherein the traffic information comprises first information from a plurality of roadside communication devices and second information from a second vehicle; receive a plurality of vehicle parameters associated with the autonomous vehicle; determine, based on the traffic information and the vehicle parameters, a cooperative navigation solution. 2. The system of claim 1, further comprising controlling the autonomous vehicle using the cooperative navigation solution. 3. The system of claim 1 or claim 2, wherein the vehicle control system is attached to the autonomous vehicle. MCC Ref. No.: 103361‐329WO1 4. The system of any one of claims 1‐3, wherein the cooperative navigation solution comprises a vehicle velocity instruction, wherein the vehicle velocity instruction comprises a velocity that avoids a potential collision. 5. The system of any one of claims 1‐4, wherein the cooperative navigation solution comprises a cooperative cruise control instruction. 6. The system of any one of claims 1‐5, wherein the cooperative navigation solution comprises cooperative adaptive lane keeping information. 7. The system of any one of claims 1‐6, wherein the cooperative navigation solution comprises cooperative collision avoidance information. 8. The system of any one of claims 1‐7, wherein the roadside communication devices comprise a road side unit (RSU). 9. The system of any one of claims 1‐8, wherein the roadside communication devices comprise a smart traffic light (STL). 10. The system of any one of claims 1‐9, wherein the roadside communication devices comprise a smart traffic sign (STS). MCC Ref. No.: 103361‐329WO1 11. The system of any one of claims 1–10, wherein the roadside communication devices comprise an automated traffic management (ATM) system. 12. The system of any one of claims 1–11, wherein the vehicle parameters comprise a vehicle length. 13. The system of any one of claims 1–12, wherein the vehicle parameters comprise a vehicle position. 14. The system of any one of claims 1–13, wherein the vehicle parameters comprise a heading angle. 15. The system of any one of claims 1–14, wherein the vehicle parameters comprise a lane identity of the vehicle. 16. The system of any one of claims 1–15, wherein the vehicle parameters comprise a turn identification of the vehicle. 17. The system of any one of claims 1–16, wherein the communication system comprises an autonomous intersection management system. MCC Ref. No.: 103361‐329WO1 18. The system of any one of claims 1‐17, further comprising a light detection and ranging (LIDAR) sensor, and wherein the plurality of vehicle parameters comprise LIDAR data. 19. The system of any one of claims 1‐18, further comprising a radar sensor, and wherein the plurality of vehicle parameters comprise radar data. 20. The system of any one of claims 1‐19, further comprising a camera, and wherein the plurality of vehicle parameters comprise image data. 21. A computer‐implemented method of performing cooperative collision avoidance for an autonomous vehicle, the method comprising: receiving traffic information from a communication system, wherein the traffic information comprises first information from a plurality of roadside communication devices and second information from a second vehicle; receiving a plurality of vehicle parameters associated with the autonomous vehicle; determining, based on the traffic information and the vehicle parameters, a cooperative navigation solution. 22. The computer‐implemented method of claim 21, wherein the cooperative navigation solution comprises a vehicle velocity, wherein the vehicle velocity is a velocity that avoids a potential collision. MCC Ref. No.: 103361‐329WO1 23. The computer‐implemented method of claim 21 or claim 22, wherein the cooperative navigation solution comprises cooperative cruise control information. 24. The computer‐implemented method of any one of claims 21‐23, wherein the cooperative navigation solution comprises cooperative adaptive lane keeping information. 25. The computer‐implemented method of any one of claims 21‐24, wherein the cooperative navigation solution comprises cooperative collision avoidance information. 26. The computer‐implemented method of any one of claims 21‐25, wherein the roadside communication devices comprise a road side unit (RSU). 27. The computer‐implemented method of any one of claims 21‐26, wherein the roadside communication devices comprise a smart traffic light (STL). 28. The computer‐implemented method of any one of claims 21‐27, wherein the roadside communication devices comprise a smart traffic sign (STS). 29. The computer‐implemented method of any one of claims 21‐28, wherein the roadside communication devices comprise an automated traffic management (ATM) system. MCC Ref. No.: 103361‐329WO1 30. The computer‐implemented method of any one of claims 21‐29, wherein the vehicle parameters comprise a vehicle length. 31. The computer‐implemented method of any one of claims 21‐30, wherein the vehicle parameters comprise a vehicle position. 32. The computer‐implemented method of any one of claims 21‐31, wherein the vehicle parameters comprise a heading angle. 33. The computer‐implemented method of any one of claims 21‐32, wherein the vehicle parameters comprise a lane identity of the vehicle. 34. The computer‐implemented method of any one of claims 21‐33, wherein the vehicle parameters comprise a turn identification of the vehicle. 35. The computer‐implemented method of any one of claims 21‐34, wherein the communication system comprises an autonomous intersection management system. 36. The computer‐implemented method of any one of claims 21‐35, wherein the plurality of vehicle parameters comprise LIDAR data. MCC Ref. No.: 103361‐329WO1 37. The computer‐implemented method of any one of claims 21‐36, wherein the plurality of vehicle parameters comprise RADAR data. 38. The computer‐implemented method of any one of claims 21‐37, wherein the plurality of vehicle parameters comprise camera data. 39. The computer‐implemented method of any one of claims 21‐38, further comprising controlling the autonomous vehicle using the cooperative navigation solution. |
Description:
MCC Ref. No.: 103361‐329WO1 SYSTEMS AND METHODS FOR COOPERATIVE NAVIGATION WITH A
UTONOMOUS VEHICLES CROSS‐REFERENCE TO RELATED APPLICATIONS [0001] This application claims the benefit of U.S. provision
al patent application No. 63/456,930, filed on April 4, 2023, and titled “SY
STEMS AND METHODS FOR ANALYZING SMART INTERSECTIONS WITH HIGHLY AUTOMATED VEHICLES,” and U
.S. provisional patent application No. 63/373,618, filed on August 26, 2022, and titled
“SYSTEMS AND METHODS FOR OPERATING SMART INTERSECTIONS WITH AUTONOMOUS VEHICLES,” the d
isclosures of which are expressly incorporated herein by reference in its entirety. STATEMENT REGARDING FEDERALLY FUNDED RESEARCH [0002] This invention was made with government support under
grant/contract number 69A3552047138 awarded by the U.S. Department o
f Transportation. The government has certain rights in the invention. BACKGROUND [0003] Autonomous vehicles can navigate between two points w
ithout a human driver, or with limited human input. Autonomous vehic
les can include sensors, computer systems, and communication systems, which can be used
to identify obstacles, perform and collision avoidance while the autonomous vehicle is n
avigating along a route. Autonomous vehicles can also include route planning systems.
MCC Ref. No.: 103361‐329WO1 [0004] Highly automated vehicles can identify obstacles, and
perform collision avoidance while the autonomous vehicle is navigating
along a route. Highly automated vehicles can also perform route planning and navigation betwee
n waypoints. [0005] Both autonomous vehicles and highly automated vehicles
can operate in conjunction with smart infrastructure systems. Smart i
nfrastructure systems can be used to monitor and/or control roadways, for example by contr
olling traffic signals. [0006] Therefore, what is needed are systems and methods fo
r using autonomous vehicles and/or highly automated vehicles with smart
infrastructure. For example, systems and methods for avoiding collisions between vehicles. For
example, systems and methods for avoiding collisions between vehicles. SUMMARY [0007] Systems for performing cooperative navigation with aut
onomous vehicles and/or highly automated vehicles, are described herein
. [0008] In some aspects, the techniques described herein rela
te to a system for performing cooperative navigation with autonomous vehic
les, the system including: an autonomous vehicle; a communication system; and a veh
icle control system, the vehicle control system including a processor and a memory, the memor
y having computer‐executable instructions stored thereon that, when executed by th
e processor, cause the processor to: receive traffic information from the communication sys
tem, wherein the traffic information includes first information from a plurality of roadsi
de communication devices and second information from a second vehicle; receive a pluralit
y of vehicle parameters associated with the MCC Ref. No.: 103361‐329WO1 autonomous vehicle; determine, based on the traffic i
nformation and the vehicle parameters, a cooperative navigation solution. [0009] In some aspects, the techniques described herein rela
te to a system, further including controlling the autonomous vehicle using the
cooperative navigation solution. [0010] In some aspects, the techniques described herein rela
te to a system or claim 2, wherein the vehicle control system is attached to
the autonomous vehicle. [0011] In some aspects, the techniques described herein rela
te to a system, wherein the cooperative navigation solution includes a vehicle
velocity instruction, wherein the vehicle velocity instruction includes a velocity that avoids
a potential collision. [0012] In some aspects, the techniques described herein rela
te to a system, wherein the cooperative navigation solution includes a coopera
tive cruise control instruction. [0013] In some aspects, the techniques described herein rela
te to a system, wherein the cooperative navigation solution includes cooperativ
e adaptive lane keeping information. [0014] In some aspects, the techniques described herein rela
te to a system, wherein the cooperative navigation solution includes cooperativ
e collision avoidance information. [0015] In some aspects, the techniques described herein rela
te to a system, wherein the roadside communication devices include a road sid
e unit (RSU). [0016] In some aspects, the techniques described herein rela
te to a system, wherein the roadside communication devices include a smart tr
affic light (STL). [0017] In some aspects, the techniques described herein rela
te to a system, wherein the roadside communication devices include a smart tr
affic sign (STS). MCC Ref. No.: 103361‐329WO1 [0018] In some aspects, the techniques described herein rela
te to a system, wherein the roadside communication devices include an automate
d traffic management (ATM) system. [0019] In some aspects, the techniques described herein rela
te to a system, wherein the vehicle parameters include a vehicle length. [0020] In some aspects, the techniques described herein rela
te to a system, wherein the vehicle parameters include a vehicle position. [0021] In some aspects, the techniques described herein rela
te to a system, wherein the vehicle parameters include a heading angle. [0022] In some aspects, the techniques described herein rela
te to a system, wherein the vehicle parameters include a lane identity of th
e vehicle. [0023] In some aspects, the techniques described herein rela
te to a system, wherein the vehicle parameters include a turn identification
of the vehicle. [0024] In some aspects, the techniques described herein rela
te to a system, wherein the communication system includes an autonomous inters
ection management system. [0025] In some aspects, the techniques described herein rela
te to a system, further including a light detection and ranging (LIDAR) senso
r, and wherein the plurality of vehicle parameters include LIDAR data. [0026] In some aspects, the techniques described herein rela
te to a system, further including a radar sensor, and wherein the plurality
of vehicle parameters include radar data. [0027] In some aspects, the techniques described herein rela
te to a system, further including a camera, and wherein the plurality of veh
icle parameters include image data. MCC Ref. No.: 103361‐329WO1 [0028] In some aspects, the techniques described herein rela
te to a computer‐ implemented method of performing cooperative collision
avoidance for an autonomous vehicle, the method including: receiving traffic infor
mation from a communication system, wherein the traffic information includes information f
rom a plurality of roadside communication devices and information from a second v
ehicle; receiving a plurality of vehicle parameters associated with the autonomous vehicle; det
ermining, based on the traffic information and the vehicle parameters, a cooperative
navigation solution. [0029] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the cooperative navigation
solution includes a vehicle velocity, wherein the vehicle velocity is a velocity that avoi
ds a potential collision. [0030] In some aspects, the techniques described herein rela
te to a computer‐ implemented method or claim 22, wherein the cooperati
ve navigation solution includes cooperative cruise control information. [0031] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the cooperative navigation
solution includes cooperative adaptive lane keeping information. [0032] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the cooperative navigation
solution includes cooperative collision avoidance information. [0033] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the roadside communication
devices include a road side unit (RSU). MCC Ref. No.: 103361‐329WO1 [0034] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the roadside communication
devices include a smart traffic light (STL). [0035] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the roadside communication
devices include a smart traffic sign (STS). [0036] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the roadside communication
devices include an automated traffic management (ATM) system. [0037] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the vehicle parameters inc
lude a vehicle length. [0038] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the vehicle parameters inc
lude a vehicle position. [0039] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the vehicle parameters inc
lude a heading angle. [0040] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the vehicle parameters inc
lude a lane identity of the vehicle. [0041] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the vehicle parameters inc
lude a turn identification of the vehicle. MCC Ref. No.: 103361‐329WO1 [0042] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the communication system i
ncludes an autonomous intersection management system. [0043] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the plurality of vehicle
parameters include LIDAR data. [0044] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the plurality of vehicle
parameters include RADAR data. [0045] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, wherein the plurality of vehicle
parameters include camera data. [0046] In some aspects, the techniques described herein rela
te to a computer‐ implemented method, further including controlling the
autonomous vehicle using the cooperative navigation solution. [0047] It should be understood that the above‐described su
bject matter may also be implemented as a computer‐controlled apparatus, a co
mputer process, a computing system, or an article of manufacture, such as a computer‐reada
ble storage medium. [0048] Other systems, methods, features and/or advantages wil
l be or may become apparent to one with skill in the art upon examinat
ion of the following drawings and detailed description. It is intended that all such additional
systems, methods, features and/or advantages be included within this description and be
protected by the accompanying claims. BRIEF DESCRIPTION OF THE DRAWINGS MCC Ref. No.: 103361‐329WO1 [0049] The components in the drawings are not necessarily t
o scale relative to each other. Like reference numerals designate corresponding
parts throughout the several views. [0050] FIG. 1A illustrates a system block diagram of a sys
tem for performing collision avoidance, according to implementations of the present
disclosure. [0051] FIG. 1B illustrates a system block diagram of a sys
tem for performing collision avoidance, according to implementations of the present
disclosure. [0052] FIG. 2A illustrates a flow chart of a method for p
erforming collision avoidance, according to implementations of the present disclosure
. [0053] FIG. 2B illustrates a flow chart of a method for p
erforming collision avoidance, according to implementations of the present disclosure
. [0054] FIG. 3A illustrates a system including cooperative hi
ghly automated vehicles with cooperative collision avoidance, cooperative cruis
e control, and cooperative lane‐keeping, according to implementations of the present disclosure
