WO2021248495A1 - Messages de couche d'application pour description de voie dans une communication de véhicule - Google Patents

Messages de couche d'application pour description de voie dans une communication de véhicule Download PDF

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Publication number
WO2021248495A1
WO2021248495A1 PCT/CN2020/095954 CN2020095954W WO2021248495A1 WO 2021248495 A1 WO2021248495 A1 WO 2021248495A1 CN 2020095954 W CN2020095954 W CN 2020095954W WO 2021248495 A1 WO2021248495 A1 WO 2021248495A1
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WIPO (PCT)
Prior art keywords
vehicular
application layer
lane
slope
road
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PCT/CN2020/095954
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English (en)
Inventor
Lan Yu
Hong Cheng
Dan Vassilovski
Gene Wesley Marsh
Shailesh Patil
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Qualcomm Incorporated
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Publication date
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Priority to PCT/CN2020/095954 priority Critical patent/WO2021248495A1/fr
Publication of WO2021248495A1 publication Critical patent/WO2021248495A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W80/00—Wireless network protocols or protocol adaptations to wireless operation
    • H04W80/08—Upper layer protocols
    • H04W80/12—Application layer protocols, e.g. WAP [Wireless Application Protocol]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]

Definitions

  • the present disclosure relates generally to communication systems, and more particularly, to a vehicular communication system.
  • Wireless communication systems are widely deployed to provide various telecommunication services such as telephony, video, data, messaging, and broadcasts.
  • Typical wireless communication systems may employ multiple-access technologies capable of supporting communication with multiple users by sharing available system resources. Examples of such multiple-access technologies include code division multiple access (CDMA) systems, time division multiple access (TDMA) systems, frequency division multiple access (FDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single-carrier frequency division multiple access (SC-FDMA) systems, and time division synchronous code division multiple access (TD-SCDMA) systems.
  • CDMA code division multiple access
  • TDMA time division multiple access
  • FDMA frequency division multiple access
  • OFDMA orthogonal frequency division multiple access
  • SC-FDMA single-carrier frequency division multiple access
  • TD-SCDMA time division synchronous code division multiple access
  • 5G New Radio is part of a continuous mobile broadband evolution promulgated by Third Generation Partnership Project (3GPP) to meet new requirements associated with latency, reliability, security, scalability (e.g., with Internet of Things (IoT) ) , and other requirements.
  • 3GPP Third Generation Partnership Project
  • 5G NR includes services associated with enhanced mobile broadband (eMBB) , massive machine type communications (mMTC) , and ultra-reliable low latency communications (URLLC) .
  • eMBB enhanced mobile broadband
  • mMTC massive machine type communications
  • URLLC ultra-reliable low latency communications
  • Some aspects of 5G NR may be based on the 4G Long Term Evolution (LTE) standard.
  • a method of wireless communication at a vehicular user equipment includes receiving, by an application layer of a protocol layer stack of the vehicular UE, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and implementing autonomous driving functionality based on the application layer data element.
  • a non-transitory computer-readable medium stores instructions that when executed by a processor, cause the processor to receive, by an application layer of a protocol layer stack of a vehicular UE, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and implement autonomous driving functionality based on the application layer data element.
  • a vehicular UE for wireless communication includes a memory storing instructions and a processor in communication with the memory.
  • the processor is configured to execute the instructions to receive, by an application layer of a protocol layer stack of the vehicular UE, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and implement autonomous driving functionality based on the application layer data element.
  • a vehicular UE for wireless communication includes means for receiving, by an application layer of a protocol layer stack of the vehicular UE, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and means for implementing autonomous driving functionality based on the application layer data element.
  • a method of wireless communication includes generating, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and transmitting the vehicular communication message to a vehicular UE configured to implement autonomous driving functionality.
  • a non-transitory computer-readable medium stores instructions that when executed by a processor, cause the processor to generate, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and transmit the vehicular communication message to a vehicular UE configured to implement autonomous driving functionality.
  • a device in a further aspect, includes a memory storing instructions and a processor in communication with the memory.
  • the processor is configured to execute the instructions to generate, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and transmit the vehicular communication message to a vehicular UE configured to implement autonomous driving functionality.
  • a device in another aspect, includes means for generating, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and means for transmitting the vehicular communication message to a vehicular UE configured to implement autonomous driving functionality.
  • aspects may relate to one-to-one communication (e.g., a first UE/device to a second UE/device)
  • some other aspects may include a UE/device receiving data from multiple UEs/devices, or a UE/device sending data to multiple UEs/devices.
  • the one or more aspects comprise the features hereinafter fully described and particularly pointed out in the claims.
  • the following description and the annexed drawings set forth in detail certain illustrative features of the one or more aspects. These features are indicative, however, of but a few of the various ways in which the principles of various aspects may be employed, and this description is intended to include all such aspects and their equivalents.
  • FIG. 1 is a schematic diagram of an example wireless communications system and an access network, including user equipments (UEs) , base stations, and/or other devices configured for including lane attributes in data elements of application layer vehicular communication messages to improve autonomous and/or assisted driving functionality, according to some aspects;
  • UEs user equipments
  • base stations base stations
  • other devices configured for including lane attributes in data elements of application layer vehicular communication messages to improve autonomous and/or assisted driving functionality, according to some aspects
  • FIG. 2 is a schematic diagram of an example system for implementing vehicular communication for crossing an intersection, according to some aspects
  • FIG. 3 is a schematic diagram of an example curvature of a lane in a road, according to some aspects
  • FIG. 4 is a schematic diagram of an example longitudinal slope of a lane in a road, according to some aspects
  • FIG. 5 is a schematic diagram of an example transverse slope of a lane in a road, according to some aspects
  • FIG. 6 is a schematic diagram of an example system for implementing vehicular communication in performing a turn motion, according to some aspects
  • FIG. 7 is a schematic diagram of an example system for implementing vehicular communication in performing an uphill motion, according to some aspects
  • FIG. 8 is a block diagram of an example map data structure, according to some aspects.
  • FIG. 9 is a flowchart of an example method of wireless communication by a vehicular UE, according to some aspects.
  • FIG. 10 is a flowchart of an example method of wireless communication by a device such as a base station, according to some aspects
  • FIG. 11 is a schematic diagram of example components of a UE of FIG. 1, according to some aspects.
  • FIG. 12 is a schematic diagram of example components of a base station of FIG. 1, according to some aspects.
  • FIG. 13 is a diagram illustrating an example of a base station and a UE in an access network, according to some aspects.
  • the present aspects provide application layer messages for lane description in vehicular communication such as vehicle-to-vehicle (V2V) , vehicle-to-everything (V2X) , enhanced vehicle-to-everything (eV2X) , etc.
  • a UE such as a vehicle, or associated with a vehicle, may implement autonomous driving functionality based on road attributes indicated by application layer data elements included in a vehicular communication message. Suitable examples of such as data elements include information indicating a curvature, a longitudinal slope, and/or a transverse slope of a lane in a road.
  • the present aspects may provide improved autonomous driving functionality (e.g., in self-driving vehicles operating with reduced or zero human input) and/or improved driving experience (e.g., improved non-autonomous human driving) .
