V2X communication-based vehicle lane system for autonomous vehicles

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations for generating a driving trajectory for navigating an autonomous driving vehicle (ADV), the operations comprising:

• receiving, by a transceiver of a first sensor of the ADV, a first vehicle-to-everything (V2X) communication data from a first infrastructure, wherein the transceiver supports V2X communications;
• receiving, by the transceiver of the first sensor, a second vehicle-to-everything (V2X) communication data from a second infrastructure, wherein the first sensor comprises a V2X transceiver, wherein the first and second infrastructures are V2X-enabled;
• determining, by the ADV, a first distance, D1, from the ADV to the first infrastructure based on the first V2X communication data, wherein the first V2X communication data includes distance D1 or a location of the first infrastructure;
• determining, by the ADV, a second distance, D2, from the ADV to the second infrastructure based on the second V2X communication data, wherein the second V2X communication data includes distance D2 or a location of the second infrastructure;
• and
• determining, by the ADV, a third distance, D3, between the first and second infrastructures using the first and second V2X communication data;
• determining, by the ADV, a relative location of the ADV to the first infrastructure or to the second infrastructure based on the first distance D1 and the second distance D2 and the third distance D3;
• retrieving, by the ADV, lane information from the first or second infrastructure based on the relative location of the ADV to the first infrastructure or the second infrastructure;
• and
• generating, by the ADV, a trajectory based on the lane information to control the ADV autonomously according to the trajectory.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations for generating a driving trajectory for navigating an autonomous driving vehicle (ADV), the operations including:
• receiving, by a first sensor of the ADV, a first vehicle-to-everything (V2X) communication data from a first infrastructure, wherein the first sensor comprises a transceiver;
• receiving, by the first sensor, a second vehicle-to-everything (V2X) communication data from a second infrastructure, wherein the first sensor comprises a V2X transceiver, wherein the first and second infrastructures are V2X-enabled;
• determining, by the ADV, a first distance, D1, from the ADV to the first infrastructure based on the first V2X communication data, wherein the first V2X communication data includes a distance D1 or a location of the first infrastructure;
• determining, by the ADV, a second distance, D2, from the ADV to the second infrastructure based on the second V2X communication data, wherein the second V2X communication data includes distance D2 or a location of the second infrastructure;
• determining, by the ADV, a third distance, D3, between the first and second infrastructures using the first and second V2X communication data;
• determining, by the ADV, a relative location of the ADV to the first infrastructure or to the second infrastructure based on the first distance D1 and the second distance D2 and the third distance D3;
• retrieving, by the ADV, lane information from the first or the second infrastructure based on the relative location of the ADV to the first infrastructure or the second infrastructure;
• and
• generating, by the ADV, a trajectory based on the lane information to control the ADV autonomously according to the trajectory.