. [0055] FIG. 3B illustrates a system including cooperative hi
ghly automated vehicles with cooperative collision avoidance, cooperative cruis
e control, cooperative lane‐keeping, GPS, and RADAR, according to implementations of the presen
t disclosure. [0056] FIG. 4 illustrates a system including cooperative hig
hly automated vehicles with cooperative collision avoidance, cooperative cruis
e control, cooperative lane‐keeping, GPS, LIDAR, RADAR, and a camera, according to implementati
ons of the present disclosure. [0057] FIG. 4 illustrates a method of cooperative navigation
, according to implementations of the present disclosure. [0058] FIG. 5 is an example computing device. MCC Ref. No.: 103361‐329WO1 [0059] FIG. 6 illustrates an overview of simulation scenario
of a smart intersection including a roadside unit (RSU), a smart traffic lig
ht (STL), and autonomous intersection management (AIM). [0060] FIG. 7 illustrates results of a simulation of an ex
ample implementation of the present disclosure, showing that an example actor and
ego vehicle do not collide based on different velocity profiles. [0061] FIG. 8 illustrates results of a simulation of an ex
ample implementation of the present disclosure including AIM devices, showing that
an example actor and ego vehicle do not collide based on different velocity profiles. [0062] FIG. 9 illustrates results of a results of a simula
tion of an example implementation of the present disclosure including AIM
, STL, and cooperation. [0063] FIG. 10 illustrates an example analysis of a first
actor in a simulation, according to an implementation of the present disclos
ure. [0064] FIG. 11 illustrates an example analysis of a second
actor in a simulation, according to an implementation of the present disclos
ure. [0065] FIG. 12 illustrates an example analysis of a third
actor in a simulation, according to an implementation of the present disclos
ure. [0066] FIG. 13 illustrates velocity tracking results for sim
ulations of different cooperation scenarios, including V2V, cooperation, V2V
and AIM cooperation, and V2V, AIM, and STL cooperation. MCC Ref. No.: 103361‐329WO1 [0067] FIG. 14 illustrates attributes of example sensors and
data sources that can be used in cooperative navigation systems, according to
implementations of the present disclosure. [0068] FIG. 15A illustrates examples of near space and far
space navigation, according to implementations of the present disclosure
. [0069] FIG. 15B illustrates examples of near space and far
space navigation, according to implementations of the present disclosure
. [0070] FIG. 16 illustrates threats and vulnerabilities of di
fferent sensors and sources of information that can be used in implementations o
f the present disclosure. [0071] FIG. 17 illustrates an example of radar interference
at a smart intersection, according to implementations of the present disclosure
. [0072] FIG. 18 illustrates an example simulation of a smart
intersection, according to implementations of the present disclosure. [0073] FIG. 19 illustrates a schematic of conflict points i
n an intersection, according to implementations of the present disclosure. [0074] FIG. 20 illustrates a table of static and dynamic v
ariables that can be simulated, according to implementations of the present
disclosure. [0075] FIG. 21 illustrates a simulation of velocity as a f
unction of time for jamming scenarios, according to an implementation of the pres
ent disclosure. [0076] FIG. 22 illustrates a simulation of steering angle a
s a function of time for jamming scenarios, according to an implementation of
the present disclosure. MCC Ref. No.: 103361‐329WO1 [0077] FIG. 23 illustrates a simulation of acceleration as
a function of time for jamming scenarios, according to an implementation of
the present disclosure. [0078] FIG. 24 illustrates a simulation of highly automated
vehicles including positions as a function of time, according to an im
plementation of the present disclosure. [0079] FIG. 25 illustrates a simulation of highly automated
vehicles including positions as a function of time including jamming an
d interference scenarios, according to an implementation of the present disclosure. [0080] FIG. 26 illustrates a simulation result showing safet
y where patchy information was provided for actor 2, according to a
n implementation of the present disclosure. [0081] FIG. 27 illustrates a simulation result showing veloc
ity, where patchy information was provided for actor 2, according to a
n implementation of the present disclosure. [0082] FIG. 28 illustrates attributes of an ego vehicle und
er different simulation scenarios, according to implementations of the present
disclosure. [0083] FIG. 29 illustrates simulation results showing velocit
y as a function of time for different scenarios, according to implementations of t
he present disclosure. [0084] FIG. 30 illustrates simulation results showing steerin
g angle as a function of time for different scenarios, according to implementat
ions of the present disclosure. [0085] FIG. 31 illustrates simulation results showing acceler
ation as a function of time for different scenarios, according to implementat
ions of the present disclosure. MCC Ref. No.: 103361‐329WO1 [0086] FIG. 32 illustrates simulation results showing acceler
ation as a function of time for different scenarios, according to implementat
ions of the present disclosure. [0087] FIG. 33 illustrates simulations of cooperative collisi
on avoidance in threat scenarios where AIM and STL are jammed by an attack
er, according to implementations of the present disclosure. [0088] FIG. 34 illustrates simulations of cooperative collisi
on avoidance in threat scenarios where STL is jammed by an attacker, accord
ing to implementations of the present disclosure. [0089] FIG. 35A illustrates simulations of cooperative collis
ion avoidance in threat scenarios where all communication channels are active,
according to implementations of the present disclosure. [0090] FIG. 35B illustrates cooperative cruise control veloci
ties in threat scenarios, according to implementations of the present disclosure
. [0091] FIG. 36 illustrates a comparison of analyses of ego
vehicles in different threat scenarios with different driving strategies for HAVs
at a signal‐free smart intersection, according to implementations of the present disclosure. [0092] FIG. 37A illustrates lead vehicle velocity in an exa
mple simulated scenario, according to implementations of the present disclosure
. [0093] FIG. 37B illustrates simulated cooperative lane keepin
g results in different threat scenarios, according to implementations of the
present disclosure. [0094] FIG. 38 illustrates example conflict points at a sim
ulated intersection, according to implementations of the present disclosure
. MCC Ref. No.: 103361‐329WO1 [0095] FIG. 39 illustrates example static and dynamic variab
les, according to implementations of the present disclosure. [0096] FIG. 40A illustrates a schematic of a conflict point
between an ego and actor vehicle, according to an example implementation of th
e present disclosure. [0097] FIG. 40B illustrates a schematic of a conflict betwe
en an ego vehicle and actor vehicle, according to an example implementation of th
e present disclosure. [0098] FIG. 41 illustrates spacing control between vehicles,
according to an example implementation of the present disclosure. [0099] FIG. 42 illustrates the relationship between an ego
vehicle and actor vehicles, according to implementations of the present disclosure
. [00100] FIG. 43 illustrates a schematic of two vehicles in
a simulated intersection, according to implementations of the present disclosure
. [00101] FIG. 44 illustrates a schematic of two vehicles in
a simulated lane of traffic, according to implementations of the present disclosure
. [00102] FIG. 45A illustrates simulation results showing accele
ration as a function of time for different scenarios, according to implementat
ions of the present disclosure. [00103] FIG. 45B illustrates simulation results showing steeri
ng angles as a function of time for different scenarios, according to implementat
ions of the present disclosure. [00104] FIG. 46 illustrates simulation results for different
jamming scenarios, according to implementations of the present disclosure
. [00105] Fig. 47 illustrates simulation results showing velocit
y as a function of time for different jamming scenarios, according to implementatio
ns of the present disclosure. MCC Ref. No.: 103361‐329WO1 [00106] FIG. 48 illustrates simulation results showing steerin
g angle as a function of time for different jamming scenarios, according to im
plementations of the present disclosure. [00107] FIG. 49 illustrates simulation results showing acceler
ation as a function of time for different jamming scenarios, according to im
plementations of the present disclosure. [00108] FIG. 50 illustrates simulation results showing acceler
ation as a function of time for different jamming scenarios, according to im
plementations of the present disclosure. [00109] FIG. 51 illustrates simulation results for an ego ve
hicle under different jamming scenarios, according to implementations of the
present disclosure. [00110] FIG. 52 illustrates an example algorithm for performi
ng cooperative collision avoidance. DETAILED DESCRIPTION [00111] Unless defined otherwise, all technical and scientific
terms used herein have the same meaning as commonly understood by one of o
rdinary skill in the art. Methods and materials similar or equivalent to those described he
rein can be used in the practice or testing of the present disclosure. As used in the specificat
ion, and in the appended claims, the singular forms “a,” “an,” “the” include plural refe
rents unless the context clearly dictates otherwise.
The term “comprising” and variations thereof as used
herein is used synonymously with the term “including” and variations thereof and are open,
non‐limiting terms. The terms “optional” or “optionally” used herein mean that the subsequentl
y described feature, event or circumstance may or may not occur, and that the description incl
udes instances where said feature, event or circumstance occurs and instances where it does not.
Ranges may be expressed herein as from MCC Ref. No.: 103361‐329WO1 "about" one particular value, and/or to "about" anoth
er particular value. When such a range is expressed, an aspect includes from the one particular
value and/or to the other particular value. Similarly, when values are expressed as approx
imations, by use of the antecedent "about," it will be understood that the particular v
alue forms another aspect. It will be further understood that the endpoints of each of the ranges
are significant both in relation to the other endpoint, and independently of the other endpoint. Wh
ile implementations will be described for performing navigation and collision avoidance betw
een autonomous vehicles in intersections, it will become evident to those skille
d in the art that the implementations are not limited thereto, but are applicable for preventing co
llisions between other vehicle types, as well as preventing collisions between vehicles in locations
other than intersections. [00112] Described herein are systems and methods for performi
ng navigation and control of autonomous vehicles at an intersection.
[00113] The systems and methods described herein can be used
to implement cooperative navigation strategies with partially or co
mpletely autonomous vehicles. In existing systems, partially or completely autonomous vehicles t
ypically perform self‐driving without using cooperative navigation. These autonomous vehicles
can be considered “self‐contained” – the vehicle acquires the information it needs to nav
igate from a variety of sensors, and makes decisions without receiving information from other sou
rces or vehicles. These “self‐contained” autonomous vehicles are unable to take advantage of
the additional information and navigation strategies that could be acquired by receiving inform
ation from other sources and/or cooperating with other vehicles. MCC Ref. No.: 103361‐329WO1 [00114] In contrast, other existing systems for autonomous ve
hicles include vehicles that are centrally controlled by a system that monit
ors the position and status of multiple vehicles in that system, and issues commands to the
vehicles to steer navigate. These centrally controlled systems are vulnerable to disruption becaus
e the vehicles are dependent on the central controller to determine how to navigate. In
other words, these autonomous vehicles are not “self‐contained.” [00115] The systems and methods described herein include coop
erative systems and methods that allow autonomous vehicles to navigate au
tonomously and to interact with other autonomous vehicles and various sensors that can be
part of road infrastructure. The systems and methods described herein can generate a cooperati
ve navigation solution for an autonomous vehicle using a communication system, traff
ic information, and/or vehicle parameters that can optionally be sensed using one o
r more sensors. . The autonomous vehicle is optionally controlled based, at least in part, on
the cooperative navigation solution. This allows for the benefits of cooperative navigation str
ategies to be incorporated into systems with autonomous vehicles. [00116] In particular, implementations of the present disclosu
re include cooperative navigation methods that can be used in conjunction w
ith AIM (Autonomous Intersection Management), RSU’s (RoadSide Units), STL’s (Smart
Traffic Lights), and OBU’s (vehicle onboard units) and CAV’s (connected autonomous vehicles) tha
t can be connected by infrastructure. The example implementation described herein can be used b
y autonomous vehicles to navigate and communicate with smart infrastructure. MCC Ref. No.: 103361‐329WO1 [00117] Cooperative navigation strategies that include autonomo
us vehicles and smart infrastructure can increase the safety and capa
city of intersections, including smart intersections. Additionally, implementations of the pre
sent disclosure can be used for both autonomous and non‐autonomous vehicles, as well as
in situations where only some vehicles are configured to cooperate (i.e., are non‐cooperati
ve). Implementations of the present disclosure using smart infrastructure can increase the
safety and efficiency of autonomous vehicles in situations where obstacles or other vehic
les are beyond visual range of each other, or beyond visual range of the intersection. [00118] Implementations of the present disclosure can be used
for collision avoidance in traffic situations with and without traffic signal
s. In situations with and without traffic signals, different components of the system can be u
sed. For example, in an unsignalized intersection, the autonomous vehicle can use an OBU,
while in a signalized intersection the autonomous vehicle can use an RSU, OBU, AIM system,
and/or STL’s. [00119] Implementations of the present disclosure include a c
ooperative navigation strategy focusing on Cooperative Collision Avoidance (
CCA) for CAV’s. Smart infrastructure information can be used with CAV’s in a smart cit
y environment or other environments including smart infrastructure. The present disclosure
contemplates that smart infrastructure can include RSUs, an AIM systems, STL, and Smart tr
affic Signs (STS). The present disclosure contemplates that smart infrastructure can include any
or all of these components, and that the components can be placed at any location along a ro
adway (e.g., at an intersection, between intersections, along a highway, etc.). MCC Ref. No.: 103361‐329WO1 [00120] Implementations of the present disclosure are configur
ed to avoid collisions between CAVs at smart intersections. The cooperative
navigation methods and systems disclosed herein can include a navigation system that
can exchange data, on its current state and environmental parameters to evaluate its decision
and position for safe operation. The navigation system can be used to provide position na
vigation, and timing (PNT) guidance to autonomous vehicles. [00121] Implementations of the present disclosure can use inf
ormation from RSU, STL, AIM, and OBU to generate an optimized velocity profi
le to cross the smart intersection. [00122] For example, the vehicle control system can be confi
gured to receive traffic information from the communication system. The traffic
information from the communication system can include information from roadside communica
tion and computing devices and/or information from other vehicles. [00123] The information received from the roadside communicati
on and computing devices can include information from smart infrastruct
ure devices, including road side units, smart traffic lights, smart traffic signs, and automa
ted traffic management systems. The road side units, smart traffic lights, smart traffic signs
, and automated traffic management systems can be part of the communication system. For example
, any or all of the roadside communication and computing devices can be connected
by a wired or wireless network. Another non‐limiting example of a roadside communica
tion and computing device that can be part of the communication system is an AIM system.