  • processors include microprocessors, microcontrollers, graphics processing units (GPUs) , central processing units (CPUs) , application processors, digital signal processors (DSPs) , reduced instruction set computing (RISC) processors, systems on a chip (SoC) , baseband processors, field programmable gate arrays (FPGAs) , programmable logic devices (PLDs) , state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functionality described throughout this disclosure.
  • processors in the processing system may execute software.
  • Software shall be construed broadly to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software components, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, etc., whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise.
  • the functions described may be implemented in hardware, software, or any combination thereof. If implemented in software, the functions may be stored on or encoded as one or more instructions or code on a computer-readable medium.
  • Computer-readable media includes computer storage media. Storage media may be any available media that can be accessed by a computer.
  • such computer-readable media can comprise a random-access memory (RAM) , a read-only memory (ROM) , an electrically erasable programmable ROM (EEPROM) , optical disk storage, magnetic disk storage, other magnetic storage devices, combinations of the aforementioned types of computer-readable media, or any other medium that can be used to store computer executable code in the form of instructions or data structures that can be accessed by a computer.
  • RAM random-access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable ROM
  • optical disk storage magnetic disk storage
  • magnetic disk storage other magnetic storage devices
  • combinations of the aforementioned types of computer-readable media or any other medium that can be used to store computer executable code in the form of instructions or data structures that can be accessed by a computer.
  • an example of a wireless communications system and an access network 100 includes UEs 104 and/or base stations 102 configured to implement autonomous and/or assisted driving functionality by communicating application layer messages that include data elements that indicate lane attributes of a lane in a road, such as a curvature and/or a slope of a lane in a road.
  • the UEs 104 may include a vehicular UE 148 that includes a lane description component 140 configured for enabling autonomous and/or assisted driving functionality based on one or more application layer data elements received in a map message describing the geography of a lane in a road, such as but not limited to a curvature 142 of the lane, a longitudinal slope 143 of the lane, a transverse slope 144 of the lane, a lane width 145 of the lane, and/or coordinate values of a set of spaced points 146 positioning a center line of the lane.
  • a lane description component 140 configured for enabling autonomous and/or assisted driving functionality based on one or more application layer data elements received in a map message describing the geography of a lane in a road, such as but not limited to a curvature 142 of the lane, a longitudinal slope 143 of the lane, a transverse slope 144 of the lane, a lane width 145 of the lane, and/or coordinate values of
  • the lane description component 140 in the vehicular UE 148 may be configured to receive an application layer message from another vehicular UE 149 that also includes a lane description component 140 that generates the application layer message to include data elements that indicate one or more of the aforementioned lane attributes.
  • the lane description component 140 in the vehicular UE 148 may be configured to receive the application layer message from a base station 102 that includes a central lane description component 147 that generates the application layer message to include data elements that indicate one or more of the aforementioned lane attributes.
  • the vehicular UE 148 may receive such application layer message from an infrastructure component such as a road side unit (RSU) , a toll structure, etc.
  • the vehicular UE 148 may receive such application layer message from a relay, a network component, etc.
  • At least one of the aforementioned data element may directly indicate a value for a curvature or slope of a lane in a road, so that the curvature or slope does not need to be indirectly inferred from other road attributes such as coordinates of multiple sequential points positioning a center line of the lane in the road.
  • the curvature may be indicated as a curvature radius value or as an inverse of a curvature radius value
  • the slope may be indicated as a ratio of rise to run or as an arctangent of a ratio of rise to run.
  • the vehicular UE 148 may receive the application layer message via V2X communications, e.g., may receive an application layer V2X message including data elements that indicate the lane attributes.
  • the V2X communications may include, for example, device-to-device (D2D) communication links 158 in a D2D communications system 141.
  • the V2X communications may be sent via the network, or may be relayed, for example, by an RSU.
  • the UEs 148 and 149 in the D2D communications system 141 may include various devices related to vehicles and transportation.
  • the aforementioned lane attributes may be centrally determined by a network or other authority and then communicated to other devices such as RSUs or vehicular UEs via an application layer map message, and/or may be at least partially determined in a distributed way, for example, by one or more vehicular UEs having sensors that provide sensor data that may be used to derive one or more of the lane attributes.
  • the wireless communications system (also referred to as a wireless wide area network (WWAN) ) further includes base stations 102, an Evolved Packet Core (EPC) 160, and/or another core network 190 (e.g., a 5G Core (5GC) ) .
  • the base stations 102 may include macro cells (high power cellular base station) and/or small cells (low power cellular base station) .
  • the macro cells include base stations.
  • the small cells include femtocells, picocells, and microcells.
  • the base stations 102 configured for 4G LTE may interface with the EPC 160 through backhaul links 132 (e.g., S1 interface) .
  • the base stations 102 configured for 5G NR may interface with the core network 190 through backhaul links 184.
  • UMTS Universal Mobile Telecommunications System
  • 5G NR Next Generation RAN
  • the base stations 102 may perform one or more of the following functions: transfer of user data, radio channel ciphering and deciphering, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity) , inter-cell interference coordination, connection setup and release, load balancing, distribution for non-access stratum (NAS) messages, NAS node selection, synchronization, radio access network (RAN) sharing, multimedia broadcast multicast service (MBMS) , subscriber and equipment trace, RAN information management (RIM) , paging, positioning, and delivery of warning messages.
  • NAS non-access stratum
  • RAN radio access network
  • MBMS multimedia broadcast multicast service
  • RIM RAN information management
  • the base stations 102 may communicate directly or indirectly (e.g., through the EPC 160 or the core network 190) with each other over backhaul links 134 (e.g., X2 interface) .
  • backhaul links 134 e.g., X2 interface
  • the backhaul links 132, 134, 184 may be wired or wireless.
  • the base stations 102 may wirelessly communicate with the UEs 104. Each of the base stations 102 may provide communication coverage for a respective geographic coverage area 110. There may be overlapping geographic coverage areas 110. For example, the small cell 102' may have a coverage area 110' that overlaps the coverage area 110 of one or more macro base stations 102.
  • a network that includes both small cells and macro cells may be known as a heterogeneous network.
  • a heterogeneous network may also include Home Evolved Node Bs (eNBs) (HeNBs) , which may provide service to a restricted group known as a closed subscriber group (CSG) .
  • eNBs Home Evolved Node Bs
  • HeNBs Home Evolved Node Bs
  • CSG closed subscriber group
  • the communication links 120 between the base stations 102 and the UEs 104 may include uplink (UL) (also referred to as reverse link) transmissions from a UE 104 to a base station 102 and/or downlink (DL) (also referred to as forward link) transmissions from a base station 102 to a UE 104.
  • the communication links 120 may use multiple-input and multiple-output (MIMO) antenna technology, including spatial multiplexing, beamforming, and/or transmit diversity.
  • the communication links may be through one or more carriers.
  • the base stations 102 /UEs 104 may use spectrum up to Y MHz (e.g., 5, 10, 15, 20, 100, 400, etc.
  • the component carriers may include a primary component carrier and one or more secondary component carriers.
  • a primary component carrier may be referred to as a primary cell (PCell) and a secondary component carrier may be referred to as a secondary cell (SCell) .
  • D2D communication link 158 may use the DL/UL WWAN spectrum.
