# US 11,908,327 B2 · Method and apparatus for vehicle maneuver planning and messaging > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,908,327 B2 - Document ID: US11908327B2 - Status: Granted - Kind: B2 - Application number: 17/806,971 - Filed: 2022-06-15 - Published: 2022-09-29 - Granted: 2024-02-20 - Earliest claimed: 2019-04-29 - Assignees: QUALCOMM Incorporated - Applicants: QUALCOMM Incorporated - Inventors: Dan Vassilovski; Hong Cheng; Zhibin Wu; Shailesh Patil; Richard Hovey - Web page: https://patentgrep.com/patent/US11908327B2 ## CPC - B60W 30/18159: {Traversing an intersection} - G08G 1/162: {event-triggered} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0221: {involving a learning process} - G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)} - G05D 1/22: Command input arrangements - G05D 1/228: Command input arrangements located on-board unmanned vehicles - G05D 1/693: for avoiding collisions between vehicles - G08G 1/161: {Decentralised systems, e.g. inter-vehicle communication} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - H04W 4/06: Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services - H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P] - H04W 4/46: for vehicle-to-vehicle communication [V2V] - B60W 2510/18: Braking system - B60W 2520/10: Longitudinal speed - B60W 2530/20: Tyre data - B60W 2552/40: Coefficient of friction - B60W 2554/801: Lateral distance - B60W 2556/45: External transmission of data to or from the vehicle - B60W 2756/10: Involving external transmission of data to or from the vehicle - G08G 1/22: {Platooning, i.e. convoy of communicating vehicles} - H04W 4/027: {using movement velocity, acceleration information} - H04W 4/12: Messaging; Mailboxes; Announcements - H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] - H04W 4/80: Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication - H04W 4/90: Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS] - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract Techniques are provided which may be implemented using various methods and/or apparatuses in a vehicle to utilize vehicle external sensor data, vehicle internal sensor data, vehicle capabilities and external V2X input to determine, send, receive and utilize V2X information and control data, sent between the vehicle and a road side unit (RSU) to determine intersection access and vehicle behavior when approaching the intersection. ## Claims ### Claim 1 A method of intersection access by an ego vehicle, comprising: determining a braking distance for the ego vehicle based upon vehicle external sensor data, vehicle internal sensor data, vehicle capabilities, or external V2X input, or a combination thereof, wherein the braking distance for the ego vehicle is based, at least in part, on tire pressure for the ego vehicle or tire traction data or a combination thereof; sending, from the ego vehicle to a roadside unit (RSU), a first message, wherein the first message comprises an identification data element for the ego vehicle and a braking distance data element for the ego vehicle; receiving, from the RSU, a second message comprising one or more instructions with respect to intersection access by the ego vehicle, based at least in part upon the braking distance for the ego vehicle; and controlling the intersection access by the ego vehicle in response to the one or more instructions received from the RSU. ### Claim 2 (depends on 1) The method of intersection access of claim 1, wherein the braking distance for the ego vehicle is based, at least in part, on weather conditions. ### Claim 3 (depends on 1) The method of intersection access of claim 1, wherein the tire traction data is determined by traction control sensors. ### Claim 4 (depends on 1) The method of intersection access of claim 1, wherein the tire traction data is based, at least in part, on road surface conditions. ### Claim 5 (depends on 1) The method of intersection access of claim 1, wherein the tire traction data is based, at least in part, on camera data. ### Claim 6 (depends on 1) The method of intersection access of claim 1, wherein the tire traction data is based, at least in part, on tire wear or tire brand capabilities or combination thereof. ### Claim 7 (depends on 1) The method of intersection access of claim 1, wherein the braking distance data element is based, at least in part, upon brake pad wear or brake brand and capabilities or combination thereof. ### Claim 8 (depends on 1) The method of intersection access of claim 1, wherein the braking distance data element is based, at least in part, upon engine status. ### Claim 9 An ego vehicle, comprising: one or more wireless transceivers; vehicle internal sensors; vehicle external sensors; memory; and one or more processors, communicatively coupled to the one or more wireless transceivers, the vehicle internal sensors, the vehicle external sensors, and the memory, and wherein the one or more processors are configured to: determine a braking distance for the ego vehicle based upon data from the vehicle external sensors, data from the vehicle internal sensors, vehicle capabilities, or external V2X input, or a combination thereof, wherein the braking distance for the ego vehicle is based, at least in part, on tire pressure for the ego vehicle or tire traction data or a combination thereof; send, from the ego vehicle to a roadside unit (RSU), a first message, wherein the first message comprises an identification data element for the ego vehicle and a braking