[00124] With reference to FIG. 1A, implementations of the pr
esent disclosure include systems for performing cooperative navigation with aut
onomous vehicles. MCC Ref. No.: 103361‐329WO1 [00125] The system 100 shown in FIG. 1A includes an autonom
ous vehicle 102, a route planning system 104, a communication system 106, and
a vehicle control system 136. The vehicle control system 136 can be operably coupled t
o the autonomous vehicle 102, and, for example, can be configured to control the autonomous
vehicle 102. Optionally, any or all of the autonomous vehicle 102, route planning system 104, co
mmunication system 106, and vehicle control system 136 can include a computing device, f
or example the computing device 500 illustrated in FIG. 5. The vehicle control system 13
6 can be configured to perform methods of cooperative navigation, including the methods described
with reference to FIG. 2A and FIG. 2B. [00126] In some implementations, the system 100 can be confi
gured so that any or all of the route planning system 104, communication syste
m 106, and/or vehicle control system 136 are positioned in/on the autonomous vehicle 102,
or attached to the autonomous vehicle 102. The systems and methods described herein can be
configured to allow for cooperative navigation where one or more autonomous vehicles 102
are in traffic, and the autonomous vehicles perform cooperative navigation to avoid colli
sions between themselves and/or any non‐autonomous vehicles. As used herein, cooperative
navigation includes navigation systems and methods that may not rely on centralized traffic
control, and can be performed onboard the autonomous vehicles 102. [00127] Still with reference to FIG. 1A, the communication s
ystem 106 can optionally include roadside units and/or onboard units. As use
d herein, an “onboard unit” or OBU refers to a communication or control device that is located
“onboard” a vehicle. The communication system 106 can further include Autonomous Intersection
s Management (AIM) system 124, and MCC Ref. No.: 103361‐329WO1 smart traffic lights (STL) 128. The communication sys
tem 106 can be configured to interface with the “ego” OBU 126, which can be located on
the autonomous vehicle 102. [00128] Still with reference to FIG. 1A, the navigation guid
ance and control loop 138 can include a collision avoidance system 132, a path
following system 134, and a control system 136. The control system 136 can be configured to re
ceive collision avoidance and path following information (e.g., speed and attitude) from the colli
sion avoidance and path following systems, and convert the speed and attitude into acceleration,
braking, and steering controls for the autonomous vehicle 102. The control system 136 can a
lso be configured to determine, based on the traffic information and the vehicle parameters
, a vehicle velocity, where the vehicle velocity represents a speed that will avoid a collis
ion between the autonomous vehicle and another vehicle or other obstacle. Alternatively or
additionally, the vehicle parameters can include information about the location or movement of
the vehicle. As a non‐limiting example, the vehicle parameters can include a heading angle,
lane identity of the vehicle, and/or turn identification of the vehicle. [00129] Again with reference to FIG. 1A, the collision avoid
ance system 132 and path following system 134 can receive inputs from a waypo
ints system 140. The waypoints system can determine a desired path for the autonomous vehi
cle 102 that can be an input to the collision avoidance system 132 and path following sys
tem 134. As shown in FIG. 1A, the collision avoidance system 132 and path following sys
tem 134 can also exchange information (for example, speed information for the autonomous ve
hicle 102). The information received from other vehicles can include information about the
characteristics (i.e., “vehicle parameters”) of those autonomous vehicles. The vehic
le parameters can include information MCC Ref. No.: 103361‐329WO1 about any attribute of the vehicle. In some implemen
tations of the present disclosure, vehicle parameters include information about the size of the
vehicle, including the length, width, and height of the vehicle. [00130] It should be understood that the use of other traff
ic management systems or smart infrastructure devices is contemplated by the p
resent disclosure. [00131] With reference to FIG. 1B, it should be understood
that the communication system 106 can be configured so that information is
exchanged along different paths or in different ways among the AIM system 124, STL 128, R
SU/OBU 122 and ego OBU 126. In the example system 150 illustrated in FIG. 1B, the ego
OBU 126 communicates with the RSU/OBU 122, which in turn communicates with the AIM system
124 and STL 128. But it should be understood that any part of the communication system
106 can be in communication with any other part of the communication system 106. [00132] With reference to FIG. 3A, another example system 30
0 is illustrated according to another implementation of the present di
sclosure. The system 300 includes the communication system 106 and route planning system 10
4 described with reference to FIG. 1A. The system 300 further includes a cooperative automat
ed driving system 302 that can include a cooperative collision avoidance system 310, a cooperat
ive adaptive cruise control system 314, and a cooperative lane keeping system 318. The coope
rative adaptive cruise control system 314 and cooperative lane keeping system 318 can optionall
y be part of a path following system 134. The system 300 can further include route planning sy
stem 104. In the system 300, the navigation guidance and control loop 138 can include
a model predictive control system 320, a vehicle dynamics system 330 and a Global navigation
satellite system (“GNSS system”) 340. A MCC Ref. No.: 103361‐329WO1 non‐limiting example of a GNSS system 340 is a GP
S system, but it should be understood that any system or sensor that can be used to locate a
vehicle can be used in place of the GNSS system 340 or in addition to the GNSS system 340.
. [00133] With reference to FIG. 3B, another system 350 is il
lustrated according to another implementation of the present disclosure. The
system 350 includes the elements shown and described with reference to the system 300
in FIG. 3A. In FIG. 3B, the system 350 further includes a RADAR system or sensor 342 as pa
rt of the system 350. [00134] With reference to FIG. 4, another system 400 is ill
ustrated according to another implementation of the present disclosure. The
system 400 includes the elements shown and escribed with reference to the system 350
in FIG. 3B. The system 400 further includes a LIDAR sensor 402 and a camera sensor 404
. [00135] In some implementations, the RSU can be used for co
mmunication between vehicles and smart infrastructure. The RSU can use a
dedicated short‐range communication (DSRC) channel and can share environmental parameters,
AIM, and STL information with vehicles present at that intersection. [00136] In some implementations, the OBU can be a communicat
ion device used to exchange information with a vehicle to vehicle (V2V)
and vehicle to infrastructure (V2I) using the DSRC channel. All vehicle parameters and informat
ion is shared via V2V communication. [00137] In some implementations, the AIM can be an intersect
ion management system that assigns time slots to the vehicles and
manages intersection traffic light controller phase and time information. MCC Ref. No.: 103361‐329WO1 [00138] In some implementations, the STL is the smart traffi
c light that can change phase and time information according to the traffic
condition and density on the specific lane. [00139] With reference to FIGS. 2A and 2B, the present disc
losure includes methods of performing cooperative navigation. FIG. 2A illustrates
a flow chart of a method 200 for performing collision avoidance, according to implementa
tions of the present disclosure. The method can include receiving vehicle parameters at st
ep 202. [00140] At step 204, the method can include receiving inform
ation from smart infrastructure systems (including SPAT and MAP message
s). [00141] At step 206, the method can include receiving time
allocation information. Optionally, the time allocation information can be ob
tained from smart infrastructure systems. [00142] At step 208, the method can also include identifying
vehicles. [00143] At step 210, the method can include detecting confli
ct points, for example conflict points between any number of the vehicles i
dentified in step 208. Optionally, the distance between the conflict points can be based on
vehicle parameters and/or environmental parameters. [00144] At step 212, the distance between the vehicle and t
he conflict points can also be determined. Optionally, the distance between the
conflict points can be based on vehicle parameters and/or environmental parameters. [00145] At step 214, the ego vehicle velocity can be optimi
zed. Optionally, the optimization is performed based on the distance betwe
en the vehicle and the conflict points, and the vehicle parameters of the vehicle. As an ex
ample, the optimization can be an MCC Ref. No.: 103361‐329WO1 optimization that determines a speed of the vehicle
that will avoid a collision at the conflict point. [00146] At step 216, the method can further include adjustin
g the path of the vehicle based on the conflict points to avoid the conflict
points. [00147] At step 218, the method can further include providin
g the optimized velocity determined at step 216 to a control system. Optional
ly, the optimized velocity can be provided to a path following system/algorithm to steer the eg
o vehicle. [00148] At step 218, the method can include repeating steps
202 through 216 any number of times. Optionally, the method can be repea
ted when there is a change in a vehicle parameter, in order to determine whether the new pat
h and/or velocity of the vehicle will collide with any other vehicle. [00149] With reference to FIG. 2B, another example method 25
0 for performing cooperative navigation is illustrated. The example m
ethod can be a computer‐implemented method in some implementations of the present disclos
ure. The method 250 can be used for cooperative navigation of autonomous vehicles. A non
limiting example of an autonomous vehicle is a car, but it should be understood that
the present disclosure can be used for other autonomous vehicles, for example trucks, trains, and/o
r aerial vehicles. [00150] At step 252, the method includes receiving traffic i
nformation from a communication system. Optionally, the communication sys
tem can include any/all of the components of the computing device 500 shown in FIG.
5. [00151] The traffic information can include information from
a plurality of roadside communication devices and information from a second v
ehicle. As used herein, “roadside MCC Ref. No.: 103361‐329WO1 communication devices” can include any device that
can be used to monitor traffic and/or communicate with vehicles in traffic. In some impleme
ntations, the roadside communication device(s) can include a road side unit (RSU). Altern
atively or additionally, the roadside communication device(s) can include a STL and/or smar
t traffic sign (STS) Yet another non‐limiting example of a roadside comm
unication device is an automated traffic management (ATM) system. Still another non‐limiting
example of a roadside communication device is an autonomous intersection management system
. [00152] At step 254, the method can include receiving vehicl
e parameters associated with the autonomous vehicle. The vehicle parameters
can include any information that relates to the position or orientation of the autonomous veh
icle, as well as the physical properties of the autonomous vehicle. Non‐limiting examples of veh
icle parameters that can be used in implementations of the present disclosure include vehi
cle length, vehicle position, heading angle, a lane identity of the vehicle, and a turn
identification of the vehicle. [00153] Alternatively or additionally, the method can include
measuring vehicle parameters using sensors. Example sensors include LIDA
R, RADAR, and/or cameras. In some implementations, the vehicle parameters can include an
y or all of LIDAR data, RADAR data and/or camera data. [00154] At step 256, the method can include determining, bas
ed on the traffic information and the vehicle parameters, a cooperative
navigation solution. Optionally, the cooperative navigation solution can include a vehicle
velocity. In some implementations, the vehicle velocity is a velocity that avoids a potenti
al collision. MCC Ref. No.: 103361‐329WO1 [00155] Alternatively or additionally, the cooperative navigati
on solution can include cooperative cruise control information. Alternatively o
r additionally, the cooperative navigation solution can include cooperative adaptive lane keeping
information. Alternatively or additionally, the cooperative navigation solution compr
ises cooperative collision avoidance information. It should be understood that in differen
t implementations of the present disclosure the cooperative navigation solution can inc
lude any combination of vehicle velocity, adaptive lane keeping information, cooperative cruise
control information and/or collision avoidance information. [00156] It should be appreciated that the logical operations
described herein with respect to the various figures may be implemented (1
) as a sequence of computer implemented acts or program modules (i.e., software) running on
a computing device (e.g., the computing device described in FIG. 5), (2) as interconnected m
achine logic circuits or circuit modules (i.e., hardware) within the computing device and/or (3) a c
ombination of software and hardware of the computing device. Thus, the logical operations di
scussed herein are not limited to any specific combination of hardware and software. The im
plementation is a matter of choice dependent on the performance and other requirements o
f the computing device. Accordingly, the logical operations described herein are referred
to variously as operations, structural devices, acts, or modules. These operations, structura
l devices, acts and modules may be implemented in software, in firmware, in special purp
ose digital logic, and any combination thereof. It should also be appreciated that more or
fewer operations may be performed than shown in the figures and described herein. These ope
rations may also be performed in a different order than those described herein. MCC Ref. No.: 103361‐329WO1 [00157] Referring to FIG. 5, an example computing device 500
upon which the methods described herein may be implemented is illust
rated. It should be understood that the example computing device 500 is only one example of
a suitable computing environment upon which the methods described herein may be implemented
. Optionally, the computing device 500 can be a well‐known computing system including,
but not limited to, personal computers, servers, handheld or laptop devices, multiprocessor sy
stems, microprocessor‐based systems, network personal computers (PCs), minicomputers, mainfr
ame computers, embedded systems, and/or distributed computing environments including a
plurality of any of the above systems or devices. Distributed computing environments enable remo
te computing devices, which are connected to a communication network or other data t
ransmission medium, to perform various tasks. In the distributed computing environment, the
program modules, applications, and other data may be stored on local and/or remote computer
storage media. [00158] In its most basic configuration, computing device 500
typically includes at least one processing unit 506 and system memory 504.
