# US 2023/0058086 A1 · Vehicle maneuver estimation accuracy conveyance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0058086 A1 - Document ID: US20230058086A1 - Status: Published application - Kind: A1 - Application number: 17/785,771 - Filed: 2020-01-16 - Published: 2023-02-23 - Earliest claimed: 2020-01-16 - Assignees: QUALCOMM Incorporated - Applicants: QUALCOMM Incorporated - Inventors: Dan VASSILOVSKI; Hong CHENG; Lan YU; Gene Wesley MARSH - Web page: https://patentgrep.com/patent/US20230058086A1 ## CPC - B60W 60/001: {Planning or execution of driving tasks} - H04L 67/125: involving control of end-device applications over a network - B60W 40/02: related to ambient conditions - G08G 1/162: {event-triggered} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] - H04W 4/46: for vehicle-to-vehicle communication [V2V] - B60W 2554/4041: Position - B60W 2554/802: Longitudinal distance - B60W 2556/65: Data transmitted between vehicles - 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 - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) - 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}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract A user equipment (UE) in a vehicle may transmit to another vehicle an inter-vehicle message with a driving maneuver request for a driving maneuver to be executed by the vehicle. The inter-vehicle message may include one or more estimated parameters, such as temporal, spatial, or trajectory parameters, for the driving maneuver. The inter-vehicle message may include further includes an indication of an estimation accuracy for the one or more estimated parameters. A UE in a vehicle that receives the inter-vehicle message may determine whether to grant, reject, or submit a counter-proposal to the request based at least in part on the estimated parameters and the indication of the estimation accuracy for the estimated parameters. A response to the maneuver request may be transmitted to the requesting vehicle that grants, rejects, or provides a counter proposal to the maneuver request. ## Claims ### Claim 1 A method of performing information exchange for a driving maneuver for a first vehicle, the method performed by a Vehicle-to-Everything (V2X) entity comprising one of a first device in the first vehicle or a roadside unit (RSU) in communication with the first device., the method comprising: transmitting an inter-vehicle message with a driving maneuver request for a driving maneuver to a second device, the inter-vehicle message comprising at least one estimated parameter for the driving maneuver comprising one or more temporal parameters, one or more spatial parameters, one or more trajectory parameters, or a combination thereof, the inter-vehicle message further comprising an indication of an estimation accuracy for the at least one estimated parameter; and receiving a driving maneuver response from the second device granting, rejecting, or providing a counter proposal for the driving maneuver. ### Claim 2 (depends on 1) The method of claim 1, wherein the one or more temporal parameters comprises a start time and a stop time for the driving maneuver, and wherein the indication of the estimation accuracy comprises a start time estimation accuracy and a stop time estimation accuracy. ### Claim 3 (depends on 1) The method of claim 1, wherein the one or more spatial parameters comprises a start location and a stop location for the driving maneuver, and wherein the indication of the estimation accuracy comprises a start location estimation accuracy and a stop location estimation accuracy. ### Claim 4 (depends on 1) The method of claim 1, wherein the one or more spatial parameters comprises a start time longitudinal distance to leading vehicle and a start time longitudinal distance to trailing vehicle for the driving maneuver, and wherein the indication of the estimation accuracy comprises a leading vehicle distance estimation accuracy and a trailing vehicle distance estimation accuracy. ### Claim 5 (depends on 1) The method of claim 1, wherein the one or more trajectory parameters comprises an estimated time of arrival (ETA) for each intended trajectory segment and an estimated time to pass (ETP) for each intended trajectory segment for the driving maneuver, and wherein the indication of the estimation accuracy comprises an ETA estimation accuracy for each intended trajectory segment and an ETP estimation accuracy for each intended trajectory segment. ### Claim 6 (depends on 1) The method of claim 1, wherein the at least one estimated parameter and the indication of the estimation accuracy for the at least one estimated parameter are information elements in application-layer messages. ### Claim 7 (depends on 1) The method of claim 1, wherein the second device is in a second vehicle. ### Claim 8 (depends on 1) The method of claim 1, wherein the V2X entity is the first device in the first vehicle and the second device is in a roadside unit. ### Claim 9 (depends on 1) The method of claim 1, wherein the inter-vehicle message is transmitted in a Device-to-Device (D2C) communication link. ### Claim 10 (depends on 9) The method of claim 9, wherein the D2C communication link comprises a dedicated short-range communication (DSRC), a cellular Vehicle-to-Everything (C-V2X) communication, or a 5G New Radio (NR) communication. ### Claim 11 A Vehicle-to-Everything (V2X) entity comprising one of a first device in a first vehicle or a roadside unit (RSU) in