  • the D2D communication link 158 may use one or more sidelink channels, such as a physical sidelink broadcast channel (PSBCH) , a physical sidelink discovery channel (PSDCH) , a physical sidelink shared channel (PSSCH) , and a physical sidelink control channel (PSCCH) .
  • PSBCH physical sidelink broadcast channel
  • PSDCH physical sidelink discovery channel
  • PSSCH physical sidelink shared channel
  • PSCCH physical sidelink control channel
  • D2D communication may be through a variety of wireless D2D communications systems, such as for example, FlashLinQ, WiMedia, Bluetooth, ZigBee, Wi-Fi based on the IEEE 802.11 standard, LTE, or NR. Additionally, the D2D communication link 158 may be implemented in vehicular systems, such as vehicle-to-vehicle (V2V) and/or vehicle-to-everything (V2X) networks and/or enhanced vehicle-to-everything (eV2X) networks.
  • V2V vehicle-to-vehicle
  • V2X vehicle-to-everything
  • eV2X enhanced vehicle-to-everything
  • the wireless communications system may further include a Wi-Fi access point (AP) 150 in communication with Wi-Fi stations (STAs) 152 via communication links 154 in a 5 GHz unlicensed frequency spectrum.
  • AP Wi-Fi access point
  • STAs Wi-Fi stations
  • communication links 154 in a 5 GHz unlicensed frequency spectrum.
  • the STAs 152 /AP 150 may perform a clear channel assessment (CCA) prior to communicating in order to determine whether the channel is available.
  • CCA clear channel assessment
  • the small cell 102' may operate in a licensed and/or an unlicensed frequency spectrum. When operating in an unlicensed frequency spectrum, the small cell 102' may employ NR and use the same 5 GHz unlicensed frequency spectrum as used by the Wi-Fi AP 150. The small cell 102', employing NR in an unlicensed frequency spectrum, may boost coverage to and/or increase capacity of the access network.
  • a base station 102 may include an eNB, gNodeB (gNB) , or another type of base station.
  • Some base stations, such as gNB 180 may operate in a traditional sub 6 GHz spectrum, in millimeter wave (mmW) frequencies, and/or near mmW frequencies in communication with the UE 104.
  • mmW millimeter wave
  • mmW millimeter wave
  • mmW base station Extremely high frequency (EHF) is part of the RF in the electromagnetic spectrum. EHF has a range of 30 GHz to 300 GHz and a wavelength between 1 millimeter and 10 millimeters.
  • Radio waves in the band may be referred to as a millimeter wave.
  • Near mmW may extend down to a frequency of 3 GHz with a wavelength of 100 millimeters.
  • the super high frequency (SHF) band extends between 3 GHz and 30 GHz, also referred to as centimeter wave.
  • Communications using the mmW /near mmW radio frequency band (e.g., 3 GHz –300 GHz) has extremely high path loss and a short range.
  • the mmW base station 180 may utilize beamforming 182 with the UE 104 to compensate for the extremely high path loss and short range.
  • the base station 180 may transmit a beamformed signal to the UE 104 in one or more transmit directions 182'.
  • the UE 104 may receive the beamformed signal from the base station 180 in one or more receive directions 182”.
  • the UE 104 may also transmit a beamformed signal to the base station 180 in one or more transmit directions.
  • the base station 180 may receive the beamformed signal from the UE 104 in one or more receive directions.
  • the base station 180 /UE 104 may perform beam training to determine the best receive and transmit directions for each of the base station 180 /UE 104.
  • the transmit and receive directions for the base station 180 may or may not be the same.
  • the transmit and receive directions for the UE 104 may or may not be the same.
  • the EPC 160 may include a Mobility Management Entity (MME) 162, other MMEs 164, a Serving Gateway 166, a Multimedia Broadcast Multicast Service (MBMS) Gateway 168, a Broadcast Multicast Service Center (BM-SC) 170, and a Packet Data Network (PDN) Gateway 172.
  • MME Mobility Management Entity
  • MBMS Multimedia Broadcast Multicast Service
  • BM-SC Broadcast Multicast Service Center
  • PDN Packet Data Network
  • the MME 162 may be in communication with a Home Subscriber Server (HSS) 174.
  • HSS Home Subscriber Server
  • the MME 162 is the control node that processes the signaling between the UEs 104 and the EPC 160.
  • the MME 162 provides bearer and connection management. All user Internet protocol (IP) packets are transferred through the Serving Gateway 166, which itself is connected to the PDN Gateway 172.
  • IP Internet protocol
  • the PDN Gateway 172 provides UE IP address allocation as well as other functions.
  • the PDN Gateway 172 and the BM-SC 170 are connected to the IP Services 176.
  • the IP Services 176 may include the Internet, an intranet, an IP Multimedia Subsystem (IMS) , a PS Streaming Service, and/or other IP services.
  • the BM-SC 170 may provide functions for MBMS user service provisioning and delivery.
  • the BM-SC 170 may serve as an entry point for content provider MBMS transmission, may be used to authorize and initiate MBMS Bearer Services within a public land mobile network (PLMN) , and may be used to schedule MBMS transmissions.
  • PLMN public land mobile network
  • the MBMS Gateway 168 may be used to distribute MBMS traffic to the base stations 102 belonging to a Multicast Broadcast Single Frequency Network (MBSFN) area broadcasting a particular service, and may be responsible for session management (start/stop) and for collecting eMBMS related charging information.
  • MMSFN Multicast Broadcast Single Frequency Network
  • the core network 190 may include an Access and Mobility Management Function (AMF) 192, other AMFs 193, a Session Management Function (SMF) 194, and a User Plane Function (UPF) 195.
  • the AMF 192 may be in communication with a Unified Data Management (UDM) 196.
  • the AMF 192 is the control node that processes the signaling between the UEs 104 and the core network 190.
  • the AMF 192 provides quality of service (QoS) flow and session management. All user Internet protocol (IP) packets are transferred through the UPF 195.
  • the UPF 195 provides UE IP address allocation as well as other functions.
  • the UPF 195 is connected to the IP Services 197.
  • the IP Services 197 may include the Internet, an intranet, an IP Multimedia Subsystem (IMS) , a PS Streaming Service, and/or other IP services.
  • IMS IP Multimedia Subsystem
  • the IP Services 176 and the IP Services 197 may be connected, for example, to allow for using the EPC in parallel for downlink MBMS transmission of the V2X messages.
  • the base station 102 may also be referred to as a gNB, Node B, evolved Node B (eNB) , an access point, a base transceiver station, a radio base station, a radio transceiver, a transceiver function, a basic service set (BSS) , an extended service set (ESS) , a transmit reception point (TRP) , or some other suitable terminology.
  • the base station 102 provides an access point to the EPC 160 or the core network 190 for a UE 104.
  • Examples of UEs 104 include a cellular phone, a smart phone, a session initiation protocol (SIP) phone, a laptop, a personal digital assistant (PDA) , a satellite radio, a global positioning system, a multimedia device, a video device, a digital audio player (e.g., MP3 player) , a camera, a game console, a tablet, a smart device, a wearable device, a vehicle, an electric meter, a gas pump, a large or small kitchen appliance, a healthcare device, an implant, a sensor/actuator, a display, or any other similar functioning device.