Depending on the exact configuration and type of computing device, system memory 504 may
be volatile (such as random access memory (RAM)), non‐volatile (such as read‐only mem
ory (ROM), flash memory, etc.), or some combination of the two. This most basic configuration
is illustrated in FIG. 5 by dashed line 502. The processing unit 506 may be a standard programmab
le processor that performs arithmetic and logic operations necessary for operation of the
computing device 500. The computing device 500 may also include a bus or other communic
ation mechanism for communicating information among various components of the computing
device 500. MCC Ref. No.: 103361‐329WO1 [00159] Computing device 500 may have additional features/func
tionality. For example, computing device 500 may include additional
storage such as removable storage 508 and non‐removable storage 510 including, but not li
mited to, magnetic or optical disks or tapes. Computing device 500 may also contain network connect
ion(s) 516 that allow the device to communicate with other devices. Computing device 500
may also have input device(s) 514 such as a keyboard, mouse, touch screen, etc. Output devi
ce(s) 512 such as a display, speakers, printer, etc. may also be included. The additional d
evices may be connected to the bus in order to facilitate communication of data among the compone
nts of the computing device 500. All these devices are well known in the art and need n
ot be discussed at length here. [00160] The processing unit 506 may be configured to execute
program code encoded in tangible, computer‐readable media. Tangible, compu
ter‐readable media refers to any media that is capable of providing data that causes the c
omputing device 500 (i.e., a machine) to operate in a particular fashion. Various computer‐re
adable media may be utilized to provide instructions to the processing unit 506 for execution
. Example tangible, computer‐readable media may include, but is not limited to, volatile
media, non‐volatile media, removable media and non‐removable media implemented in any method o
r technology for storage of information such as computer readable instructions, da
ta structures, program modules or other data. System memory 504, removable storage 508, and
non‐removable storage 510 are all examples of tangible, computer storage media. Example
tangible, computer‐readable recording media include, but are not limited to, an integrated
circuit (e.g., field‐programmable gate array or application‐specific IC), a hard disk, an optica
l disk, a magneto‐optical disk, a floppy disk, a
magnetic tape, a holographic storage medium, a solid
state device, RAM, ROM, electrically MCC Ref. No.: 103361‐329WO1 erasable program read‐only memory (EEPROM), flash me
mory or other memory technology, CD‐ROM, digital versatile disks (DVD) or other opti
cal storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage
devices. [00161] In an example implementation, the processing unit 506
may execute program code stored in the system memory 504. For example,
the bus may carry data to the system memory 504, from which the processing unit 506 recei
ves and executes instructions. The data received by the system memory 504 may optionally be
stored on the removable storage 508 or the non‐removable storage 510 before or after execu
tion by the processing unit 506. [00162] It should be understood that the various techniques
described herein may be implemented in connection with hardware or software o
r, where appropriate, with a combination thereof. Thus, the methods and apparatuses
of the presently disclosed subject matter, or certain aspects or portions thereof, may
take the form of program code (i.e., instructions) embodied in tangible media, such as flo
ppy diskettes, CD‐ROMs, hard drives, or any other machine‐readable storage medium wherein, w
hen the program code is loaded into and executed by a machine, such as a computing devi
ce, the machine becomes an apparatus for practicing the presently disclosed subject matter.
In the case of program code execution on programmable computers, the computing device generally
includes a processor, a storage medium readable by the processor (including volatile
and non‐volatile memory and/or storage elements), at least one input device, and at least
one output device. One or more programs may implement or utilize the processes described in
connection with the presently disclosed subject matter, e.g., through the use of an applicat
ion programming interface (API), reusable controls, or the like. Such programs may be implemen
ted in a high level procedural or object‐ MCC Ref. No.: 103361‐329WO1 oriented programming language to communicate with a c
omputer system. However, the program(s) can be implemented in assembly or machine
language, if desired. In any case, the language may be a compiled or interpreted language a
nd it may be combined with hardware implementations. [00163] Examples [00164] The following examples are put forth so as to provi
de those of ordinary skill in the art with a complete disclosure and description o
f how the compounds, compositions, articles, devices and/or methods claimed herein are m
ade and evaluated, and are intended to be purely exemplary and are not intended to limit t
he disclosure. Efforts have been made to ensure accuracy with respect to numbers (e.g., amount
s, temperature, etc.), but some errors and deviations should be accounted for. Unless indica
ted otherwise, parts are parts by weight, temperature is in ^C or is at ambient temperature, and pressure is at
or near atmospheric. [00165] Example 1: [00166] An example implementation of the present disclosure i
ncludes a cooperative navigation strategy for connected autonomous vehicles
operating at smart intersections. The example implementation can achieve cooperative collisio
n avoidance for enhancing the safety and capacity of the intersection. The example impleme
ntation was evaluated with cooperative connected autonomous vehicles operating simultaneously
with non‐cooperative autonomous vehicles. In the example implementation, beyond visual
range scenarios were evaluated to reduce the vulnerable situations. Beyond visual range,
information is implemented by using the data from the roadside units, autonomous intersection
management system, smart traffic lights, and onboard units. MATLAB/Simulink environments
were used to validate the MCC Ref. No.: 103361‐329WO1 experimental implementation in a study of a simulatio
n. The simulation results show the separation time within the set upper and lower bound
s. That can ensure that the ego vehicle does not collide with others at the intersection. Th
e cooperative collision avoidance algorithm guides the ego vehicle as soon as the ego vehicle
comes in the range of the intersection service area, which increases the safety and capacity of the
intersection. This strategy is comfortably used for both an unsignalized and signalized intersec
tion. In an unsignalized intersection scenario, the ego vehicle uses an onboard unit. In
signalized intersection scenario, the ego vehicle uses a roadside unit, onboard unit, autonomou
s intersection management system, and smart traffic lights. The example implementation can
be used to implemented connected autonomous vehicles that can utilize the information
from smart infrastructure devices. [00167] Recent advancements in the automotive industry focus
on autonomous vehicles. Technology innovations such as Vehicle to V
ehicle (V2V) communication, Vehicle to Infrastructure (V2I) communication, Vehicle to Cloud (
V2C), Vehicle to Pedestrian (V2P) communication, and guidance, navigation, and control s
ystem can provide a safe environment for Connected Autonomous Vehicles (CAVs) and all road
users. Khayatian et al. (2020). As an example, Smart Columbus is one of the major projects
supported by the U.S. Department of Transportation (USDOT) to develop Columbus as a model
smart connected city for CAV’s to improve people's quality of life, economic growth, su
stainability, and safety Cocks and Johnson (2021). Systems for traffic control including CAV’s
can be categorized into two major domains: (i) infrastructure development approach and (ii) vehic
ular control approach for connected autonomous vehicles. Technological development in infra
structure related to the automobile industry can include roadside computing and communicat
ion devices including RSU’s, STL’s, MCC Ref. No.: 103361‐329WO1 STS’s, AIM systems, Cloud Storage and Connectivity,
and/or Automated Traffic Management (ATM) System. An RSU is an edge computing device th
at establishes the connection of communication between vehicles and infrastructure. RSU
s can use the Dedicated Short Range Communication (DSRC) channel to exchange information b
etween infrastructure and vehicles. Vehicular control approach‐based navigation can have
many subsystems of the automatic driving systems (way‐points positioning system, path
planning system, lane‐keeping system, etc.) that make vehicles smart enough to operate saf
ely in a vulnerable environment. All subsystems can be used to convert a vehicle into a
Highly Automated Vehicle (HAVs) and/or a Highly Smart Vehicle (HSVs) to operate in vulnerable
environments or situations. [00168] From the above discussion, it is concluded that the
efforts were made in the direction of (i) infrastructure development approach,
which is developed only for the smart intersection, and (ii) vehicular control approach, whi
ch only works for the un‐signalized intersection using V2" " V communication. Intersection
management strategies use a reservation approach for CAVs, compromising the inters
ection's capacity. On the other hand, the vehicular navigation strategies mostly use the ga
me theory approach for CAVs at the intersection which compromises safety where beyond vis
ual information is not available Khayatian et al. (2020). [00169] The example systems and methods described herein can
eliminate the downsides of systems and methods that rely solely on
information from vehicles or information from smart intersections. The example implementations
can use V2I and V2V information to decide the efficient realization of systems in the s
mart intersection and non‐smart intersections. It can reduce the hazards due to hack
ing and system failure in the vulnerable MCC Ref. No.: 103361‐329WO1 environment and enhance the safety, and capacity of
CAVs operating at smart intersections. The rapid development of smart cities required the p
roposed cooperative navigation strategy for CAV’s operating at the smart intersection. [00170] In the example implementation, safety can be achieved
using infrastructure devices and vehicle sensors simultaneously by a coope
rative navigation framework. Moreover, in the example implementation, capacity and safety ca
n be achieved by velocity optimization in a cooperative collision avoidance algorithm. [00171] Operations over intersections can be particularly impo
rtant because of the large number of merge, diverge and cross conflict po
ints. The present example includes a cooperative position, navigation, and timing (PNT) sol
ution for the ego vehicle based on other vehicles operating at the same intersection. The exam
ple navigation strategy includes performing collision avoidance at the smart intersecti
on. In the example implementation, the smart intersection can be equipped with RSU, AIM, an
d STL. Due to the presence of the mentioned devices, the SPaT, intersection parameters,
MAP, time‐slots, and other lane vehicle information are available for the ego vehicle. In th
e example implementation, all actor vehicles can be non‐cooperative vehicles. Actor vehicles only
share their velocity profiles and do not respond to the other vehicle's actions. The ego vehi
cle uses the information from all other vehicles. The actor vehicle’s velocity profile and
distance can be used to generate the ego vehicle velocity profile. This information can be use
d to calculate the other vehicle's future path with the time of arrival at the conflict point to
find potential conflicting situations. Problem formulation has been done based on conflict points,
intersection parameters, and CAV's future path. MCC Ref. No.: 103361‐329WO1 [00172] FIG. 6 shows an intersection scenario 600 that has
the three vehicles that are at the intersection 610. in each lane and all have
different directions to move that is straight, right, and left turn. The leading vehicle in the ^^ lane is the ego CAV 602a that has to follow th
e left turn path. A vehicle 602b in the ^^ lane is another CAV that has to follow the stra
ight path. CAV in the ^^ lane 602c has to follow the right turn, and CAV
in ^^ lane 602d has to follow the left turn. The intersection scenario 600 shown in FIG. 6
generates two conflict points 620 concerning the latitude and longitude positions of th
e ego CAV 602a, while in the time frame, there are three conflicting situations. The actor veh
icles are connected and automated, but they may not have beyond visual range cooperativeness
. The ego CAV 602a can share information such as forward and rear lengths of the
GPS receiver point, turn indication, the width of the vehicle, the height of the vehicle, th
e current position of the vehicle in terms of latitude and longitude, the velocity at which its ap
proaching intersection, and heading angle of the vehicle. In the example studied, it is assumed
that all perception sensors were performing well and generating relative positioning and speed in
formation of other vehicles and their surrounding obstacles. The scenario simulation only de
als with the leading vehicles in lanes, but the proposed solution can be implemented for other v
ehicles in each lane. [00173] In the example study, a dynamic model of the vehicl
e has been taken into account in the simulation framework. The tire modelin
g is used to depict the nonlinear behavior of the vehicles Bian et al. (2014). The ef
fects of tire slip with steering angle also considered for the evaluation. (1) is the 3 ^^ ^^ ^^ mathematical modeling of CAVs operating at the intersection. Dynamic modeling is referred and modeled
according to the SAE J670e standards Code (1995). MCC Ref. No.: 103361‐329WO1 ì ^^ ^¨^ ൌ ^^ ^^^ ^ ^ ^^ ^^ ^ ^^ ^^^^^ െ ^^ ^^^^^ ï ï ^^൫ ^˙^^ ^௬ ^ ^^^ ^௫ ^˙^൯ ൌ ^^ ^^^ ^ ^ ^^ ^ ^^^^^ ^ ^^^^^ ^^ is the yaw angle, ^^ and ^^ are the forward and rear length of the vehicle from the cen
ter of gravity, ^^ ^ and ^^ ^ are longitudinal forces on the front and rear tires, ^^ ^^ and ^^ ^^ are lateral forces on the front and rear tir
es, ^^ is the mass of the vehicle, ^^ ௫ and ^^ ௬ are longitudinal and lateral velocities, ^^ and ^^ are longitudinal and lateral positions and ^^ is the steering angle. ' ^^ ' represents the lane ID of the intersection, and 'n' represents the vehicle ID. Simi
lar indexes were used for other actors vehicle dynamics, such as ^^, ^^, and ^^ for different lanes and ^^ ൌ 1,2,3.. , ^^ for different vehicles. The terms ^^ ^^ ^ ^ ^ and ^^ ^^ ^ ^ ^ ^ in (1) represent the effect of vehicle side‐slip.