communication with the first device configured to perform information exchange for a driving maneuver to be performed by a first vehicle, comprising: a wireless transceiver configured to wirelessly communicate with devices; at least one memory; and at least one processor coupled to the wireless transceiver and the at least one memory, the at least one processor configured to: transmit, via the wireless transceiver, an inter-vehicle message with a driving maneuver request for a driving maneuver to a second device, the inter-vehicle message comprising at least one estimated parameter for the driving maneuver comprising one or more temporal parameters, one or more spatial parameters, one or more trajectory parameters, or a combination thereof, the inter-vehicle message further comprising an indication of an estimation accuracy for the at least one estimated parameter; and receive, via the wireless transceiver, a driving maneuver response from the second device granting, rejecting, or providing a counter proposal for the driving maneuver. ### Claim 12 (depends on 11) The first device of claim 11, wherein the one or more temporal parameters comprises a start time and a stop time for the driving maneuver, and wherein the indication of the estimation accuracy comprises a start time estimation accuracy and a stop time estimation accuracy. ### Claim 13 (depends on 11) The first device of claim 11, wherein the one or more spatial parameters comprises a start location and a stop location for the driving maneuver, and wherein the indication of the estimation accuracy comprises a start location estimation accuracy and a stop location estimation accuracy. ### Claim 14 (depends on 11) The first device of claim 11, wherein the one or more spatial parameters comprises a start time longitudinal distance to leading vehicle and a start time longitudinal distance to trailing vehicle for the driving maneuver, and wherein the indication of the estimation accuracy comprises a leading vehicle distance estimation accuracy and a trailing vehicle distance estimation accuracy. ### Claim 15 (depends on 11) The first device of claim 11, wherein the one or more trajectory parameters comprises an estimated time of arrival (ETA) for each intended trajectory segment and an estimated time to pass (ETP) for each intended trajectory segment for the driving maneuver, and wherein the indication of the estimation accuracy comprises an ETA estimation accuracy for each intended trajectory segment and an ETP estimation accuracy for each intended trajectory segment. ### Claim 16 (depends on 11) The first device of claim 11, wherein the at least one estimated parameter and the indication of the estimation accuracy for the at least one estimated parameter are information elements in application-layer messages. ### Claim 17 (depends on 11) The first device of claim 11, wherein the second device is in a second vehicle. ### Claim 18 (depends on 11) The first device of claim 11, wherein the V2X entity is the first device in the first vehicle and the second device is in a roadside unit. ### Claim 19 (depends on 11) The first device of claim 11, wherein the inter-vehicle message is transmitted in a Device-to-Device (D2C) communication link. ### Claim 20 (depends on 19) The first device of claim 19, wherein the D2C communication link comprises a dedicated short-range communication (DSRC), a cellular Vehicle-to-Everything (C-V2X) communication, or a 5G New Radio (NR) communication. ### Claim 21 A method of performing information exchange for a driving maneuver to be executed by a maneuvering vehicle, the method performed by a Vehicle-to-Everything (V2X) entity comprising one of a first device in the first vehicle or a roadside unit (RSU) in communication with the first device, the method comprising: receiving an inter-vehicle message with a driving maneuver request for a driving maneuver by the maneuvering vehicle, the inter-vehicle message comprising at least one estimated parameter for the driving maneuver comprising one or more temporal parameters, one or more spatial parameters, one or more trajectory parameters, or a combination thereof, the inter-vehicle message further comprising an indication of an estimation accuracy for the at least one estimated parameter; determining whether to grant, reject, or counter-proposal based on the at least one estimated parameter for the driving maneuver and the indication of the estimation accuracy for the at least one estimated parameter and a predicted location and motion state of the first vehicle; and transmitting a grant, a rejection, or a counter-proposal in response to the driving maneuver request. ### Claim 22 (depends on 21) The method of claim 21, wherein the one or more temporal parameters comprises a start time and a stop time for the driving maneuver, and wherein the indication of the estimation accuracy comprises a start time estimation accuracy and a stop time estimation accuracy. ### Claim 23 (depends on 21) The method of claim 21, wherein the one or more spatial parameters comprises a start location and a stop location for the driving maneuver, and wherein the indication of the estimation accuracy comprises a start location estimation accuracy and a stop location estimation accuracy. ### Claim 24 (depends on 21) The method of claim 21, wherein the one or more spatial parameters comprises a start time longitudinal distance to leading vehicle and a start time longitudinal distance to