TECHNICAL FIELD

The present disclosure is directed to a vehicle-to-everything (V2X) communication system and more particularly to a message with autonomous driving information in the V2X communication system.

BACKGROUND

Vehicle-to-everything (V2X) is a technology that allows vehicles to communicate with moving parts of a surrounding traffic system them that is used in driver assistance and autonomous driving systems. V2X has several components including vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), and vehicle-to-network (V2N). The V2X system has a unique non line-of sight sensing capability that uses dynamic information among neighboring vehicles, infrastructure, and pedestrians to detect potential hazards, traffic, and road conditions from longer distances and sooner than in-vehicle sensors. This dynamic information may be exchanged with neighboring vehicles for Advanced Driving Support Systems (ADAS), and more particularly to Autonomous Driving (AD) functions, to make accurate driving policy decisions.

V2X communication systems operate using messaging standards that are defined by SAE 2735 and by ETSI. However, current V2X communication systems are designed to provide driver assistance, which corresponds to Level 0 (of six levels, 0-5) in the definition of automation levels in SAE J3016. Higher levels of autonomous vehicles have more powerful capabilities meaning levels of automation above Level 1 introduce new requirements that are not covered by current V2X systems. There is a need to enhance the information exchanged among vehicles.

SUMMARY

Embodiments are disclosed for a V2X communication system with autonomous driving information. An example vehicle system includes one or more systems for sending and receiving position and sensor data. An in-vehicle communication system is configured to send and receive position data about the vehicle and surrounding vehicles and other sensor data in the V2X system. An in-vehicle computing system has an intention data extraction module that extracts driving intention data, a driving capability extraction module that extracts driving capability data, and a driving mode extraction data module that extracts driving mode data from the systems including the autonomous driving system. Autonomous driving information is derived from the extracted data. A message frame is created that includes the autonomous driving information. The message frame is sent to the V2X system.

The autonomous driving information includes route data, driving behavior and motion. Route data may include a sequence of waypoints. Driving behavior data may include a driving task and driving motion data may include a vehicle trajectory. Driving capability data includes an autonomous driving level. The message frame may be an extension of a Basic Safety Message (BSM) that may be sent upon request by a nearby vehicle in the V2X system.

Embodiments are disclosed for a method for communicating autonomous driving information in a V2X system. The method includes extracting driving intention data, driving capability data, and driving mode data from an autonomous driving system. Autonomous driving information is derived from the extracted data and a message frame is created that includes the autonomous driving information. The message frame is sent to the V2X system as a stand-alone message or as an extension to a Basic Safety Message. The message frame may be sent periodically or upon request by a nearby vehicle in the V2X system.

