Abstract: A vehicular micro cloud includes a set of connected vehicles that are operable to provide computational services to the set of connected vehicles. The disclosure includes embodiments for mobility-oriented data replication in the vehicular micro cloud. In some embodiments, a method includes, for each data set stored by the set of connected vehicles, determining a number of replicas to generate based on one or more mobility-based criteria. The method includes generating instances of replica data that describe the replicas. The method includes, for individual instances of replica data, determining which of the connected vehicles included in the set to use as storage locations for the individual instances of replica data based on the one or more mobility-based criteria. The method includes causing the individual instances of replica data to be stored in the storage locations. For example, the individual instances of replica data are transmitted to the storage locations.

Abstract: System, methods, and other embodiments described herein relate to resolving a standoff by a vehicle. In one embodiment, a method includes generating a happens-before relationship that explains events between the vehicle and other vehicles before the standoff. The standoff may be a dispute for a right of way between the vehicle and the other vehicles. The method also includes identifying the standoff using a causality relationship analysis according to the happens-before relationship. The method also includes generating a mitigation plan for the standoff that forms standoff solutions in association with the standoff being similar to a prior standoff. The method also includes resolving the standoff by causing vehicle maneuvers associated with the vehicle according to the standoff solutions.

Abstract: The disclosure includes embodiments for generating and distributing knowledge. In some embodiments, a method for a connected endpoint includes analyzing, on an information layer, sensor data to generate a set of information that describes one or more events that occur in a roadway environment. The method includes generating, on a knowledge layer, knowledge based on the set of information according to a standard to increase a use efficiency of one or more computational resources of the connected endpoint and to improve a capability of the connected endpoint to distribute the knowledge.

Abstract: The disclosure includes embodiments for spinning out members of a first vehicular micro cloud to form a second vehicular micro cloud. According to some embodiments, a method includes forming a first vehicular micro cloud including a set of members. The method includes exiting the first vehicular micro cloud by a subset of the members of the first vehicular micro cloud. The method incudes identifying a reason to form a second vehicular micro cloud by the subset. The method includes executing steps, by a processor and a wireless radio, to form the second vehicular micro cloud by the subset based on the identification of the reason so that, by the formation of the second vehicular micro cloud, the spinning out of the subset of the members of the first vehicular micro cloud is achieved. The processor and the wireless radio are elements of a hub of the second vehicular micro cloud.

Abstract: Systems, methods, and other embodiments described herein relate to dynamically updating an existing vehicular micro cloud. In one embodiment, a method includes determining one or more parameters of an environment around a plurality of vehicles, and identifying an impact of the one or more parameters of the environment on one or more of the plurality of vehicles associated with the existing vehicular micro cloud. The method includes identifying one or more properties of the existing vehicular micro cloud. The method includes determining which adjustment to the one or more properties of the existing vehicular micro cloud can address the impact, and updating the one or more properties based on the determination.

Abstract: System, methods, and other embodiments described herein relate to improving right-of-way determinations at an intersection. In one embodiment, a method includes acquire, in a lead vehicle that is a cloud leader of a micro-cloud, observations about the intersection for a set of vehicles including at least one remote vehicle. The set of vehicles are approaching the intersection. The remote vehicle and the lead vehicle are members of the micro-cloud. The method includes deriving an assignment of right-of-ways indicating an order about how the set of vehicles may proceed through the intersection. The method includes providing the assignment to at least the remote vehicle to control right-of-way at the intersection.

Abstract: The disclosure includes embodiments for determining a working status of a set of sensors onboard in a connected vehicle through a validation of roadway segment activity data. In some embodiments, a method for the connected vehicle includes receiving, via a communication unit of the connected vehicle, a Vehicle-to-Everything (V2X) message that includes off-board roadway segment activity data. The method includes generating onboard roadway segment activity data of the connected vehicle. The method includes determining a working status of a set of onboard sensors of the connected vehicle based on an evaluation between the onboard roadway segment activity data and the off-board roadway segment activity data. The method includes modifying an operation of a vehicle control system of the connected vehicle based on the working status of the set of onboard sensors.

