Abstract: Connected vehicles and methods described herein provide for message sender identification. Connected vehicles and methods disclosed herein can include generating a message based hyper-graph based on the positions of connected elements of a road traffic network as communicated to the connected vehicle by the connected elements. Connected vehicles and methods disclosed herein can include generating, a perception based hyper-graph based on the perceived positions of at least a subset of the elements of the road traffic network as determined by a sensor of the vehicle. Connected vehicles and methods disclosed herein can include matching a node of the message-based hyper-graph to a corresponding node of the perception-based hyper-graph to determine the sender of a received message.

Abstract: The disclosure includes embodiments for processing a set of wireless messages by an ego vehicle. A method includes determining a location of an object of interest in a roadway environment that includes the ego vehicle and a set of remote connected vehicles. The method includes segmenting the roadway environment into a plurality of segments. The method includes assigning priority scores to each of the segments based on (1) whether the forward-facing sensors of the remote connected vehicles present in the segment are capable of measuring the object of interest and (2) proximity of the remote connected vehicles in the segment to the object of interest, wherein segments have higher priority scores if the remote connected vehicles present in the segment have forward-facing sensors that are capable of measuring the object of interest and the remote connected vehicles present in the segment are closer to the object of interest.

Abstract: Systems, methods, and vehicles for correcting driving behavior of a driver of a vehicle are provided. The systems include a controller programmed to identify a repetitive movement pattern of a driver of a vehicle at a predetermined location based on accumulated driving data of the vehicle, implement digital twin simulation of the vehicle using the repetitive movement pattern and the digital twin simulation of another object to identify a potential conflict between the vehicle and the another object, and inform the driver of the vehicle about predetermined driving behavior in response to identifying the potential conflict.

Abstract: Connected vehicles and methods described herein provide for message sender identification. Connected vehicles and methods disclosed herein can include generating a message based hyper-graph based on the positions of connected elements of a road traffic network as communicated to the connected vehicle by the connected elements. Connected vehicles and methods disclosed herein can include generating, a perception based hyper-graph based on the perceived positions of at least a subset of the elements of the road traffic network as determined by a sensor of the vehicle. Connected vehicles and methods disclosed herein can include matching a node of the message-based hyper-graph to a corresponding node of the perception-based hyper-graph to determine the sender of a received message.

Abstract: The disclosure includes embodiments for processing a set of wireless messages by an ego vehicle. A method includes determining a location of an object of interest in a roadway environment that includes the ego vehicle and a set of remote connected vehicles. The method includes segmenting the roadway environment into a plurality of segments. The method includes assigning priority scores to each of the segments based on (1) whether the forward-facing sensors of the remote connected vehicles present in the segment are capable of measuring the object of interest and (2) proximity of the remote connected vehicles in the segment to the object of interest, wherein segments have higher priority scores if the remote connected vehicles present in the segment have forward-facing sensors that are capable of measuring the object of interest and the remote connected vehicles present in the segment are closer to the object of interest.

Abstract: A traffic reconstruction can be generated use cooperative perception messages and other data received from a plurality of different remote sources, such as connected vehicles and/or connected infrastructure devices, at different times. The received data can include at least position data of one or more objects in the driving environment. The received data can be stitched together to create a traffic reconstruction of surrounding traffic. The traffic reconstruction can incorporate visual data of detected objects so that a “panoramic video” of surrounding traffic is generated. The fusion of the data from the various remote vehicles is done not only in space but in time. Dynamic models and/or other rules or constraints can be used in generating the traffic reconstruction.

Abstract: The disclosure includes embodiments for modifying the acceleration of an ego vehicle based on wireless vehicle data included in a wireless message. A method includes receiving the wireless message that includes wireless vehicle data that describes one or more physical properties of a downstream vehicle. The wireless vehicle data indicates a presence of a traffic obstruction. The method includes determining a modification for an acceleration of the ego vehicle based on the wireless vehicle data and the indication of the traffic obstruction. The method includes modifying the acceleration of the ego vehicle based on wireless vehicle data compliant with the DSRC standard. The modified acceleration causes the ego vehicle to travel at a velocity consistent with a preceding vehicle and the downstream vehicle so that the ego vehicle does not collide with the preceding vehicle or the other downstream vehicle, which are in the same lane as the ego vehicle.