  • SIP session initiation protocol
  • PDA personal digital assistant
  • the UEs 104 may be referred to as IoT devices (e.g., parking meter, gas pump, toaster, vehicles, heart monitor, etc. ) .
  • the UE 104 may also be referred to as a station, a mobile station, a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a remote unit, a mobile device, a wireless device, a wireless communications device, a remote device, a mobile subscriber station, an access terminal, a mobile terminal, a wireless terminal, a remote terminal, a handset, a user agent, a mobile client, a client, or some other suitable terminology.
  • the UE 104 may be associated with a vehicle, and so the term “vehicle” may inherently include the associated UE 104, and/or the described vehicle-based analysis of sensor data, determining an intent, communicating the sensor data and/or the intent, and/or negotiating and subsequent communications may be performed by the associated UE 104.
  • autonomous driving vehicles may adjust driving strategies according to road information collected from their own sensors and/or received via V2X communication.
  • a lane may be generally defined by a lane width and a list of points positioning the center line of the lane.
  • the curvature of the lane may be indirectly described by multiple sequential points on the center line of the lane, and adjacent points are considered linked by a straight line, thus requiring a large number of points to sufficiently fit the curve of a lane that has a relatively high curvature.
  • the position of each lane point may be described by data elements providing a longitude, a latitude, and an elevation of that point.
  • offset values may be used in application layer messages to reduce payload.
  • the curvature and the slope are important road information for driving assistance. Inefficient collection of such information may adversely affect the vehicle motion control (e.g., speed, acceleration, etc. ) and sensory effect.
  • some aspects of the present disclosure define a set of application layer data elements that directly describe lane curvature and/or slope attributes in application layer messages.
  • the spacing between adjacent points in the set of spaced points positioning the center line of a lane may also vary by road features, and data elements of curvature, longitudinal slope, and/or transverse slope may be provided for each of the spaced points positioning the center line of a lane.
  • the data elements provided by the present aspects may be applied for advanced driving assistance and intelligent sensor control.
  • the data element definitions may be standardized by cellular vehicle-to-everything (C-V2X) related groups, such as Society of Automotive Engineers (SAE) , European Telecommunications Standards Institute (ETSI) , Intelligent Transport Systems (ITS) , Cooperative SAE/ITS (C-SAE/C-ITS) , etc.
  • SAE Society of Automotive Engineers
  • ETSI European Telecommunications Standards Institute
  • ITS Intelligent Transport Systems
  • C-SAE/C-ITS Cooperative SAE/ITS
  • a map message in V2X application layer may be used to convey geographic road information, including one or more intersection lane geometry maps.
  • a map message may provide detailed road information for autonomous driving assistance.
  • a lane is generally defined by lane width and a list of points positioning the center line of the lane, and the curvature of the lane may be indirectly described by multiple sequential points.
  • a number of point attributes may be defined to describe the features of certain positions/locations and/or road segments.
  • data elements indicating lane width variation and/or elevation variation may be used to describe a physical change along a lane.
  • the data elements may further indicate further information related to the lane or the road, such as white lines, merge areas, parking, etc. Thus, these data elements may reflect regulations related to the lane.
  • the safer strategies may be provided in advanced driver-assistance systems (ADAS) .
  • ADAS advanced driver-assistance systems
  • precise curvature information may help ADAS to determine speed or acceleration limitation for sharp curves.
  • a reduced visual range may be deduced based on the curvature of a lane.
  • other road/lane attributes such as longitudinal slope and transverse slope may affect driving strategy determination, for example, for motion status control.
  • an example topology of an intersection may be organized in several ingressing lanes 202 and egressing lanes 204 and connections 206 between such lanes.
  • Each lane may be defined by a lane width 212 and two or more points positioning a center line 210 of that lane.
  • a first point 208 (or stop line) provides a reference point for a corresponding lane and the other points defined with reference to the first point 208 based on changes in the lane attributes.
  • a curved lane may need more points for description as compared to a straight lane.
  • a data element of delevation may indicate a change of elevation between the points.
  • the curvature and the longitudinal slope may be roughly estimated by vehicles collecting the map message, and the accuracy of such estimations may depend on the density of points.
  • the present aspects introduce data elements of curvature, longitudinal slope, and/or transvers slope to directly indicate such physical features of a lane to assist ADAS.
  • the data elements of lane description may include data elements describing spaced points of a center line of a lane (the spacing value may vary according to road curvature change or other road attributes) , as well as data elements describing curvature and/or slope for each of the spaced points.
  • one or more of the data elements may be optional and may not be necessary for every point.
  • one or more of the data elements may be conveyed only when the related attributes change at a point.
  • one or more of the data elements may be defined by a full value or by an offset value relative to a previous value.
  • the curvature data element may be configured to indicate the value of the curvature radius 302 at a point 304 in a road or lane 306, or alternatively may be configured to indicate the curvature value which is the inverse of the curvature radius 302 at the point 304.
  • the curvature of the lane 306 at the point 304 may indicate the speed of rotation of a tangent 308 of the lane 306 at the point 304.
  • the default value of the curvature data element may be zero, while the corresponding default value of curvature radius is infinity, both indicating a straight line from the current point onwards.
  • the longitudinal slope may refer to the ratio of rise 404 (in vertical direction) to run 406 (in horizontal direction) when moving along the lane 408 in the road.
  • the data element indicating the longitudinal slope may be configured to indicate the corresponding angle value 402 instead of the longitudinal slope value, as follows:
  • the transverse slope may refer to the ratio of rise 504 (in vertical direction) to run 506 (in horizontal direction) when orthogonally crossing the lane 508 in the road.
  • the data element indicating the transverse slope may be configured to indicate the corresponding angle value 502 instead of the transverse slope value, as follows:
  • the curvature and slope information directly provided by respective data elements in the present aspects may be more precisely and directly used for autonomous driving systems and/or for intelligent sensor control. Further, in some road conditions, fewer points may be needed to fit the road curve. Further, the transvers slope provided by the present aspects may allow for improved driving assistance such as speed and acceleration control.
  • roadbeds with a slight transverse slope 602 may be designed to guarantee traffic safety, and the speed/acceleration requirements and visibility in these curves may be different than a normal roadway.
  • An ego vehicle 610 approaching a road curve may collect the curvature and slope information from another device, for example, from an RSU 608 or from other vehicles.
  • the “ego vehicle 610” may be defined as a vehicle controlled by ADAS, which may include the UE 104 and/or vehicular UE 148 or 149 described herein. The ego vehicle 610 may then intelligently adjust one or more sensors in advance to extend the efficient detection range of those sensors.
  • the ego vehicle 610 may adjust the position and/or angle of a sensor to change an original sensor range 604 to an adjusted sensor range 606.
  • the yaw angle of a sensor such as a camera or LIDAR may be adjusted toward the direction of a road curve so that the adjusted sensor range 606 matches the curve.
  • the ego vehicle 610 may decelerate to an allowed maximum speed (which may be calculated based on the curvature and/or slope of the road) to manage a safe turning motion in the curve.
  • a vehicle 702 may be travelling on a lane 708 and may be approaching an up-slope portion 710 of the lane 708.
  • the vehicle 702 may extend the current perception range 704 of a vehicle sensor to an adjusted perception range 706 by changing a pitch angle of the vehicle sensor toward the up-slope.