distance data element for the ego vehicle; receive, from the RSU, a second message comprising one or more instructions with respect to intersection access by the ego vehicle, based at least in part upon the braking distance for the ego vehicle; and control the intersection access by the ego vehicle in response to the one or more instructions received from the RSU. ### Claim 10 (depends on 9) The ego vehicle of claim 9, wherein the braking distance for the ego vehicle is based, at least in part, on weather conditions. ### Claim 11 (depends on 9) The ego vehicle of claim 9, wherein the tire traction data is determined by traction control sensors. ### Claim 12 (depends on 9) The ego vehicle of claim 9, wherein the tire traction data is based, at least in part, on road surface conditions. ### Claim 13 (depends on 9) The ego vehicle of claim 9, wherein the tire traction data is based, at least in part, on camera data. ### Claim 14 (depends on 9) The ego vehicle of claim 9, wherein the tire traction data is based, at least in part, on tire wear or tire brand capabilities or combination thereof. ### Claim 15 (depends on 9) The ego vehicle of claim 9, wherein the braking distance data element is based, at least in part, upon brake pad wear or brake brand and capabilities or combination thereof. ### Claim 16 (depends on 9) The ego vehicle of claim 9, wherein the braking distance data element is based, at least in part, upon engine status. ### Claim 17 An ego vehicle, comprising: means for determining a braking distance for the ego vehicle based upon vehicle external sensors data, vehicle internal sensors data, vehicle capabilities, or external V2X input, or a combination thereof, wherein the braking distance for the ego vehicle is based, at least in part, on tire pressure for the ego vehicle or tire traction data or a combination thereof; means for sending, from the ego vehicle to a roadside unit (RSU), a first message, wherein the first message comprises an identification data element for the ego vehicle and a braking distance data element for the ego vehicle; means for receiving, from the RSU, a second message comprising one or more instructions with respect to intersection access by the ego vehicle, based at least in part upon the braking distance for the ego vehicle; and means for controlling the intersection access by the ego vehicle in response to the one or more instructions received from the RSU. ### Claim 18 (depends on 17) The ego vehicle of claim 17, wherein the braking distance for the ego vehicle is based, at least in part, on weather conditions. ### Claim 19 (depends on 17) The ego vehicle of claim 17, wherein the tire traction data is determined by traction control sensors. ### Claim 20 (depends on 17) The ego vehicle of claim 17, wherein the tire traction data is based, at least in part, on road surface conditions. ### Claim 21 (depends on 17) The ego vehicle of claim 17, wherein the tire traction data is based, at least in part, on camera data. ### Claim 22 (depends on 17) The ego vehicle of claim 17, wherein the tire traction data is based, at least in part, on tire wear or tire brand capabilities or combination thereof. ### Claim 23 (depends on 17) The ego vehicle of claim 17, wherein the braking distance data element is based, at least in part, upon brake pad wear or brake brand and capabilities or combination thereof. ### Claim 24 (depends on 17) The ego vehicle of claim 17, wherein the braking distance data element is based, at least in part, upon engine status. ### Claim 25 A non-transitory computer-readable medium, having stored thereon computer-readable instructions to cause one or more processors on an ego vehicle to: determine a braking distance for the ego vehicle based upon vehicle external sensor data, vehicle internal sensor data, vehicle capabilities, or external V2X input, or a combination thereof, wherein the braking distance for the ego vehicle is based, at least in part, on tire pressure for the ego vehicle or tire traction data or a combination thereof; send, from the ego vehicle to a roadside unit (RSU), a first message, wherein the first message comprises an identification data element for the ego vehicle and a braking distance data element for the ego vehicle; receive, from the RSU, a second message comprising one or more instructions with respect to intersection access by the ego vehicle, based at least in part upon the braking distance for the ego vehicle; and control the intersection access by the ego vehicle in response to the one or more instructions received from the RSU. ### Claim 26 (depends on 25) The non-transitory computer-readable medium of claim 25, wherein the braking distance for the ego vehicle is based, at least in part, on weather conditions. ### Claim 27 (depends on 25) The non-transitory computer-readable medium of claim 25, wherein the tire traction data is determined by traction control sensors. ### Claim 28 (depends on 25) The non-transitory computer-readable medium of claim 25, wherein the tire traction data is based, at least in part, on road surface conditions. ### Claim 29 (depends on 25) The non-transitory computer-readable medium of claim 25, wherein the tire traction data is based, at least in part, on tire wear or tire brand capabilities or combination thereof. ### Claim 30 (depends on 25) The non-transitory computer-readable medium of claim 25, wherein the braking distance data element is based, at least in part, upon brake pad wear or brake brand and capabilities or combination thereof.