Systems and methods for consensus-based local route planning
AssigneeToyota Jidosha Kabushiki Kaisha
InventorJaspal Singh
Life of this patent
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Abstract
A system and method for local route planning includes a processor and a communication device operable to wirelessly communicate with one or more neighboring vehicles at a location. The processor is operable to send a coordination request based on an intended action of an inquiry vehicle to the neighboring vehicles at the location, determine whether a positive coordination response is received from a coordination vehicle out of the neighboring vehicles, in response to the received positive coordination response, communicate with the coordination vehicle to act according to the coordination request, and operate the inquiry vehicle according to the intended action.
Claims18
A system for local route planning comprising:
- a communication device operable to wirelessly communicate with one or more neighboring vehicles at a location;
- a processor operable to:
- send a coordination request based on an intended action of an inquiry vehicle to the neighboring vehicles at the location;
- determine whether a positive coordination response is received from a coordination vehicle out of the neighboring vehicles;
- in response to the received positive coordination response, communicate with the coordination vehicle to act according to the coordination request;
- receive coordination requests of one or more of the neighboring vehicles at the location;
- in response to determining a total number of coordination requests is less than or equal to a decentralized-coordination threshold, negotiate with the neighboring vehicles for a priority of the coordination request of the inquiry vehicle;
- in response to determining the total number of coordination requests is beyond the decentralized-coordination threshold, send the coordination request to a server to assign the priority of the coordination request of the inquiry vehicle;
- receive priorities of the coordination request of the one or more neighboring vehicles;
- and autonomously operate the inquiry vehicle
- according to the intended action in response that the priority of the coordination request of the inquiry vehicle is higher than priorities of the coordination request of the one or more of the neighboring vehicles.
A method for local route planning comprising:
- sending a coordination request based on an intended action of an inquiry vehicle to one or more neighboring vehicles at a location using a communication device;
- determining whether a positive coordination response is received from a coordination vehicle out of the neighboring vehicles;
- in response to the received positive coordination response, communicating with the coordination vehicle to act according to the coordination request;
- receiving coordination requests of one or more of the neighboring vehicles at the location;
- in response to determining a total number of coordination requests is less than or equal to a decentralized-coordination threshold, negotiating with the neighboring vehicles for a priority of the coordination request of the inquiry vehicle;
- in response to determining the total number of coordination requests is beyond the decentralized-coordination threshold, sending the coordination request to a server to assign the priority of the coordination request of the inquiry vehicle;
- receiving priorities of the coordination request of the one or more neighboring vehicles;
- and
- autonomously operating the inquiry vehicle
- according to the intended action in response that the priority of the coordination request of the inquiry vehicle is higher than priorities of the coordination request of the one or more of the neighboring vehicles.
Dependencies are inferred from the claim text.