  • the vehicle 702 may calculate and implement an efficient acceleration value to manage the climbing motion on the up-slope portion 710.
  • a map message may include a sequence of optional or mandatory data elements and/or data frames, with each data frame including one or more data elements.
  • a data element is the basic type of data structure in the application layer map message, e.g., a minimum data unit or data structure that cannot be broken into a smaller data unit/structure.
  • a data element may be defined by a parameter in the map message, where the parameter is defined by one or more mandatory or optional attributes such as name, range, meaning, etc.
  • a map message used in V2X application layer to convey geographic road information may include a map data structure 800, such as an SAE MapData structure in the SAE J2735 standard.
  • the map data structure 800 may include multiple intersection structs 802 or road segment structs 804, where a struct is a programming statement defining a data type.
  • Each intersection struct 802 or road segment struct 804 may include data elements such as reference position, related lanes list, and lane width.
  • Each lane struct 806 of an intersection struct 802 or road segment struct 804 may include a node list indicating the center line position of the corresponding lane and respective attributes (e.g., curvature, slope, etc. ) , as well as connections to other lanes.
  • Each lane struct 806 may include one or more lane attributes struct 808 that provides one or more of the lane attributes described herein with reference to various aspects.
  • the data elements described with reference to the present aspects are not limited to application layer map messages, and may be used in other applications such as sensor sharing and/or dynamic information sharing between an RSU and one or more vehicles.
  • a method 900 for wireless communication at a vehicular UE may be performed by an apparatus such as a UE 104 (which may be the UE 148 in FIG. 1) , or more particularly, such as the lane description component 140 being executed by a processor 1112 of a UE 104 as described herein with reference to FIG. 11 below.
  • the method 900 for wireless communication at a vehicular UE may be performed by a UE 104 which may include a memory 1116 and may be the entire UE 104 or a component of the UE 104 such as the lane description component 140, the modem 1114, the processor 1112, the transceiver 1102, the antenna 1165, etc.
  • the method 900 includes receiving, by an application layer of a protocol layer stack of the vehicular UE, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road.
  • the UE 104, the lane description component 140, the modem 1114, the processor 1112, the transceiver 1102, the antenna 1165, and/or the memory 1116 may receive, by an application layer of a protocol layer stack of the vehicular UE, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road.
  • a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road.
  • an ego vehicle 610 approaching a road curve may receive a vehicular communication message from another device (e.g., an RSU 608 or from other vehicles) , where the vehicular communication message includes an application layer data element that directly indicates a curvature or a slope of a lane in a road receive.
  • the UE 104, the lane description component 140, the modem 1114, the processor 1112, the transceiver 1102, the antenna 1165, and/or the memory 1116 may provide means for receiving, by an application layer of a protocol layer stack of the vehicular UE, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road.
  • receiving the vehicular communication message at block 902 may include receiving the vehicular communication message from another vehicular UE, a network, an infrastructure, RSU, or a relay.
  • the vehicular communication message may further include one or more application layer data elements that indicate a lane width of the lane.
  • the vehicular communication message may further include one or more application layer data elements that indicate a longitude value, a latitude value, and an elevation value for each point in a list of spaced points positioning a center line of the lane.
  • a spacing between two consecutive points in the list of spaced points may be a function of the curvature of the road.
  • At least one of the one or more application layer data elements may indicate a differential value of a position, curvature, or slope of a point in the list of spaced points as compared to a neighboring point in the list of spaced points.
  • At least one of the one or more application layer data elements may indicate a differential value of a position, curvature, or slope of a point in the list of spaced points as compared to a corresponding previous value of the position, curvature, or slope of the point in the list of spaced points.
  • the one or more application layer data elements may indicate a plurality of curvatures or slopes, each associated with at least one point in the list of spaced points.
  • the slope may include a longitudinal slope or a transverse slope or both.
  • the vehicular communication message may include a V2X message.
  • the method 900 further includes implementing autonomous driving functionality based on the application layer data element.
  • the UE 104, the lane description component 140, the modem 1114, the processor 1112, the transceiver 1102, the antenna 1165, and/or the memory 1116 may implement autonomous driving functionality based on the application layer data element.
  • the ego vehicle 610 approaching a road curve may intelligently adjust one or more sensors in advance to extend the efficient detection range of those sensors.
  • the ego vehicle 610 may adjust the position and/or angle of a sensor to change an original sensor range 604 to an adjusted sensor range 606.
  • the yaw angle of a sensor such as a camera or LIDAR may be adjusted toward the direction of a road curve so that the adjusted sensor range 606 matches the curve.
  • the ego vehicle 610 may decelerate to an allowed maximum speed (which may be calculated based on the curvature and/or slope of the road) to manage a safe turning motion in the curve.
  • the UE 104, the lane description component 140, the modem 1114, the processor 1112, the transceiver 1102, the antenna 1165, and/or the memory 1116 may provide means for implementing autonomous driving functionality based on the application layer data element.
  • implementing the autonomous driving functionality at block 904 may include controlling a motion of the vehicular UE on the road.
  • implementing the autonomous driving functionality at block 904 may include implementing according to an ADAS.
  • implementing the autonomous driving functionality at block 904 may include controlling a speed or an acceleration of the vehicular UE.
  • implementing the autonomous driving functionality at block 904 may include adjusting a detection range of a sensor used in an ADAS.
  • the senor may include a camera, a radar, or a LIDAR sensor.
  • adjusting the detection range of the sensor may include adjusting a position or an angle of the sensor based on the curvature of the lane in the road.
  • adjusting the detection range of the sensor may include adjusting a yaw angle of the sensor toward the curvature of the lane in the road.
  • the slope may include a longitudinal slope
  • adjusting the detection range of the sensor may include adjusting a pitch angle of the sensor toward the longitudinal slope of the lane in the road.
  • implementing the autonomous driving functionality at block 904 may include determining a speed or acceleration limitation based on the curvature or the slope of the lane in the road.
  • implementing the autonomous driving functionality at block 904 may include managing a safe turning of the vehicular UE by decelerating to an allowed maximum speed.
  • implementing the autonomous driving functionality at block 904 may include determining the speed or acceleration limitation based on a sharpness level of the curvature of the lane in the road.
  • the slope may include a longitudinal slope
  • implementing the autonomous driving functionality at block 904 may include determining an efficient acceleration value based on the longitudinal slope to manage an uphill motion of the vehicular UE.
  • a method 1000 of wireless communication may be performed by a device such as a base station 102, or more particularly, such as the central lane description component 147 being executed by a processor 1212 of a base station 102 as described herein with reference to FIG. 12 below.
  • the method 1000 for wireless communication may be performed by a base station 102 which may include a memory 1216 and may be the entire base station 102 or a component of the base station 102 such as the central lane description component 147, the modem 1214, the processor 1212, the transceiver 1202, the antenna 1265, etc.
  • the method 1000 may also be performed by the same/similar components of any other device that communicates with a vehicular UE, such as another vehicular UE, a network, an infrastructure, an RSU, a relay, etc.
  • a vehicular UE such as another vehicular UE, a network, an infrastructure, an RSU, a relay, etc.
  • the method 1000 includes generating, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road.