trailing vehicle for the driving maneuver, and wherein the indication of the estimation accuracy comprises a leading vehicle distance estimation accuracy and a trailing vehicle distance estimation accuracy. ### Claim 25 (depends on 21) The method of claim 21, wherein the one or more trajectory parameters comprises an estimated time of arrival (ETA) for each intended trajectory segment and an estimated time to pass (ETP) for each intended trajectory segment for the driving maneuver, and wherein the indication of the estimation accuracy comprises an ETA estimation accuracy for each intended trajectory segment and an ETP estimation accuracy for each intended trajectory segment. ### Claim 26 (depends on 21) The method of claim 21, wherein the at least one estimated parameter and the indication of the estimation accuracy for the at least one estimated parameter are information elements in application-layer messages. ### Claim 27 (depends on 21) The method of claim 21, wherein the inter-vehicle message is received directly from a second device in the maneuvering vehicle. ### Claim 28 (depends on 21) The method of claim 21, wherein the inter-vehicle message is received from a roadside unit. ### Claim 29 (depends on 21) The method of claim 21, wherein the inter-vehicle message is transmitted in a Device-to-Device (D2C) communication link. ### Claim 30 (depends on 29) The method of claim 29, wherein the D2C communication link comprises a dedicated short-range communication (DSRC), a cellular Vehicle-to-Everything (C-V2X) communication, or a 5G New Radio (NR) communication. ### Claim 31 A Vehicle-to-Everything (V2X) entity configured to perform information exchange for a driving maneuver to be executed by a maneuvering vehicle, the V2X entity comprising one of a first device in a first vehicle or a roadside unit (RSU) in communication with the first device, comprising: a wireless transceiver configured to wirelessly communicate with devices; at least one memory; and at least one processor coupled to the wireless transceiver and the at least one memory, the at least one processor configured to: receive, via the wireless transceiver, an inter-vehicle message with a driving maneuver request for a driving maneuver by the maneuvering vehicle, the inter-vehicle message comprising at least one estimated parameter for the driving maneuver comprising one or more temporal parameters, one or more spatial parameters, one or more trajectory parameters, or a combination thereof, the inter-vehicle message further comprising an indication of an estimation accuracy for the at least one estimated parameter; determine whether to grant, reject, or counter-proposal based on the at least one estimated parameter for the driving maneuver and the indication of the estimation accuracy for the at least one estimated parameter and a predicted location and motion state of the first vehicle; and transmit, via the wireless transceiver, a grant, a rejection, or a counter-proposal in response to the driving maneuver request. ### Claim 32 (depends on 31) The first device of claim 31, wherein the one or more temporal parameters comprises a start time and a stop time for the driving maneuver, and wherein the indication of the estimation accuracy comprises a start time estimation accuracy and a stop time estimation accuracy. ### Claim 33 (depends on 31) The first device of claim 31, wherein the one or more spatial parameters comprises a start location and a stop location for the driving maneuver, and wherein the indication of the estimation accuracy comprises a start location estimation accuracy and a stop location estimation accuracy. ### Claim 34 (depends on 31) The first device of claim 31, wherein the one or more spatial parameters comprises a start time longitudinal distance to leading vehicle and a start time longitudinal distance to trailing vehicle for the driving maneuver, and wherein the indication of the estimation accuracy comprises a leading vehicle distance estimation accuracy and a trailing vehicle distance estimation accuracy. ### Claim 35 (depends on 31) The first device of claim 31, wherein the one or more trajectory parameters comprises an estimated time of arrival (ETA) for each intended trajectory segment and an estimated time to pass (ETP) for each intended trajectory segment for the driving maneuver, and wherein the indication of the estimation accuracy comprises an ETA estimation accuracy for each intended trajectory segment and an ETP estimation accuracy for each intended trajectory segment. ### Claim 36 (depends on 31) The first device of claim 31, wherein the at least one estimated parameter and the indication of the estimation accuracy for the at least one estimated parameter are information elements in application-layer messages. ### Claim 37 (depends on 31) The first device of claim 31, wherein the inter-vehicle message is received directly from a second device in the maneuvering vehicle. ### Claim 38 (depends on 31) The first device of claim 31, wherein the inter-vehicle message is received from a roadside unit. ### Claim 39 (depends on 31) The first device of claim 31, wherein the inter-vehicle message is transmitted in a Device-to-Device (D2C) communication link. ### Claim 40 (depends on 39) The first device of claim 39, wherein the D2C communication link comprises a dedicated short-range communication (DSRC), a cellular Vehicle-to-Everything (C-V2X) communication, or a 5G New Radio (NR) communication.