Abstract: The disclosure describes a method for an ego vehicle. The method includes receiving a vehicle-to-everything (V2X) message that describes an object that is within proximity of an ego vehicle. The method further includes generating a set of data-to-camera (D2C) filters that are specific to the object described by the V2X message. The method further includes applying the set of D2C filters to image data that describes an initial image of the object. The method further includes generating a modified image, based on applying the set of D2C filters to the image data, wherein the modified image includes an indication of (1) a location and a size of the object in the initial image and (2) a type of object in the initial image.

Abstract: The disclosure includes embodiments for improving driving commands for vehicular end-to-end driving. In some embodiments, a method for a connected vehicle includes receiving command data describing one or more driving commands for the connected vehicle. The method includes correcting the one or more driving commands to generate modified command data that describes one or more modified driving commands. The one or more modified driving commands control an operation of the connected vehicle to satisfy a trajectory safety requirement. The method includes modifying an operation of a vehicle control system of the connected vehicle based on the modified command data so that the connected vehicle operates based on the one or more modified driving commands.

Abstract: The disclosure describes a method for an ego vehicle. The method includes receiving a vehicle-to-everything (V2X) message that describes an object that is within proximity of an ego vehicle. The method further includes generating a set of data-to-camera (D2C) filters that are specific to the object described by the V2X message. The method further includes applying the set of D2C filters to image data that describes an initial image of the object. The method further includes generating a modified image, based on applying the set of D2C filters to the image data, wherein the modified image includes an indication of (1) a location and a size of the object in the initial image and (2) a type of object in the initial image.

Abstract: The disclosure includes embodiments for modifying the acceleration of an ego vehicle based on wireless vehicle data included in a wireless message. A method includes receiving the wireless message that includes wireless vehicle data that describes one or more physical properties of a downstream vehicle. The wireless vehicle data indicates a presence of a traffic obstruction. The method includes determining a modification for an acceleration of the ego vehicle based on the wireless vehicle data and the indication of the traffic obstruction. The method includes modifying the acceleration of the ego vehicle based on wireless vehicle data compliant with the DSRC standard. The modified acceleration causes the ego vehicle to travel at a velocity consistent with a preceding vehicle and the downstream vehicle so that the ego vehicle does not collide with the preceding vehicle or the other downstream vehicle, which are in the same lane as the ego vehicle.

Abstract: The disclosure includes embodiments for modifying the acceleration of an ego vehicle based on wireless vehicle data included in a wireless message. A method includes receiving the wireless message that includes wireless vehicle data that describes one or more physical properties of a downstream vehicle. The wireless vehicle data indicates a presence of a traffic obstruction. The method includes determining a modification for an acceleration of the ego vehicle based on the wireless vehicle data and the indication of the traffic obstruction. The method includes modifying the acceleration of the ego vehicle based on wireless vehicle data compliant with the DSRC standard. The modified acceleration causes the ego vehicle to travel at a velocity consistent with a preceding vehicle and the downstream vehicle so that the ego vehicle does not collide with the preceding vehicle or the other downstream vehicle, which are in the same lane as the ego vehicle.

Abstract: The disclosure includes embodiments for modifying the acceleration of an ego vehicle based on wireless vehicle data included in a wireless message. A method includes receiving the wireless message that includes wireless vehicle data that describes one or more physical properties of a downstream vehicle. The wireless vehicle data indicates a presence of a traffic obstruction. The method includes determining a modification for an acceleration of the ego vehicle based on the wireless vehicle data and the indication of the traffic obstruction. The method includes modifying the acceleration of the ego vehicle based on wireless vehicle data compliant with the DSRC standard. The modified acceleration causes the ego vehicle to travel at a velocity consistent with a preceding vehicle and the downstream vehicle so that the ego vehicle does not collide with the preceding vehicle or the other downstream vehicle, which are in the same lane as the ego vehicle.