  • the base station 102, the central lane description component 147, the modem 1214, the processor 1212, the transceiver 1202, the antenna 1265, and/or the memory 1216 may generate, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road.
  • a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road.
  • a base station 102 may include a central lane description component 147 configured for enabling autonomous and/or assisted driving functionality by generating an application layer map message that includes one or more application layer data elements describing the geography of a lane in a road, such as but not limited to a curvature 142 of the lane, a longitudinal slope 143 of the lane, a transverse slope 144 of the lane, a lane width 145 of the lane, and/or coordinate values of a set of spaced points 146 positioning a center line of the lane.
  • a central lane description component 147 configured for enabling autonomous and/or assisted driving functionality by generating an application layer map message that includes one or more application layer data elements describing the geography of a lane in a road, such as but not limited to a curvature 142 of the lane, a longitudinal slope 143 of the lane, a transverse slope 144 of the lane, a lane width 145 of the lane, and/or coordinate values of a set of space
  • the base station 102, the central lane description component 147, the modem 1214, the processor 1212, the transceiver 1202, the antenna 1265, and/or the memory 1216 may provide means for generating, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road.
  • the method 1000 includes transmitting the vehicular communication message to a vehicular UE configured to implement autonomous driving functionality.
  • the base station 102, the central lane description component 147, the modem 1214, the processor 1212, the transceiver 1202, the antenna 1265, and/or the memory 1216 may transmit the vehicular communication message to a vehicular UE configured to implement autonomous driving functionality.
  • the base station 102 may transmit the map message to the vehicular UE 148 that includes the lane description component 140 configured for enabling autonomous and/or assisted driving functionality based the application layer data elements received in the map message from the base station 102.
  • a UE may receive data from multiple UEs/devices or may communicate to multiple UEs/devices.
  • one example of an implementation of the UE 104 which may be the UE 148 or the UE 149 in FIG. 1, may include a variety of components, some of which have already been described above, but including components such as one or more processors 1112 and memory 1116 and transceiver 1102 in communication via one or more buses 1144, which may operate in conjunction with modem 1114 and/or the lane description component 140 to enable one or more of the functions described herein related to vehicular communication.
  • the one or more processors 1112, modem 1114, memory 1116, transceiver 1102, RF front end 1188, and one or more antennas 1165 may be configured to support voice and/or data calls (simultaneously or non-simultaneously) in one or more radio access technologies.
  • the antennas 1165 may include one or more antennas, antenna elements, and/or antenna arrays.
  • the one or more processors 1112 can include a modem 1114 that uses one or more modem processors.
  • the various functions related to the lane description component 140 may be included in modem 1114 and/or processors 1112 and, in an aspect, can be executed by a single processor, while in other aspects, different ones of the functions may be executed by a combination of two or more different processors.
  • the one or more processors 1112 may include any one or any combination of a modem processor, or a baseband processor, or a digital signal processor, or a transmit processor, or a receiver processor, or a transceiver processor associated with transceiver 1102. In other aspects, some of the features of the one or more processors 1112 and/or modem 1114 associated with the lane description component 140 may be performed by transceiver 1102.
  • memory 1116 may be configured to store data used herein and/or local versions of applications 1175, the lane description component 140, and/or one or more of subcomponents thereof being executed by at least one processor 1112.
  • Memory 1116 can include any type of computer-readable medium usable by a computer or at least one processor 1112, such as random access memory (RAM) , read only memory (ROM) , tapes, magnetic discs, optical discs, volatile memory, non-volatile memory, and any combination thereof.
  • RAM random access memory
  • ROM read only memory
  • tapes such as magnetic discs, optical discs, volatile memory, non-volatile memory, and any combination thereof.
  • memory 1116 may be a non-transitory computer-readable storage medium that stores one or more computer- executable codes defining the lane description component 140 and/or one or more of subcomponents thereof, and/or data associated therewith, when UE 104 is operating at least one processor 1112 to execute the lane description component 140 and/or one or more subcomponents thereof.
  • Transmitter 1108 may include hardware, firmware, and/or software code executable by a processor for transmitting data, the code comprising instructions and being stored in a memory (e.g., computer-readable medium) .
  • a suitable example of transmitter 1108 may include, but is not limited to, an RF transmitter.
  • UE 104 may include RF front end 1188, which may operate in communication with one or more antennas 1165 and transceiver 1102 for receiving and transmitting radio transmissions, for example, wireless communications transmitted by at least one base station 102 or wireless transmissions transmitted by UE 104.
  • RF front end 1188 may be connected to one or more antennas 1165 and can include one or more low-noise amplifiers (LNAs) 1190, one or more switches 1192, one or more power amplifiers (PAs) 1198, and one or more filters 1196 for transmitting and receiving RF signals.
  • LNAs low-noise amplifiers
  • PAs power amplifiers
  • LNA 1190 can amplify a received signal at a desired output level.
  • each LNA 1190 may have a specified minimum and maximum gain values.
  • RF front end 1188 may use one or more switches 1192 to select a particular LNA 1190 and an associated specified gain value based on a desired gain value for a particular application.
  • one or more PA (s) 1198 may be used by RF front end 1188 to amplify a signal for an RF output at a desired output power level.
  • each PA 1198 may have specified minimum and maximum gain values.
  • RF front end 1188 may use one or more switches 1192 to select a particular PA 1198 and its specified gain value based on a desired gain value for a particular application.
  • one or more filters 1196 can be used by RF front end 1188 to filter a received signal to obtain an input RF signal.
  • a respective filter 1196 can be used to filter an output from a respective PA 1198 to produce an output signal for transmission.
  • each filter 1196 can be connected to a specific LNA 1190 and/or PA 1198.
  • RF front end 1188 can use one or more switches 1192 to select a transmit or receive path using a specified filter 1196, LNA 1190, and/or PA 1198, based on a configuration as specified by transceiver 1102 and/or processor 1112.
  • transceiver 1102 may be configured to transmit and receive wireless signals through one or more antennas 1165 via RF front end 1188.
  • transceiver may be tuned to operate at specified frequencies such that UE 104 can communicate with, for example, one or more base stations 102 or one or more cells associated with one or more base stations 102.
  • modem 1114 can configure transceiver 1102 to operate at a specified frequency and power level based on the UE configuration of the UE 104 and the communication protocol used by modem 1114.
  • a base station which may be a base station 102 in FIG. 1, may include a variety of components, some of which have already been described above, but including components such as one or more processors 1212 and memory 1216 and transceiver 1202 in communication via one or more buses 1254, which may operate in conjunction with modem 1214 and/or the central lane description component 147 to enable one or more of the functions described herein related to vehicular communication.
  • components such as one or more processors 1212 and memory 1216 and transceiver 1202 in communication via one or more buses 1254, which may operate in conjunction with modem 1214 and/or the central lane description component 147 to enable one or more of the functions described herein related to vehicular communication.
  • the transceiver 1202, receiver 1206, transmitter 1208, one or more processors 1212, memory 1216, applications 1275, buses 1254, RF front end 1288, LNAs 1290, switches 1292, filters 1296, PAs 1298, and one or more antennas 1265 may be the same as or similar to the corresponding components of UE 104, as described above, but configured or otherwise programmed for base station operations as opposed to UE operations.