It is necessary because the vehicle operating at the intersection needs to t
ake a 90‐degree turn. Since sideslip is the product of lateral force with steering angle as show
n in (1). Therefore, as the velocity of the vehicle increases the side slip also increases Kim a
nd Ryu (2011). Precise steering command signals depend on the side‐slip of vehicle. It sho
uld be understood that these example formulas and models for the vehicles are intended only as no
n‐limiting examples. [00176] In the example implementation, the intersection is mo
deled in terms of conflict points for each lane and path taken by the
vehicle. The selection of the way‐points is crucial for the accurate calculation of conflicting s
ituations. As shown in FIG. 6, if the selected consecutive way‐points are far apart, the system ma
y not calculate highlighted conflict points. Since all vehicles can be connected, the ego CAV 60
2a can develop a set of way‐points for each MCC Ref. No.: 103361‐329WO1 leading vehicle that can create a conflicting situati
on. Hence, every next‐way point is spaced by the length of the vehicle. Equation (2) shows the n
umber of conflict points in a path for a particular vehicle. ^ ^ ோ ^ ఏ [ 00177] ^ ൌ ^ ^ ^ ^ Γ ^ ^ ^ ^^ ^^ ^ (2) ^^ ^ ൌ ^ [00178] Where ^^ ^ is the left turn radius of the intersection.
Γ ^ ^ is a position where the intersection starts. ^^ ^ ^ is the length of the vehicle, and ^^ ^ ^ follow the path. one conflict point, it can enter the next conflict
point. This strategy provides all possible conflicting points in a path. This can provide an a
dvantage over techniques that produce only a limited number of conflict points in an intersection
[Milo (2020)], and [Cocks and Johnson (2021)]. Equation (2) can generate conflict points fo
r any configuration of intersection. The value of the ^^ range for the path is from 0 to 90 ∘ . Therefore, the example modeled intersection of Fig. 6 is in a perfect cross configuration, howe
ver implementations of the present disclosure can work for any type of intersection with the abil
ity to avoid collision. [00179] Navigation based on smart infrastructure can rely on
devices that share data using the DSRC communication channel. This type of g
uidance is prone to cyber security threat issues. While navigation using onboard sensors does n
ot provide beyond visual range information. However, both pieces of information are
necessary for operations at the smart intersection. The example cooperative navigation strate
gy can use both (i) AIM, STL, and RSU information and (ii) feedback from sensors simultaneou
sly, to provide safe and effective cooperative navigation at the intersection of smart c
ities. A signalized intersection scenario is MCC Ref. No.: 103361‐329WO1 described herein that has a single incoming lane on
each side of the intersection as shown in FIG 6. The number of vehicles in each lane is repr
esented by a different group of vehicles as shown in FIG. 6. The formulation maintains a safe d
istance within the same group of vehicles and simultaneously avoid conflicts between different g
roups of vehicles. FIG. 6 shows the potential conflict points over the signalized intersec
tion of the simulation scenario highlighted by a circle. FIG. 1B shows an overview of cooperati
ve navigation, guidance, and control system 100 that depicts the flow and type of information t
hat can be exchanged between RSU and OBUs of the vehicle. The vehicle control system 136
can use all actor vehicles, ego vehicle, and environmental parameters to calculate optimized velocit
y for the ego vehicle which avoids conflict in the vulnerable scenario. Velocity is used
by the path following block to generate actuation command to vehicle dynamics block. Current
state values are feedback to path following and send to OBU for cooperation with other
vehicles. The cooperative collision avoidance algorithm uses other vehicle information suc
h as position, velocity, length, width, heading angle, lane identity, and turn indication of
vehicle. The cooperative collision avoidance algorithm resolves the conflict point between all lea
ding vehicles from each lane and within the lane vehicle. [00180] Collision avoidance algorithms (e.g., Huang et al. (2
021), Bifulco et al. (2021), and Wang et al. (2021)) can be implemented as part
of an onboard computing system. The onboard computing system can access information from
roadside communications devices such as AIM, RSU, and STL available at a smart intersect
ion. If two of the vehicles have a common 3 ^^ positioning such as [lat, long, time] at any timesta
mp they will collide. The cooperative collision avoidance system calculates the desired velocity to a
void conflicts. Once the algorithm MCC Ref. No.: 103361‐329WO1 optimizes the velocity, it can share the velocity to
the path following algorithm and repeat the process throughout the simulation. This can generate
the velocity profile at which the vehicle follows its path across the intersection. The surroga
te optimization fulfills the two basic requirements of real‐time optimization in automotive
applications. Surrogate optimizations can require less time to optimize a solution and can fi
nd an optimal solution for the problem. In the proposed framework, SPaT information from STL, ^^ ^ , and turn indication ^^ ^ ^ from the vehicle is the standard requirement to optimize the ego vehicle
velocity. Surrogate optimizes the function within a bounded range defined by the scenario. The
algorithm constructs a surrogate as an interpolation of the objective function by using a r
adial basis function (RBF) interpolator Xu et al. (2018). RBF interpolation has several convenient
properties that make it suitable for constructing a surrogate. Evaluating an RBF interpolat
or can be performed quickly, which can be an essential requirement for an automotive system.
[00181] The objective function defines in terms of the time
of arrival, traveling time, and phase time of the signal. In (3) " ^^ ^ ^ " is the time vehicle takes to travel from
its current position to the next waypoint. ^ ^^ ି௫ ^ [00182] ^ ^^ ^ ^ ൌ ^భ ^ ^^ ^ ^ (3) separation time of CAV respectively. ^^ ^ ^ is also the function of vehicle parameters as
a vehicle having a larger size in length needs more separation
time than a shorter vehicle. So the conflict situation can arise when ^^ ^ ^ ^ ൌ ^^ ^ at any particular timestamp. [00184] Let ^^ be the difference in time of arrival from ego v
ehicle to another vehicle at the intersection. Therefore, the objective function in
Eq. (4) is used to minimize the ^^ for all the MCC Ref. No.: 103361‐329WO1 vehicles at the intersection by using information fro
m AIM, RSU, and OBUs. FIG. 52 illustrates an example algorithm for performing cooperative collis
ion avoidance. ì ^^ ^ ^ ൌ ^ ^^หூ^ ^ ି^^ห ^ ^^ ^ ^ ^ ^^ ^ ^ ^ െ ^^ หூ^శభ ^ ି^^ห ^ ^^ ^ ^ା^ ^ ^^ ^ ^ା^ ^^ ï ^ ^^ หூ^ ^ ି^^ห is the conditional check on the vehicle to f
ollow the intersection SPaT information. If ^^ ^ ^ ൌ ^^ ^ ^ or ^^ ^ ^ ൌ ^^ ^ ^ or ^^ ^ ^ ൌ ^^ ^ ^ or ^^ ^ ^ ൌ ^^ ^^ା^^ ^ the ego vehicle will collide with any of the four vehicles. Ego CAV velocity is one control varia
ble to avoid collision and following path. (4) contains all the parameters that are received by ano
ther vehicle in V2V communication. However, this cost function has an upper and lower
bound to prevent unwanted delay and excessive speed while CAVs operate at the intersectio
n. (5) shows the formulation of upper and lower bound constraints. ^ ^^^^ ౮ ^ ^ ^^^౮ ^ ^ ^ ^^ ^ ^ ^^^^ (5) ^^ ୫୧୬ ൌ 1 m and ^^ ୫ୟ^ ൌ 7 m is the separation distance and ^^ min and ^^ ୫ୟ^ is the upper and lower limit of ego velocity
. [00187] In the study, the cooperative navigation, guidance, a
nd control strategy of an example implementation of the present disclosure was
implemented on a simulated Ego Vehicle using a MATLAB/Simulink environment. Five vehi
cles simulated one actor vehicle in each lane and one ego vehicle in lane ' ^^ ', as shown in FIG. 6. ^^ is the separation time between ego vehicle and actor vehicles. MCC Ref. No.: 103361‐329WO1 [00188] The separation time shown in FIGS. 7, 8, and 9 sho
w different actor vehicles in a scenario. The separation times shown in FIGS. 7,
8, and 9 are relative to the ego vehicle, so the ego vehicle is not shown in FIGS. 7‐9. FI
G. 7 shows V2V cooperation, FIG. 8 shows V2V and AIM cooperation, and FIG 9 shows V2V, AIM, and STL
cooperation. Simulation results show the effectiveness of the example implementation of an opt
imization and control framework by ensuring the values of the upper and lower bound co
nstraints as defined in Eq. (5). FIG. 7 shows the plot for the cooperative collision avoidance resu
lt discussed in a scenario where only V2V cooperation is available. The vertical axis shows the
separation time concerning the ego vehicle at the conflict point identified by the cooperative
collision avoidance algorithm. The horizontal axis is the sample for each second during the simul
ation. Non‐zero value of actor vehicle shows that at any instant, ego vehicle and actor vehicle
do not collide based on velocity profile followed by actor vehicle and optimized velocity foll
owed by ego vehicle. Negative value shows that the actor vehicle passes before the ego vehicle
at a potential conflict point. [00189] In FIG. 7, the interval between 10 to 18 shows tha
t the ego vehicle crosses the conflict point much earlier than the actor vehicle.
The ego vehicle tries to maintain the least possible separation distance that also ensures the in
crease in intersection's capacity with safety. FIG. 8 shows a cooperative collision avoidanc
e result discussed in a scenario where V2V and AIM cooperation is available. In the simulation
represented by FIG. 8, all actor vehicles pass after the ego vehicle as the time stamp provided to
the ego vehicle is much earlier than the actor vehicle. FIG. 9 shows the cooperative collision
avoidance result discussed in a scenario where V2V, AIM, and STL cooperation is available. Mo
re separation time between each actor vehicle and ego vehicle shows that SPaT information
also provides collision avoidance to CAV. MCC Ref. No.: 103361‐329WO1 [00190] Since vehicles can enter and leave the intersection
at a much faster speed, therefore, time spent by the vehicle at the intersec
tion is less than the scenario where vehicles use V2V communication only. This in turn increases t
he throughput of the intersection. FIG. 10 shows the quantitative analysis for actor 1. FIG. 11
shows the quantitative analysis for actor 2, and FIG. 12 shows the quantitative analysis for acto
r 3. The time column in FIGS. 10, 11, and 12 show the reference time when actor vehicles collide
with ego vehicles in a scenario where no cooperation is done between vehicles. The tables illu
strated in FIGS. 10, 11, and 12 show the level of cooperation of the ego vehicle. In the pos
ition column, different position at the same time stamp at different cooperation level shows that
the ego vehicle mange to avoid collision and move faster than when there is no cooperation.
Where actors 1, 2, and 3 had conflicting situations at simulation times of 12, 18, and 16 se
conds respectively. Actor 4 is in the same lane as the ego vehicle, therefore, it maintains a safe
distance throughout the trajectory. [00191] The efficacy of the path following algorithm is show
n in FIG. 13. As the path following algorithm receives guidance from the coopera
tive collision avoidance algorithm, it starts tracking the desired velocity. FIG. 13 shows
that the ego vehicle is following the reference velocity profile while crossing the intersection. Velo
city tracking results show that cooperative collision avoidance algorithms provide different veloci
ty profiles in different scenarios. Cooperative collision avoidance reference velocity prov
ided by V2 V cooperation only is the slowest velocity profile to operate safely at the in
tersection and avoid the collision. The reference velocity profile provided by V2 V and AIM
Cooperation slightly increases the velocity of the ego vehicle within the bounds of safety limi
ts provided by AIM which gives an ego vehicle an edge to move faster than it is moving in V2 V
cooperation. The reference velocity is at its MCC Ref. No.: 103361‐329WO1 maximum value when all V2 V, AIM, and STL cooperati
on is available, hence giving maximum throughput. Therefore, the example cooperative navigati
on, guidance, and control strategy increase the throughput with safety. [00192] The study shows that the example implementation allow
s the CAV to behave intelligently and cooperate with other vehicles while
passing through a smart intersection. The simulations of the example implementation of a cooper
ative navigation algorithm used infrastructure information with sensor feedback. The e
xample implementation of a cooperative navigation Algorithm improved safety and intersection
capacities while operating at the smart intersection. The efficacy of the example implementati
on was evaluated and validated by static environmental parameters, which will be extended to t
he dynamic environment in the future. This work can also be extended to explore the actio
n of CAVs in presence of threats. While the example implementation was applied to an example inte
rsection, it should be understood that the systems and methods described herein can be appl
ied to other scenarios including CAVs having cooperative navigation technology. [00193] Example 2: [00194] A study was performed on communications and sensing
that can be implemented by the present disclosure. An example lis
t of sensors and sources that can be used by different highly automated transportation syst
ems (HATS) including positioning, navigation, and timing (PNT) information is illustrate
d in FIG. 14. FIG. 15A illustrates an example schematic of a communication system that can
be used in implementations of the present disclosure. FIG. 15B illustrates examples of
near space navigation and far space navigation systems, according to an implementation of
the present disclosure. FIG. 16 MCC Ref. No.: 103361‐329WO1 illustrates PNT sensors and sources along with possib
le threats and vulnerabilities, according to implementations of the present disclosure. FIG. 17
illustrates an example of radar interference that can occur in a smart intersection, according to
an implementation of the present disclosure. FIG. 18 illustrates an example of a simu
lated smart intersection, according to an implementation of the present disclosure. [00195] Example 3: [00196] Another study was performed on an example implementat
ion of the present disclosure. The study evaluated PNT solutions in adve
rse cyber‐security scenarios for HAVs operating at smart intersection. The example implement
ation can reduce conflicting situations at the smart intersection where infrastructure can ex
perience jamming and interferences from cyber‐attacks, avoid collisions and enhance safety i
n adverse Cyber‐Security situations, and/or follow a path with optimal speed and enhance the ca
pacity of a smart intersection [00197] The example implementation included a scenario with 3
communication devices: Vehicle to Vehicle (V2V), Autonomous Intersec
tion management (AIM) and Smart traffic Light (STL). FIG. 1A illustrates an example
cooperative navigation system that was used for the study, and FIG. 2A illustrates an example c
ooperative collision avoidance algorithm that was used in the study. The study included an Object
ive Function for C‐CAS: [00198] ζ ୬ ୧ ൌ หe |୪^ି^^| ^f ୧ ୬ ^ T ୧ ୬ ^ െ e |୪^ି^^| ^f ୧ ୬ା^ ^ T ୧ ୬ା^ ^ห [00201] ^^ ^ ା ^ ^^ ^ ା ^ ℵ ା ^ ≤ ^^ ^ MCC Ref. No.: 103361‐329WO1 ష ^ శ ష శ [00202] ^^^ ^^ି ^^^^^^ ା ା ା ^^^^^^ି ^^^^^^ ௩ ^ೌ^ ≤ ^^ ^ ^ ^^ ^ ^ ℵ ^ ≤ ௩^^^ ^^^ ା^ ^^ ^ is the same conflict point vehicle leaves. [00206] The study included a dynamic model of CAVs: SAE‐J6
70e [00207] Longitudinal velocity: x^ ୧ ୬ ^ ൌ x ୧ ୬ ଶ cos൫x ୧ ୬ ହ൯ െ x ୧ ୬ ସ sin^x ୧ ୬ ହ^ [00208] ^^ ୧ ^ା ^ ^ ^ ^^౨ି^^ ↑^ ୬ ୬ ଶ ൌ ୫ െ x ୧ସ x ୧^ [00209] Lateral velocity: x^ ୧ ୬ ୬ ଷ ൌ x ୧ସ ଶ [00210] Lateral acceleration: x^ ୧ ୬ ^^ ^ ^ ^ ^^ஔ^ା^^↑^ା^^↑౨ ୬ ୬ ସ ൌ ୫ െ x ୧ ଶ x ୧ ^ [00211] Heading rate: x^ ୧ ୬ ୬ ହ ൌ x ୧ ^ ୟ ^^ ஔ^ାୠ^^ ିୠ^^ [00212] Heading angular acceleration : x^ ୧ ୬ ^^ ^ ^ ↑^ ^↑౨ ^ ൌ ୍ [00213] The states used in the example objective function we
re: longitudinal velocity, lateral velocity, and heading rate. The example colli
sion avoidance algorithm found solutions of defined conflict points for the ego vehicle. The exa
mple objective function ensured the time separation between ego vehicle and other vehicle by
adjusting the ego vehicle speed. [00214] The capacity of the intersection is ensured by the
increased in velocity while crossing intersection as the level of cooperation inc
reases. FIGS. 21‐24 illustrate experimental results. MCC Ref. No.: 103361‐329WO1 [00215] FIG. 21 illustrates the velocity of different simulat
ed vehicles as a function of time, according to an example implementation of the
present disclosure. [00216] FIG. 22 illustrates steering angles of simulated vehi
cles when V2V, Aim, and/or STL are used in the example implementation of the p
resent disclosure. [00217] FIG. 23 illustrates acceleration when V2V, Aim, and/o
r STL are used in the example implementation of the present disclosure. [00218] FIG. 24 illustrates 3D positioning of HAVS in jammin
g scenarios, according to an example implementation of the present disclosure.