Abstract: The disclosure includes embodiments for providing value-based sensor data suppression in a cooperative perception message transmission by an ego vehicle. A method includes ascertaining, by a processor of the ego vehicle, a mounting height of a first sensor of the ego vehicle. The method includes calculating a value of sensor data recorded by the first sensor based on the mounting height. The method includes determining a satisfaction state of a threshold based on the value. The method includes determining to transmit the cooperative perception message without the sensor data based on the satisfaction date of the threshold so that value-based sensor data suppression is achieved. The sensor data is suppressed because it is not included in a payload of the cooperative perception message. The suppression is value-based because the sensor data is suppressed responsive to the threshold for value not being satisfied.

Abstract: The disclosure includes embodiments for an ego vehicle to offload a responsibility for executing an environmental perception analysis of a roadway environment to a different endpoint of a vehicular micro cloud that includes the ego vehicle. A method includes generating sensor data describing whether the sensor has a clear field of view of the roadway environment. The method includes determining performance data describing a computing performance ability of the different endpoint. The method includes determining network data describing an end-to-end latency of transmitting a wireless communication to the different endpoint. The method includes determining that the ego vehicle should offload the responsibility to the different endpoint based on a comparison of the sensor data, performance data, and network data to conditions data describing conditions where the ego vehicle should offload the responsibility.

Abstract: An in-vehicle device comprises an image recognizer configured to acquire an image using a camera for photographing the exterior of a vehicle and execute processing for recognizing license plate information included in the image at intervals of a predetermined period; and a period determiner configured to determine the period to perform the recognition processing on the basis of a length of time in which a license plate of another vehicle stays within a field of view of the camera.

Abstract: A system and related method for transmitting data to one or more connected vehicles. The system includes one or more processors and a memory. The memory includes one or more modules that cause the one or more processors to establish a communication connection between the system and one or more of the connected vehicles, the connected vehicles forming a vehicular micro cloud and having a shared identification, send a first portion of data to one or more of the connected vehicles, the data having the first portion and a remaining portion, receive acknowledgment data from one or more of the connected vehicles, the acknowledgment data including the shared identification, validate the acknowledgment data, and in response to the acknowledgment data being validated, send the remaining portion of data to one or more of the connected vehicles.

Abstract: The disclosure includes embodiments re-identification and revocation for misbehaving vehicle detection. A misbehaving vehicle is an example of an anomaly. A method includes receiving from a vehicular micro cloud, by a connected vehicle that is a member of the vehicular micro cloud, vehicular micro cloud data describing an anomaly and a first state of the anomaly in a geographic area. The method includes causing a sensor to record sensor data describing the geographic area. The method includes determining, based on the sensor data and the vehicular micro cloud data, whether the anomaly is still present and in the first state. The method includes generating evidence data describing a second state of the anomaly. The method includes transmitting the evidence data to the vehicular micro cloud. The method includes modifying an operation of the connected vehicle based on the evidence data.

Abstract: The disclosure includes embodiments for vehicular nano clouds to complete a vehicular micro cloud task. A method includes identifying a vehicular micro cloud task to perform by a vehicular micro cloud. The method includes determining a plurality of sub-tasks to perform whose completion achieves performance of the vehicular micro cloud task. The method includes creating a set of nano clouds to perform the plurality of sub-tasks. The method includes causing the set of nano clouds to execute the plurality of sub-tasks in parallel at a first time. The method includes dynamically modifying the membership roster during execution of the plurality of sub-tasks at a second time so that at least some of the different membership rosters are different at the second time than they were at the first time.

Abstract: An ego vehicle can be assisted when parking in a parking area. One or more sensors can be configured to acquire environment data of at least a portion of an external environment of the ego vehicle. The environment data can include at least a portion of the parking area. Parking availability data can be acquired for at least a portion of the parking area. The parking availability data can include a plurality of parking spaces and one or more vehicles parked in one or more of the parking spaces. The parking availability data can further include one or more attributes of the vehicles parked in the parking spaces. A current location of the ego vehicle within the parking area can be determined based on at least the parking availability data and the environment data.