  • FIG. 13 is a block diagram of a base station 1310 in communication with a UE 1350 in an access network, where the base station 1310 may be the same as or may include at least a portion of a base station 102 in FIG. 1, and the UE 1350 may be the same as or may include at least a portion of a UE 104 in FIG. 1.
  • IP packets from the EPC 160 may be provided to a controller/processor 1375.
  • the controller/processor 1375 implements layer 3 and layer 2 functionality.
  • Layer 3 includes a radio resource control (RRC) layer
  • layer 2 includes a service data adaptation protocol (SDAP) layer, a packet data convergence protocol (PDCP) layer, a radio link control (RLC) layer, and a medium access control (MAC) layer.
  • RRC radio resource control
  • SDAP service data adaptation protocol
  • PDCP packet data convergence protocol
  • RLC radio link control
  • MAC medium access control
  • the controller/processor 1375 provides RRC layer functionality associated with broadcasting of system information (e.g., MIB, SIBs) , RRC connection control (e.g., RRC connection paging, RRC connection establishment, RRC connection modification, and RRC connection release) , inter radio access technology (RAT) mobility, and measurement configuration for UE measurement reporting; PDCP layer functionality associated with header compression /decompression, security (ciphering, deciphering, integrity protection, integrity verification) , and handover support functions; RLC layer functionality associated with the transfer of upper layer packet data units (PDUs) , error correction through ARQ, concatenation, segmentation, and reassembly of RLC service data units (SDUs) , re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto transport blocks (TBs) , demultiplexing of MAC SDU
  • the transmit (TX) processor 1316 and the receive (RX) processor 1370 implement layer 1 functionality associated with various signal processing functions.
  • Layer 1 which includes a physical (PHY) layer, may include error detection on the transport channels, forward error correction (FEC) coding/decoding of the transport channels, interleaving, rate matching, mapping onto physical channels, modulation/demodulation of physical channels, and MIMO antenna processing.
  • the TX processor 1316 handles mapping to signal constellations based on various modulation schemes (e.g., binary phase-shift keying (BPSK) , quadrature phase-shift keying (QPSK) , M-phase-shift keying (M-PSK) , M-quadrature amplitude modulation (M-QAM) ) .
  • BPSK binary phase-shift keying
  • QPSK quadrature phase-shift keying
  • M-PSK M-phase-shift keying
  • M-QAM M-quadrature amplitude modulation
  • the coded and modulated symbols may then be split into parallel streams.
  • Each stream may then be mapped to an OFDM subcarrier, multiplexed with a reference signal (e.g., pilot) in the time and/or frequency domain, and then combined together using an Inverse Fast Fourier Transform (IFFT) to produce a physical channel carrying a time domain OFDM symbol stream.
  • IFFT Inverse Fast Fourier Transform
  • the OFDM stream is spatially precoded to produce multiple spatial streams.
  • Channel estimates from a channel estimator 1374 may be used to determine the coding and modulation scheme, as well as for spatial processing.
  • the channel estimate may be derived from a reference signal and/or channel condition feedback transmitted by the UE 1350.
  • Each spatial stream may then be provided to a different antenna 1320 via a separate transmitter 1318TX.
  • Each transmitter 1318TX may modulate an RF carrier with a respective spatial stream for transmission.
  • each receiver 1354RX receives a signal through its respective antenna 1352.
  • Each receiver 1354RX recovers information modulated onto an RF carrier and provides the information to the receive (RX) processor 1356.
  • the TX processor 1368 and the RX processor 1356 implement layer 1 functionality associated with various signal processing functions.
  • the RX processor 1356 may perform spatial processing on the information to recover any spatial streams destined for the UE 1350. If multiple spatial streams are destined for the UE 1350, they may be combined by the RX processor 1356 into a single OFDM symbol stream.
  • the RX processor 1356 then converts the OFDM symbol stream from the time-domain to the frequency domain using a Fast Fourier Transform (FFT) .
  • FFT Fast Fourier Transform
  • the frequency domain signal includes a separate OFDM symbol stream for each subcarrier of the OFDM signal.
  • the symbols on each subcarrier, and the reference signal, are recovered and demodulated by determining the most likely signal constellation points transmitted by the base station 1310. These soft decisions may be based on channel estimates computed by the channel estimator 1358.
  • the soft decisions are then decoded and deinterleaved to recover the data and control signals that were originally transmitted by the base station 1310 on the physical channel.
  • the data and control signals are then provided to the controller/processor 1359, which implements layer 3 and layer 2 functionality.
  • the controller/processor 1359 can be associated with a memory 1360 that stores program codes and data.
  • the memory 1360 may be referred to as a computer-readable medium.
  • the controller/processor 1359 provides demultiplexing between transport and logical channels, packet reassembly, deciphering, header decompression, and control signal processing to recover IP packets from the EPC 160.
  • the controller/processor 1359 is also responsible for error detection using an ACK and/or NACK protocol to support HARQ operations.
  • the controller/processor 1359 provides RRC layer functionality associated with system information (e.g., MIB, SIBs) acquisition, RRC connections, and measurement reporting; PDCP layer functionality associated with header compression /decompression, and security (ciphering, deciphering, integrity protection, integrity verification) ; RLC layer functionality associated with the transfer of upper layer PDUs, error correction through ARQ, concatenation, segmentation, and reassembly of RLC SDUs, re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto TBs, demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction through HARQ, priority handling, and logical channel prioritization.
  • RRC layer functionality associated with system information (e.g., MIB, SIBs) acquisition, RRC connections, and measurement reporting
  • PDCP layer functionality associated with
  • Channel estimates derived by a channel estimator 1358 from a reference signal or feedback transmitted by the base station 1310 may be used by the TX processor 1368 to select the appropriate coding and modulation schemes, and to facilitate spatial processing.
  • the spatial streams generated by the TX processor 1368 may be provided to different antenna 1352 via separate transmitters 1354TX. Each transmitter 1354TX may modulate an RF carrier with a respective spatial stream for transmission.
  • the UL transmission is processed at the base station 1310 in a manner similar to that described in connection with the receiver function at the UE 1350.
  • Each receiver 1318RX receives a signal through its respective antenna 1320.
  • Each receiver 1318RX recovers information modulated onto an RF carrier and provides the information to a RX processor 1370.
  • At least one of the TX processor 1368, the RX processor 1356, and the controller/processor 1359 may be configured to perform aspects in connection with the lane description component 140 of a UE 104 in FIG. 1.
  • At least one of the TX processor 1316, the RX processor 1370, and the controller/processor 1375 may be configured to perform aspects in connection with the central lane description component 147 of a base station 102 in FIG. 1.
  • An example method of wireless communication at a vehicular user equipment comprising: receiving, by an application layer of a protocol layer stack of the vehicular UE, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and implementing autonomous driving functionality based on the application layer data element.
  • the receiving comprises receiving the vehicular communication message from another vehicular UE, a network, an infrastructure, a road side unit (RSU) , or a relay.
  • RSU road side unit
  • the vehicular communication message further includes one or more application layer data elements that indicate a lane width of the lane.
  • the vehicular communication message further includes one or more application layer data elements that indicate a longitude value, a latitude value, and an elevation value for each point in a list of spaced points positioning a center line of the lane.