Implementations of the present disclosure can be configured to analyze cyber‐securi
ty threat scenarios including information denial or jamming, patching information, false informa
tion or spoofing, and/or asynchronous timing. FIG. 25 illustrates another example of 3D‐p
ositioning of HAVs in jamming and interference scenarios. [00219] FIG. 26 illustrates additional results from the study
. FIG. 26 illustrates a safety result showing that patchy information related to act
or 2’s velocity changes the separation time. The separation time can decrease, but the syst
em still avoids a collision. [00220] FIG. 27 illustrates capacity result showing that patc
hy information related to actor’s 2 velocity also changes the CA velocity ou
tput, but the velocity profile remains the same with some chattering. [00221] FIG. 28 illustrates a qualitative analysis of jammi
ng and interferences, according to an example implementation of the present
disclosure. [00222] FIG. 29 illustrates a capacity result for different
communication systems, where velocity is plotted as a function of time. MCC Ref. No.: 103361‐329WO1 [00223] FIG. 30 illustrates a capacity result for different
communication systems, where the steering of a vehicle is plotted as a fu
nction of time. [00224] FIG. 31 illustrates a capacity result for different
communications systems, where the acceleration of a vehicle is plotted as a
function of time. [00225] FIG. 32 illustrates a capacity result for different
communications systems, where the acceleration of a vehicle is plotted as a
function of time. [00226] Example 4: [00227] Another study was performed of an example implementat
ion including a methods and systems for safety testing and validation
of Highly Automated Vehicles (HAVs) by using cooperative navigation at the smart intersection
s. The example implementation can enhance the safety of the intersection. The purposed
methodology can allow HAVs to safely navigate through intersections while operating with no
n‐cooperative vehicles. A significant challenge of this context is that city intersections
are often complex environments where onboard sensors may not be able to detect all relev
ant information, such as vehicles or pedestrians behind obstructions. To address this issue
, the proposed approach uses beyond‐ visual range information from vehicles that are trans
mitted via an everything communication network. This allows HAVs to perceive their surroundi
ngs and make safer navigation decisions. The cooperative navigation of HAVs is achieved throug
h the use of data from various sources, including RSU’s, OBU’s, AIM systems, and STL’s.
The example implementation includes several features, including cooperative collision avoidance (CC
A), cooperative cruise control ^CCC^, and cooperative adaptive lane keeping (CALK). In addition,
HAVs are able to follow predefined paths using model predictive control. In the example implem
entation each vehicle is an independent MCC Ref. No.: 103361‐329WO1 agent, makes its own decision based on the informati
on available from the vehicle to the everything communication network, and uses a mathemati
cal model to predict future behavior for optimized navigation solutions. The study tested
the performance of the cooperative navigation framework, including with an example scenar
io in which HAVs operate at a smart intersection. The results shown herein show that safe
ty can be ensured in a dynamic scenario. [00228] Autonomous vehicles can rely on a range of technolog
ies, including vehicle‐to‐ vehicle ^V2V^ communication, vehicle‐toinfrastructure
(V2I) communication, vehicle‐to‐cloud (V2C) communication, and vehicle‐to‐pedestrian (V2P)
communication, to operate safely in an environment. In addition, guidance, navigation, and co
ntrol systems are essential for ensuring the safety of HAVs and all road users [1c]. To adv
ance the growth of autonomous systems, investment opportunities have been established by gove
rnment agencies for automotive manufacturers, technology companies, and research insti
tutes. An example is the Smart Columbus project, which seeks to turn Columbus into
a shining example of a smart connected city for HAVs. This project aims to enhance the qua
lity of life, economic prosperity, sustainability, and safety in Columbus through the in
tegration of HAVs [2c]. Researchers and scientists are making substantial contributions to the
creation of a secure and highly dependable autonomous system for smart cities. There
are several navigation methodologies used in different applications. Since HAVs are able
to communicate with each other and their surrounding infrastructure in order to improve their
navigation and decision‐making abilities. [00229] There are several methodological frameworks for the c
ooperative navigation of HAVs, including: MCC Ref. No.: 103361‐329WO1 [00230] Hierarchical Control: In this approach, a central con
troller coordinates the movements of multiple HAVs, taking into account the
overall traffic flow and the individual objectives of each vehicle [3c]. HAVs longitudinal ve
locity are depends on central control system its mean that malicious actor can disturbed c
omplete traffic flow by just interfering centralized control system. [00231] Game‐theoretic approaches: These frameworks use princ
iples from game theory to model the interactions between HAVs and to
design strategies for cooperation [4c]. It increases the computational complexity and based on a
ssumption of others behavior which may not be reliable in vulnerable situations. [00232] Multi‐agent systems: In this approach, each HAV is
modeled as an independent agent that is able to make its own deci
sions based on local information and communication with other HAVs [5c]. Multi‐agent syst
ems are flexible, scalable, robust, decentralized, adaptable, and facilitate collaboration
among agents. These properties make them well‐suited for complex tasks and allow for m
ore efficient use of resources, adaptability to changing circumstances, and improved performance, b
ut there is no literature that discusses its application in intersection scenarios. Distributed
optimization: This approach involves designing algorithms that allow HAVs to communicate a
nd coordinate their movements in order to optimize some global objective, such as min
imizing fuel consumption or travel time [6c]. The implementation of a distributed optimization
navigation system at a signalized smart intersection requires a different framework and V2X c
ommunication, as the current approach focuses on unsignalized intersections. To effectively
navigate a signalized intersection, a system that incorporates V2X communication and a tailored fr
amework can be developed. MCC Ref. No.: 103361‐329WO1 [00233] Machine learning: Machine learning algorithms can be
used to predict the behavior of other HAVs and to optimize the navigatio
n of a HAV based on this prediction [7c]. Machine learning in HAV navigation may suffer from o
ver‐fitting and poor generalization, as well as a lack of transparency and explain‐ability
in decision making. Additionally, collecting and labeling the necessary data for training can be a t
ime consuming and costly process. [00234] Decentralized control: In this approach, each HAV mak
es its own navigation decisions based on local information and communication
with its immediate neighbors, without the need for a central controller [6c]. Decentralized
navigation in HAVs has several advantages, including increased scalability, flexibility, and robus
tness, as well as reduced risk of a single point of failure and improved resource utilization. A
dditionally, decentralized navigation enables collaboration between vehicles and allows for
continuous improvement through learning and adaptation. [00235] Model‐based predictive control: This approach involve
s using a mathematical model of the HAV's dynamics to predict its future b
ehavior and optimize its navigation [8c]. Model predictive control (MPC) is a control strategy
for HAVs navigation that can handle constraints and optimally balance multiple objectives.
MPC uses a model of the system to predict its behavior over a future horizon and gener
ates control inputs that optimize a performance criterion based on the predicted behavior.
[00236] Consensus‐based approaches: These approaches involve
designing algorithms that allow HAVs to reach a consensus on their navig
ation decisions through iterative communication and negotiation [9c]. One of the main
drawbacks of a consensus‐based approach in HAV navigation is that it may not be e
fficient in handling large amounts of data in MCC Ref. No.: 103361‐329WO1 real‐time. This is because each vehicle needs to e
xchange information with every other vehicle in the system, which can lead to increased communica
tion overhead and decreased performance. Additionally, the consensus process can b
e vulnerable to errors or attacks, which can compromise the reliability of the navigation syst
em. [00237] Graph‐based methods: These methods involve representi
ng the HAVs and their environment as a graph, and using graph theore
tic techniques to optimize the navigation of the HAVs [10c]. The graph‐based navigation syste
m has some limitations, such as the difficulty of handling real‐world scenarios with unp
redictable elements, and the computational complexity of constructing and solving the graph. Thi
s can limit the efficiency and accuracy of the navigation system. [00238] Reinforcement learning: Reinforcement learning algorithm
s can be used to learn optimal navigation strategies for HAVs through
trial‐and‐error [11c]. Reinforcement learning has some limitations including difficulty in
modeling complex environments, lack of interpret‐ability, and the need for a large amount
of data and computational resources. Additionally, it can be difficult to ensure safe and
reliable behavior in real‐world applications due to the trial‐and‐error nature of reinforcement
learning. [00239] The example implementations of the present disclosure
includes methodological frameworks that combine multi‐agent sy
stems, decentralized control, and model‐based predictive control framework used for HA
Vs navigation. In the example implementation each HAV can be an independent agent,
make its own decision based on the information available from the vehicle to everything
(V2X) communication network, and/or use a mathematical model of HAV to predict future behavi
or and optimize navigation solutions. MCC Ref. No.: 103361‐329WO1 [00240] Implementations of the present disclosure can be immu
ne to interference in single agent systems and requires less computational
power compared to machine learning navigation frameworks. In a signalized smart intersect
ion scenario, where only leading vehicles collaborate to cross the intersection, the consensus
based approach may not be appropriate. The graphical approach and reinforcement learning requ
ire a large amount of data exchange through V2X communication channels, which is not nece
ssary in the proposed methodology, but can pose challenges in real‐time scenarios. [00241] The study simulated results using an example intersec
tion scenario 600, illustrated and described with reference to FIG. 6.