Abstract: The disclosure includes embodiments for selecting Vehicle-to-Everything (V2X) data to be shared among vehicles in a cooperative vehicular system based on an uncertainty criterion. In some embodiments, a method for an ego vehicle includes: determining, by a sensor set of the ego vehicle, ego V2X data describing ego object information about a set of objects included in a roadway environment; receiving remote V2X data provided by a remote vehicle, where the remote V2X data describes remote object information about the set of objects from a perspective of the remote vehicle; determining uncertainty data describing an uncertainty about the ego object information based at least in part on an analysis of the ego object information relative to the remote object information; and updating the ego V2X data to form updated ego V2X data that describes ego object information that satisfies the uncertainty criterion.

Abstract: A method of creating a parking facility map includes obtaining one or more images of a parking facility, generating an estimate map of parking spaces in the parking facility based at least on the one or more images (the estimate map of parking spaces includes a plurality of estimate parking space shapes), identifying a parking block that includes a cluster of estimate parking spaces among the plurality of estimate parking space shapes, determining a common geometric pattern among the cluster of estimate parking spaces, correcting geometrical features of one or more estimate parking spaces in the cluster of estimate parking spaces based at least in part on the common geometric pattern, identifying one or more gaps among the cluster of estimate parking space shapes, and determining a number of inserted parking spaces to fill the one or more gaps based at least in part on the common geometric pattern.

Abstract: The disclosure includes embodiments for ensuring a satisfaction of a resource demand in a vehicular micro cloud. In some embodiments, a method for a connected vehicle that is a member of the vehicular micro cloud that includes multiple connected vehicles that share their computing resources and computing services with one another, includes: modifying an operation of a communication unit of the connected vehicle to receive a notification message from a communication server; determining that an allocation function included in the notification message meets an expectation of the connected vehicle, where the allocation function is configured to satisfy the resource demand of the vehicular micro cloud while limiting a total allocation distributed by the communication server; and responsive to the allocation function meeting the expectation, provisioning a resource requested by the notification message to the vehicular micro cloud for use by any member of the vehicular micro cloud.

Abstract: System, methods, and embodiments described herein relate to providing platoon leadership as a service. At least one method includes receiving, from a platoon, a request for a platoon leader, the request indicating a location and a situation class, sending out a search query for a vehicle having experience in handling the situation class, receiving, from a responding vehicle, a response to the search query, the response indicating an experience level in handling the situation class, selecting the responding vehicle as a new leader based at least in part on the response, assigning the new leader to the platoon and providing instructions to the new leader that cause the new leader to assume a lead position in the platoon and lead the platoon through an area exhibiting the situation class.

Abstract: The disclosure includes embodiments for a set of connected vehicles to collectively execute tasks which no single vehicle can execute due to computational limitations of the single vehicle. In some embodiments, a method includes determining, for a vehicular micro cloud, a set of computing sub-tasks to be completed. The method includes determining vehicle travel speeds for the members of the vehicular micro cloud. The method includes assigning the computing sub-tasks to the members based on the vehicle travel speeds of the members relative to one another so that the members that the computational sub-tasks are assigned to the members that are either stationary or traveling at the slowest vehicle travel speeds. The computing sub-task is completed by the member to which it is assigned.

Abstract: System, methods, and embodiments described herein relate to managing benefit distribution in a vehicular micro cloud in which a plurality of vehicle members collaboratively execute operations in an environment of the vehicular micro cloud. A disclosed method may include monitoring a distributed execution of a micro cloud operation initiated by the ego vehicle, determining a contribution level of a vehicle member of the vehicular micro cloud that contributed toward completing the micro cloud operation, storing a record indicating the contribution level, identifying an occurrence of an event, the event being a micro cloud interaction or encounter with the vehicle member subsequent to completion of the micro cloud operation, determining, based at least in part on the record indicating the contribution level, a reciprocal task that benefits the vehicle member, and executing the reciprocal task during the event.