  • At least one of the one or more application layer data elements indicates a differential value of a position, curvature, or slope of a point in the list of spaced points as compared to a neighboring point in the list of spaced points.
  • At least one of the one or more application layer data elements indicates a differential value of a position, curvature, or slope of a point in the list of spaced points as compared to a corresponding previous value of the position, curvature, or slope of the point in the list of spaced points.
  • the one or more application layer data elements indicate a plurality of curvatures or slopes, each associated with at least one point in the list of spaced points.
  • implementing the autonomous driving functionality comprises controlling a motion of the vehicular UE on the road.
  • implementing the autonomous driving functionality comprises implementing according to an advanced driver-assistance system (ADAS) .
  • ADAS advanced driver-assistance system
  • implementing the autonomous driving functionality comprises controlling a speed or an acceleration of the vehicular UE.
  • implementing the autonomous driving functionality comprises adjusting a detection range of a sensor used in an advanced driver-assistance system (ADAS) .
  • ADAS advanced driver-assistance system
  • the senor comprises a camera, a radar, or a light detection and ranging (LIDAR) sensor.
  • the sensor comprises a camera, a radar, or a light detection and ranging (LIDAR) sensor.
  • adjusting the detection range of the sensor comprises adjusting a position or an angle of the sensor based on the curvature of the lane in the road.
  • adjusting the detection range of the sensor comprises adjusting a yaw angle of the sensor toward the curvature of the lane in the road.
  • adjusting the detection range of the sensor comprises adjusting a pitch angle of the sensor toward the longitudinal slope of the lane in the road.
  • implementing the autonomous driving functionality comprises determining a speed or acceleration limitation based on the curvature or the slope of the lane in the road.
  • implementing the autonomous driving functionality further comprises managing a safe turning of the vehicular UE by decelerating to an allowed maximum speed.
  • implementing the autonomous driving functionality comprises determining the speed or acceleration limitation based on a sharpness level of the curvature of the lane in the road.
  • any of the above methods of wireless communication wherein the slope comprises a longitudinal slope
  • implementing the autonomous driving functionality comprises determining an efficient acceleration value based on the longitudinal slope to manage an uphill motion of the vehicular UE.
  • the slope comprises a longitudinal slope or a transverse slope or both.
  • the vehicular communication message comprises a vehicle-to-everything (V2X) message.
  • V2X vehicle-to-everything
  • An example non-transitory computer-readable medium storing instructions that when executed by a processor, cause the processor to: receive, by an application layer of a protocol layer stack of a vehicular user equipment (UE) , a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and implement autonomous driving functionality based on the application layer data element.
  • UE vehicular user equipment
  • An example vehicular user equipment for wireless communication, comprising: a memory storing instructions; and a processor in communication with the memory, wherein the processor is configured to execute the instructions to: receive, by an application layer of a protocol layer stack of the vehicular UE, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and implement autonomous driving functionality based on the application layer data element.
  • the above vehicular UE wherein the processor is further configured to perform any of the above methods.
  • An example vehicular user equipment (UE) for wireless communication comprising: means for receiving, by an application layer of a protocol layer stack of the vehicular UE, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and means for implementing autonomous driving functionality based on the application layer data element.
  • UE vehicular user equipment
  • the above vehicular UE further comprising means for performing any of the above methods.
  • An example method of wireless communication comprising: generating, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and transmitting the vehicular communication message to a vehicular user equipment (UE) configured to implement autonomous driving functionality.
  • UE vehicular user equipment
  • An example non-transitory computer-readable medium storing instructions that when executed by a processor, cause the processor to: generate, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and transmit the vehicular communication message to a vehicular user equipment (UE) configured to implement autonomous driving functionality.
  • UE vehicular user equipment
  • An example device comprising: a memory storing instructions; and a processor in communication with the memory, wherein the processor is configured to execute the instructions to: generate, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and transmit the vehicular communication message to a vehicular user equipment (UE) configured to implement autonomous driving functionality.
  • UE vehicular user equipment
  • An example device comprising: means for generating, by an application layer of a protocol layer stack of a device, a vehicular communication message including an application layer data element that directly indicates a curvature or a slope of a lane in a road; and means for transmitting the vehicular communication message to a vehicular user equipment (UE) configured to implement autonomous driving functionality.
  • UE vehicular user equipment
  • Combinations such as “at least one of A, B, or C, ” “one or more of A, B, or C, ” “at least one of A, B, and C, ” “one or more of A, B, and C, ” and “A, B, C, or any combination thereof” include any combination of A, B, and/or C, and may include multiples of A, multiples of B, or multiples of C.
  • combinations such as “at least one of A, B, or C, ” “one or more of A, B, or C, ” “at least one of A, B, and C, ” “one or more of A, B, and C, ” and “A, B, C, or any combination thereof” may be A only, B only, C only, A and B, A and C, B and C, or A and B and C, where any such combinations may contain one or more member or members of A, B, or C.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)

Abstract

Des procédés, des appareils et des supports lisibles par ordinateur destinés à la communication sans fil sont divulgués par la présente divulgation. Selon un aspect, une couche d'application d'un empilement de couches de protocole d'un équipement utilisateur (UE) de véhicule reçoit un message de communication de véhicule comportant un élément de données de couche d'application qui indique directement une courbure ou une pente d'une voie dans une route. L'UE de véhicule peut ensuite mettre en œuvre une fonctionnalité de conduite autonome reposant sur l'élément de données de couche d'application. Dans un autre aspect, une couche d'application d'un empilement de couches de protocole d'un dispositif génère un message de communication de véhicule comportant un élément de données de couche d'application qui indique directement une courbure ou une pente d'une voie dans une route. Le dispositif peut ensuite transmettre le message de communication de véhicule à un UE de véhicule configuré pour mettre en œuvre une fonctionnalité de conduite autonome.
PCT/CN2020/095954 2020-06-12 2020-06-12 Messages de couche d'application pour description de voie dans une communication de véhicule WO2021248495A1 (fr)

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CN110989569A (zh) * 2019-11-20 2020-04-10 华为技术有限公司 一种车辆行驶控制方法及相关设备
CN111076731A (zh) * 2019-10-28 2020-04-28 张少军 自动驾驶高精定位与路径规划方法
EP3656624A1 (fr) * 2018-11-20 2020-05-27 C.R.F. Società Consortile per Azioni Commande préventive de stabilité électronique pour un automobile
US20200164875A1 (en) * 2017-06-09 2020-05-28 Volvo Truck Corporation A method for controlling a differential braking arrangement

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US20200164875A1 (en) * 2017-06-09 2020-05-28 Volvo Truck Corporation A method for controlling a differential braking arrangement
US20190086929A1 (en) * 2017-09-20 2019-03-21 Tata Consultancy Services Limited System and method for steering control during autonomous vehicle driving
CN109927708A (zh) * 2017-12-15 2019-06-25 宝沃汽车（中国）有限公司 车辆扭矩的控制方法、控制系统、车辆和车联网系统
EP3656624A1 (fr) * 2018-11-20 2020-05-27 C.R.F. Società Consortile per Azioni Commande préventive de stabilité électronique pour un automobile
CN111076731A (zh) * 2019-10-28 2020-04-28 张少军 自动驾驶高精定位与路径规划方法
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