In this study, the intersection scenario 600 was studied with HAVS. This intersection features adv
anced technology such as RSUs, AIM systems, and STL with short‐range communication tech
nologies (DSRC). RSUs serve as edge communication devices that transmit information about
the infrastructure and receive basic safety messages (BSM) from vehicles. AIM is an inter
section management system that synchronizes multiple connected intersections in an ar
ea to enhance the capacity, and safety at intersections and provide time slots for HAVs approac
hing an intersection to optimize fuel consumption at the smart intersection. STL is a smar
t traffic light system that can be controlled signal, phase, and time (SPaT) information according
to the situation by the autonomous management system. The vehicles in this scenario shar
e information about their state, such as their current position in terms of latitude and long
itude, velocity, heading angle, and dimensions. The vehicles also share information about
the GPS receiver location point and the status of the turn indicator. It is assumed that th
e vehicles' perception sensors are functioning correctly and providing accurate relative positioning
and speed information about other MCC Ref. No.: 103361‐329WO1 vehicles and any surrounding obstacles. The present e
xample considers the leading vehicles in each lane. However, it should be understood that the
example implementation can be extended to other vehicles in the same lane. This a
llows the vehicle to have a better understanding of the situation in the smart intersect
ion and make critical decisions accordingly. [00242] FIG. 6 illustrates a smart intersection scenario equi
pped with RSU, AIM, and STL. HAVs operating at the smart intersection have O
BU to communicate through V2 V and V2I communication networks. FIG. 6 shows an intersection
scenario with three vehicles in each lane, all moving in different directions (left turns,
right turns, and straight). The lead vehicle in lane "i" is a HAV that must take the left‐turn p
ath, with the ego vehicle following behind. Meanwhile, the HAV in lane "j" must continue straigh
t, the HAV in lane " k " must make a right turn, and the HAV in lane "l" must also make a le
ft turn. This scenario generates two conflict points in terms of the ego vehicle's latitude and l
ongitude positions, and three conflicting situations in the given time frame. The other vehicl
es are automated but do not have cooperative capabilities for beyond visual range infor
mation. The purpose of this scenario is to test the proposed cooperative navigation framework in
a complex situation and evaluate its impact on the safety and efficiency of the intersect
ion for all vehicles. [00243] Cooperative navigation is a method that can be used
by multiple autonomous agents, such as robots or drones, to navigate and a
ccomplish tasks together. In a cooperative navigation system, the agents work together to achiev
e a common goal while taking into account the actions and positions of the other agent
s. This allows them to coordinate their actions and make efficient use of their resources, s
uch as sensors (Radar, Camera, GPS, INS, and Lidar) or communication channels (V2V, V2I, V2P, V2C,
and V2X). Cooperative navigation can be MCC Ref. No.: 103361‐329WO1 used in a variety of applications, such as search a
nd rescue, surveillance, and exploration. In the automotive industry, it is used to enhance the safet
y, capacity, and fuel efficiency of HAVs especially when they are operating at the smart inte
rsection. The proposed Methodological framework is inspired by a multi‐agent system, Dece
ntralized control, and Model predictive control. As a multi‐agent system, and decentralized
control provides robustness, flexibility, scalability, efficiency while MPC can handle constrain
ts, multiple objectives, multivariable nonlinear system, and also handle the uncertainty of
the system. Therefore the present disclosure includes mixed approaches including any/all
of these capabilities. [00244] The illustration in FIG. 3A presents a visual repres
entation of an example cooperative navigation methodology applied in a system
300, including the flow and type of information exchanged between smart infrastructure and
HAVs. The CCC component makes use of all relevant information from the other vehic
les on the road, the ego vehicle, and environmental factors to determine an optimized veloci
ty for the ego vehicle, enabling it to safely navigate through potentially hazardous scenarios
. Optimized velocity can be shared with the path‐following system 134 along with its sub‐
systems CCC and CALK. Cooperative cruise control can provide the adaptive velocity according t
o the scenario and lead vehicle, while cooperative lane‐keeping provides the steering comman
d according to the predefined path and current scenario of the ego vehicle. These signals a
re passed to the model predictive control system 320 and the model predictive control system 3
20 can predict the future of the ego HAV for the defined scenario based on HAV dynamic model
and generate the optimized adaptive control signals to perform the safe operation at the
smart intersection. In this framework, only the GNSS and INS are used for the positioning of t
he ego vehicle. All other information was MCC Ref. No.: 103361‐329WO1 shared through the V2X communication network. The ini
tial version of this framework was published before that has the capability of a cooper
ative collision avoidance system and path‐ following system based on information coming from the
V2X communication network [12]. [00245] Eq.1 describes the mathematics used in the example s
ystem and method. ì ^^ ^ ^ ൌ ^ ^^หூ^ ^ ି^^ห^ ^^^ ^ ^ ^^^ ^^ െ ^^ หூ^శభ ^ ି^^ห^ ^^^ ^ା^ ^ ^^^ ^ା^^ ^ ^^ หூ^ ^ ି^^ห is the conditional check on the vehicle to f
ollow the intersection SPaT information. ^^ ^ is ^^ ^ ^ is the HAVs indication variable to follow the desired path (left, right, and straigh
t). In the proposed framework, the velocity of the ego HAV is an essential control variable to avo
id collisions and stay on a predetermined path. Equation (1) shows how the cost function for
each vehicle is calculated, incorporating all parameters received through V2V communication. However,
to avoid unnecessary delays and excessive speeds while the HAVs navigate the smart i
ntersection, the cost function has been restricted by upper and lower bounds, as indicated b
y the second expression in (1). Where ^^ ୫୧୬ , ^^ ୫ୟ^ Cooperative adaptive cruise control received th
at optimized velocity profile as the output from the first and second expression based on
lead vehicle velocity and another smart intersection parameter. Since there is no sensor info
rmation involved in this framework, therefore, lead vehicle velocity is received from the
V2V communication network. Third expression in 1 is the Adaptive cruise control expre
ssion where ^^ ego , ^^ rel , and ^^ lead is ego MCC Ref. No.: 103361‐329WO1 vehicle velocity, relative velocity, and lead vehicle
velocity respectively. fourth expression is used to maintain a safe minimum distance where ^^ ^ is the safe minimum spacing between lead vehicles and ^^ ௧ is the minimum time gap between ego and the
lead vehicle. The fifth expression in equation 1 is for adaptive lane‐keeping where ^^ ^ , ^^ ^ , and ^^ ^ is ego vehicle relative yaw angle, ego vehicle heading angle, and lane centerline angle
respectively. the sequence of flow of information in a purposed methodology is as follows:
[00248] Step 1: Collect information from infrastructure device
s. Non‐limiting example infrastructure devices include AIM, RSU, and STL. [00249] Step 2: Scan the number of lanes and the number of
vehicles in each lane. [00250] Step 3: Extract time slot " ^^ ^ ^ ", " ^^ ^ ^ ", ^^ ^ ^ ", ^^ ^ ^ " information for each vehicle from AIM data [00251] Step 4: Extract SPAT information ^^ ^ , ^^ ^ , ^^ ^ , ^^ ^ from STL [00252] Step 5: Extract vehicle states ^^ ௫^ ^ , ^^ ௬^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ , from OBU through V2 V communication channel [00253] Step 6: Cooperative collision avoidance algorithm uses
the information to generate a collision‐free optimized velocity profile.
[00254] Step 7: CCA calculates the conflict point for other
actor vehicles operating at the intersection. [00255] Step 8: if collision exist based on followed velocit
y profile CCA optimizes the velocity profile using the Surrogate optimization tool
. [ 00256] Step 9: CCA ensures the safe separation ^^ ^ ^, ^^ ^ ^, ^^ ^ ^, ^^ ^ ^ should be greater than 0.7 s. MCC Ref. No.: 103361‐329WO1 [00257] Step 10: based on safe distance Optimized velocity p
rofile is fed into the cooperative cruise control system. [00258] Step 11: Cooperative cruise control generates the fol
lowing velocity based on feedback from inertial sensors, lead vehicle velocity,
and optimized velocity from the cooperative collision avoidance algorithm. [00259] Step 12: The reference and lead velocity are input
into an MPC system (e.g., the model predictive control system 320 shown in FIG
. 3A) and, based on predictions of the near future, the MPC control can adjust the ego veh
icle velocity. [00260] Step 13: Simultaneously, the cooperative lane‐keeping
algorithm received information from infrastructure devices and generated
a heading angle ' ^^ ^ ᇱ and lane curvature angle ᇱ ^^ ^ ᇱ to follow and maintain the lane center. [00261] Step 14: Cooperative lane‐keeping algorithm gets the
feedback from the inertial sensor and feeds the steering angle to the
MPC system. [00262] Where ^^ ^ ^ ^^ ^ ^ ^^ ^ ^ ^^ ^ ^ is the time slot of ^^ ௧^ vehicle in lane ^^, ^^, ^^, and ^^ respectively provided by AIM to manage the capacity
and safety of the intersection. ^^ ^ , ^^ ^ , ^^ ^ , ^^ ^ is the smart traffic signal phase information for ea
ch lane ^^, ^^, ^^, and ^^ respectively according to the simulation reference time frame. ^^ ௫^ ^ , ^^ ௬^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ is the longitudinal velocity, lateral velocity, steering angle
, heading angle, front tire distance from the center of gravity ^CG^, rear tire distance from CG,
longitudinal position coordinate and lateral position coordinate and turn indicator respectively fo
r ^^ ௧^ vehicle in lane ^^. ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ , ^^ ^ ^ is the separation between ego and ^^ ௧^ actor vehicles in lane ^^, ^^, ^^, and MCC Ref. No.: 103361‐329WO1 [00263] The example implementation includes a mathematical fra
mework for performing cooperative navigation. In Eq. 1A, the obj
ective function defines in terms of the time of arrival, traveling time, and phase time of
the signal. In (1A) " ^^ ^ ^ " is the time vehicle takes to travel from its current position to the ne
xt waypoint. ^ ^^ ି௫ ^ ì ^^ ^ ^ ൌ ^భ ^^ ^ ^ ^^ ^ ^ separation time, and conflict point of CAV respective
ly. ^^ ^ ^ is also the function of vehicle parameters as a vehicle having a larger size in len
gth needs more separation time than a shorter vehicle. So the conflict situation arises whe
n ^^ ^ ^ ൌ ^^ ^ ^ at any particular timestamp. Let ^^ be the difference in time of arrival from the ego
vehicle to another vehicle at the intersection. Therefore, the objective function in Eq. (2) is used
to minimize the ^^ for all the vehicles at the intersection by using information from AIM, RSU, and
OBUs. ì ^^ ^ ^ ൌ ^ ^^หூ^ ^ ି^^ห^ ^^^ ^ ^ ^^^ ^^ െ ^^ หூ^శభ ^ ି^^ห^ ^^^ ^ା^ ^ ^^^ ^ା^^ ^ , , system. ^^ หூ^ ^ ି^^ห is the conditional check on the vehicle to f
ollow the intersection SPaT information. If ^^ ^ ^ ൌ ^^ ^ ^ or ^^ ^ ^ ൌ ^^ ^ ^ or ^^ ^ ^ ൌ ^^ ^ ^ or ^^ ^ ^ ൌ ^^ ^^ା^^ ^ the ego vehicle will collide MCC Ref. No.: 103361‐329WO1 with any of the four vehicles. Ego CAV velocity is
one control variable to avoid collision and following path. (2) contains all the parameters that
are received by another vehicle in V2 V communication. However, this cost function has an upp
er and lower bound to prevent unwanted delay and excessive speed while CAVs operate
at the intersection. (3) shows the formulation of upper and lower bound constraints. [00268] ^ ^^^^ ^ ^ ^౮ ^ ^^ ^ ^ ^ ^^^౮ ^ ^^^ (3) ^^ ୫ୟ^ ൌ 7 m is the separation distance and ^^ ୫୧୬ and ^^ ୫ୟ^ is the upper and lower limit of ego velocity
. ^^ ego ൌ ^^ rel ^ ^^ lead ^ ൌ ^^ ^ ^ ∗ ^^ ^^^ output from CCA using 1A and 2 and based on the c
onstraint in 3. Since there is no sensor information involved in this example framework, theref
ore, lead vehicle velocity is received from the V2 V communication network. The first expre
ssion in 4 is for CCC where ^^ ego , ^^ rel , and ^^ lead is ego vehicle velocity, relative velocity, an
d lead vehicle velocity respectively. the second expression is the constraint on CCC to maintain a s
afe minimum distance where ^^ ^ is the safe minimum spacing between lead vehicles and ^^ ௧ is the minimum time gap between ego and the
lead vehicle. The output of these expressions provide
s CCC velocity to operate safely at the intersection. The third expression in 4 is for adapt
ive lane‐keeping where ^^ ^ , ^^ ^ , and ^^ ^ is ego vehicle relative yaw angle, ego vehicle heading angle
, and lane centerline angle respectively. [00272] Collision avoidance includes solutions for unsignalized
intersections [15C], [16C], and [17C]. However, implementations for signa
lized intersections can benefit from MCC Ref. No.: 103361‐329WO1 cooperative scenarios and systems and methods enabling
cooperative control of vehicles at signalized intersections. The example implementation in
cludes a collision avoidance algorithm that is integrated into the onboard computing system
of the HAVs. The example implementation can take advantage of modern technologi
es such as AIM, RSU, and STL, which are available at smart intersections, to access infor
mation and make decisions. If two vehicles in a simulation have the same 3 ^^ position of [latitude, longitude, time], a collisi
on can occur. The CCA system can calculate the desired velocity to avo
id conflicts and shares the optimized velocity with the path following algorithm. The proce
ss can be repeated throughout the simulation, generating a velocity profile for the veh
icle to follow as it traverses the intersection. The use of surrogate optimization meets the two key
requirements for real‐time optimization in automotive applications: it is computationally efficien
t and able to find optimal solutions quickly. In the proposed framework, optimizing the ve
locity of the ego vehicle requires standard information such as SPaT information from th
e STL, the position ^^ ^ , and turn indication ^^ ^ ^ of the vehicle. The surrogate optimization pro
cess involves finding the best solution within a defined range based on the scenari
o. This can be achieved by using a radial basis function (RBF) interpolator to interpolate the
objective function [18C]. RBF interpolation is a suitable choice for constructing the surrogate beca
use it is computationally efficient, which is an important consideration for an automotive system.
[14C] The results of the cooperative navigation in scenarios with jammed AIM and STL are
shown in FIG. 33. The figure represents the separation time on the vertical axis and simulat
ion time on the horizontal axis. In the scenario, Actor 4 is the lead vehicle, and the coop
erative navigation framework uses information from the V2V communication channel to opt
imize the ego vehicle velocity. FIG. 34 MCC Ref. No.: 103361‐329WO1 shows the results of a scenario where STL is jammed
, and FIG. 35A shows the results of a scenario where all communication is active. [00273] CCC is a system that allows vehicles to communicate
with each other and with the infrastructure to improve traffic flow and reduce
fuel consumption. It can use combinations of radar, cameras, and V2V communication to sense th
e distance and speed of other vehicles, and to adjust the speed of the vehicle in real‐ti
me to maintain a safe following distance. The system can also be integrated with traffic lights, r
oad signs, and other infrastructure to optimize traffic flow and reduce congestion. Additionally, CCC
can also be used to improve safety by providing advanced warning of potential collisions and
supporting automated emergency braking. In the example implementation, there is only
V2X communication to share velocities and the relative distance of other HAVs operating at
the smart intersection. [00274] The present study included evaluations of three diffe
rent threat scenarios. FIG. 35B shows that there are some frequent variatio
ns in the ego vehicle velocity and the optimized velocity from cooperative collision avoidance
. FIG. 37A shows the lead vehicle velocity. Since the lead vehicle is connected with t
he ego vehicle but does not have the capability of cooperative navigation. Therefore, its v
elocity profile remains the same in the different threat scenarios. In the study’s analysis,
it was determined that the ego vehicle must adhere to the optimized velocity determined by the c
ooperative collision avoidance algorithm. This means that the cooperative adaptive cruise contr
ol must be adjusted accordingly to comply with the reference velocity established by the
cooperative collision avoidance system. Under all of the specified threat scenarios, the ego
vehicle is able to maintain a safe distance from the lead vehicle and avoid collisions with othe
r vehicles at the intersection. As shown in MCC Ref. No.: 103361‐329WO1 FIG. 37B, there is a significant difference in the
reference velocity from the cooperative collision avoidance algorithm and the velocity of the lead veh
icle, which is traveling faster than the ego vehicle. This results in a large separation distance
between the two vehicles. The example implementation permits the ego vehicle to follow the
reference set by the cooperative collision avoidance algorithm, as shown in FIG. 35B. FIG. 36
illustrates the minimum delay between successive vehicles in different implementations of th
e present disclosure. [00275] Implementations of the present disclosure include a C
ooperative adaptive lane‐keeping system (“CALK”). The CALK system is
a subsystem of Cooperative Autonomous Driving System (CADS) that uses a combination of sen
sors, cameras, and V2V communication to improve the lane keeping and lane change capabilities
of a vehicle. It provides the driver with an additional level of support by detecting the posi
tion of the vehicle relative to the road markings, and by providing steering or braking assist
ance to help keep the vehicle in the correct lane. The system is also able to communicate with o
ther vehicles on the road in order to coordinate lane changes and provide advanced warnings
of potential collisions. The main objective of the CALK system is to increase the saf
ety of the vehicle and its driver by reducing the risk of lane departure accidents and collisions
caused by human error. [00276] The results of three different threat scenarios using
the proposed framework are shown in FIG. 37B. FIG. 37B illustrates the pre
defined curvature of the lane received by the ego vehicle from the RSU. The RSU has detailed info
rmation about each lane at the intersection, including the turn curvatures, which hel
ps enhance the safety of the intersection. In the threat scenario where both AIM and STL commu
nications are jammed, and the vehicles are limited to V2V communication, the ego vehicle cr
osses the intersection at a faster speed as MCC Ref. No.: 103361‐329WO1 depicted in FIG. 37B. The ego vehicle crosses the i
ntersection from 9sec to 12sec in this scenario. In the scenario where only STL communicatio
n is jammed, the ego vehicle crosses the intersection from 13 sec to 17 sec, as depicted by FIG. 38. FIG. 38 illustrates th
e angle of the ego vehicle and lane curvature when different communi
cation channels are active. As shown in FIG. 37B, in the example implementation the ego vehi
cle takes longer to cross the intersection when all communication channels are active. [00277] The example implementation addresses the cooperative n
avigation of HAVs in smart intersections. It features four example componen
ts: cooperative collision avoidance, cooperative cruise control, cooperative lane‐keeping,
and path following. In the example implementation, each vehicle can act as an independen
t agent, making decisions based on V2X communication and utilizing an adaptive model predicti
ve control to predict the near future. Results from the example threat scenarios show that
the ego vehicle is able to maintain a safe distance in all cases, demonstrating the efficacy of
the proposed methodology for cooperative navigation at smart intersections. The example impleme
ntation can enhance the safety and capacity of smart intersections. [00278] Example 5: [00279] Yet another study was performed on an example implem
entation of the present disclosure. The example implementation included
a simulation with the following parameters: 32 conflict points; 4 vehicles operating
at the intersection; each vehicle in a different lane; all vehicles are lead vehicles; Roads
ide units (RSU); Autonomous intersection management (AIM) system; Smart traffic lights (STL);
GNSS (Position, velocity, and timing MCC Ref. No.: 103361‐329WO1 solution); Based on scenarios there are 2 potential
conflict points; Only Ego vehicles use a cooperative navigation algorithm. [00280] An example graph showing the four vehicle paths is
illustrated in FIG. 39. Another example intersection showing conflicts is illu
strated in FIG. 19. FIG. 20 illustrates a table of static and dynamic variables that can be s
imulated, according to implementations of the present disclosure. [00281] The example implementation can include the system 300
shown and described with reference to FIG. 3A. The system 300
can include cooperative collision avoidance, cooperative path following, cooperative adap
tive cruise control, and cooperative lane keeping. [00282] FIG. 40A and FIG. 40B illustrate schematics of vehic
les at different separations. As described herein, ℵ is the time se
paration depends on the vehicles width and its velocity ^^ is the time separation depends on the vehicle leng
th and its velocity AND ^^ is the separation time that depends on the time ego and ac
tor vehicles take to arrive at the particular conflict point. [00283] The objective function for C‐CAS used in the examp
le implementation is: ^ ^^ ^ ൌ ห ^^ |^^ି^^|^ ^^^ ^ ^ ^^^ ^^ െ ^^ |^^ି^^|^ ^^^ ^ା^ ^ ^^^ ^ା^^ ห [00284] [00285] function constraints: MCC Ref. No.: 103361‐329WO1 ^^ ^ ା ^ ^^ ^ ା ^ ^^ ^ ା ^ ^^ ^ ^^^ ష^^^ ି^^ శ ^^^^ ష శ ^ ^^ ା ^ ^^ ା ^ ^ ൫^^ ^^^ି^^^^^൯ ^^ ^ ା ^ ^^^ is the same conflict point vehicle leaves. [00288] FIG. 41 illustrates example following distances includ
ing spacing and speed control. As an example, a safe separation distance a
t 25 mph may be 2 seconds, a safe separation distance at 45mph may be 3 seconds, and
a safe separation distance at 65 mph may be 4 seconds. Stopping distance can be considered th
e sum of perception time distance, reaction time distance, and breaking time distance.
[00289] FIG. 42 illustrates an example relationship between a
n ego vehicle and any number of actor vehicles operating in an example sys
tem. [00290] FIG. 43 illustrates an example intersection with an
RSU, AIM, and STL. [00291] FIG. 44 illustrates a schematic of a lane‐keeping
plant model that can be used by an MPC, according to an example implementation of
the present disclosure. [00292] Lane keeping plant model used by MPC: [00293] [00294] MCC Ref. No.: 103361‐329WO1 [00295] [00296] [00297] velocity [00298] ^^ ி , ^^ ோ is cornering stiffness of front and rear tiers [00299] L ^, L ୖ is position of center of gravity from front and rear tires [00300] I ^ is yaw moment of inertia [00301] m is total mass of vehicle [00302] The study included a model of predictive control. Th
e example model of predictive control included a MIMO System; Input outp
ut interactions; Constraints; Preview capabilities (look ahead); solving online optimizatio
n at defined time steps; and MPC using a Quadratic programming solver for an optimal solution.
[00303] The example MPC cost function for Cooperative Adaptiv
e cruise control and cooperative lane keeping control includes: [00304] ^^ ^௭ೖ^ ൌ ^^ ௬^௭ೖ^ ^ ^^ ௨^௭ೖ^ ^ ^^ ∆௨^௭ೖ^ ^ ^^ ఌ^௭ೖ^ [00306] ^^ ௨^௭ೖ^ is manipulated variable tracking [00307] ^^ ∆௨^௭ೖ^ is Manipulated Variable Move Suppression [00308] ^^ ఌ^௭ೖ^ is constraints violation [00309] ^^ ^ is quadratic programing decision MCC Ref. No.: 103361‐329WO1 [00310] The example implementation can include a quadratic pr
oblem solver. The quadratic problem solver can include an Interior poin
t convex quadratic programming algorithm that can optionally include the following s
teps: [00311] Pre‐solve/Post‐solve: The algorithm can simplify th
e problem by removing redundancies and simplifying constraints. [00312] Generate Initial Point: Initializing x 0 . [00313] Predictor‐Corrector: The algorithms begin by turning
the linear inequalities Ax <= b into inequalities of the form Ax >= b b
y multiplying A and b by ‐1. [00314] Stopping Conditions: The predictor‐corrector algorithm
iterates until it reaches a point that is feasible. [00315] Infeasibility Detection: The merit function is a meas
ure of feasibility. quadprog stops if the merit function grows too large. [00316] In some implementations of the present disclosure, MP
C can be tuned. Tuning MPC can include tuning any/all of the following para
meters: [00317] Sampling Time (Smaller the value will increase the c
omputational burden). [00318] Prediction Horizon (Number of future intervals related
to sampling time). [00319] Control Horizon (Number of control moves to the time
steps). [00320] Weight on velocity tracking (Higher weight will reduc
e the tracking error). [00321] Weight on lateral error (Higher weight will reduce t
he lateral error). [00322] Weight on change of longitudinal accel (Higher weight
will produce less‐ aggressive vehicle acceleration). MCC Ref. No.: 103361‐329WO1 [00323] Weight on change of steering angle (Higher weight wi
ll produce less‐ aggressive steering angle change). [00324] Three intersection threat scenarios are simulated incl
uding jamming of AIM and STL; Jamming of STL and Cooperation of all infr
astructure devices. The capacity results of the scenarios are illustrated in FIG. 45A and FIG.
45B, where FIG. 45A illustrates acceleration as a function of time for each scenario and FIG. 45B
illustrates steering angles as a function of time for each scenario. [00325] A table shown in FIG. 46 illustrates the risks of
collision evaluated by the study for different scenarios. [00326] The present disclosure can overcome limitations of us
ing GNSS (e.g., GPS), Radar, Lidar, and camera sensors by using cooperative
methods to incorporate data from multiple vehicles and control multiple vehicles. GPS
can include absolute velocity, position, and time. But radar systems, LIDAR systems, and cameras
can be limited to providing only relative positions of objects at relative times. [00327] As used herein, the term “smart intersection” can
refer to systems including any or all of the following features: an Autonomous
Intersection Management system, a smart traffic light, and/or a RoadSide Unit. An Autonomous
Intersection Management system can optionally include a system to reserve times of arri
val at the intersection. The smart traffic light can optionally implement SPAT (Signal phase and timin
g) and MAP (an intersection map). [00328] The RoadSide Unit can optionally include both infrast
ructure parameters and/or V2v and/or V2X communication. MCC Ref. No.: 103361‐329WO1 [00329] As used herein, the term “connected autonomous vehi
cles” can refer to vehicles including a cooperative navigation system. Th
e cooperative navigation system can include a cooperative collision avoidance system to m
aintain separation between vehicles and/or vehicles and pedestrians. The cooperative navig
ation system can further include a cooperative MPC‐based lane‐keeping assist system to
perform lane centering. The Cooperative Navigation system can further include a cooperative M
PC Adaptive Cruise Control System configured to maintain a safe distance from a lead
vehicle. It should be understood that connected autonomous vehicles can include any or all
of these features, and can include features in addition to these features. [00330] Referring to FIGS. 47‐50, additional experiments and
analyses were performed on example implementations of the present disclosure
including static and dynamic scenarios. As used herein, a static scenario is a scenario whe
re the conflict point is static, and a dynamic scenario is a scenario where the conflict point is
not static. In the static scenario, increases in cooperation increase velocity. Ego vehicles approach t
he intersection earlier as cooperation increases in the static scenario. [00331] In the dynamic scenario, velocity decreases when coop
eration increases. The ego vehicle approaches the intersection later as coop
eration increases. It should be understood that the results illustrated in FIGS. 47‐50 are no
n‐limiting examples that correspond to a single experimental implementation. [00332] FIG. 47 illustrates velocity as a function of time
for different scenarios, according to an implementation of the preset disclosu
re. FIG. 48 illustrates steering angle as a function of time for different scenarios, according t
o an implementation of the present MCC Ref. No.: 103361‐329WO1 disclosure. FIG. 49 illustrates acceleration as a fun
ction of time according to an example implementation of the present disclosure. FIG. 50 ill
ustrates acceleration as a function of time according to an example implementation of the present
disclosure. [00333] FIG. 51 illustrates a table showing simulation result
s for different jamming scenarios. As shown in FIG. 51, different jamming sc
enarios can result in different vehicle separations. Closer separations can result in higher
risks of collision. [00334] The example implementation includes a cooperative navi
gation algorithm including lane keeping assist systema and adaptive cr
uise control systems. The models of predictive control described herein can enhance safety
in real‐time dynamic scenarios. As described herein, the cooperative navigation methods c
an include methods of simulating communication jamming. Finally, implementations of th
e present disclosure can include machine learning frameworks to simulate and/or impleme
nt cooperative navigation systems and methods. [00335] References [00336] Although the subject matter has been described in la
nguage specific to structural features and/or methodological acts, it is
to be understood that the subject matter defined in the appended claims is not necessarily li
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