Abstract: The disclosure includes embodiments for managing vehicles under anomalous driving behavior. In some embodiments, a method includes determining, by the processor, an ego behavior associated with the ego vehicle and a remote behavior associated with a remote vehicle. The method includes calculating a variance between the ego behavior and the remote behavior. The method includes determining a presence of an anomaly based on the variance satisfying a threshold, wherein the satisfying the threshold indicates the ego behavior is incompatible with the remote behavior. The method includes generating a driving management plan which is configured to mitigate the anomaly and is consistent with the ego behavior. The method includes implementing the driving management plan so that the threshold is no longer satisfied.

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: The disclosure includes embodiments for transforming anomalous behavior into model behavior to mitigate the anomalous behavior. In some embodiments, a method includes analyzing sensor data to identify an occurrence of anomalous behavior in a roadway environment. The method includes determining a model behavior which is non-anomalous. The method includes determining a number of vehicles that is optimal to transform anomalous behavior into the model behavior. The method includes forming a vehicular micro cloud which complies with the number of vehicles that is optimal. The formation of the vehicular micro cloud is triggered by the identification of the anomalous behavior. The method includes providing individualized control messages on a vehicle-by-vehicle basis to members of the vehicular micro cloud. The control messages include digital data which instructs the members on how to behave in order to transform the anomalous behavior into the model behavior.

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: Anomalous events in a driving environment can be detected and/or validated by leveraging inherent human behavior. A notification of the anomalous event can be received from an initial connected entity in the driving environment. In response, an inquiry can be sent to connected entities spatiotemporally related to the initial connected entity as to whether any person associated with the connected entities is exhibiting an inherent human behavior. When a threshold level of responses to the inquiry are received from the connected entities indicating that an inherent human behavior has been detected, the one or more connected entities can be caused to upload driving scene data for at least a time when the inherent human behavior by the occupant of the connected vehicle was detected.

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: 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: Anomalous events in a driving environment can be detected and/or validated by leveraging inherent human behavior. A notification of the anomalous event can be received from an initial connected entity in the driving environment. In response, an inquiry can be sent to connected entities spatiotemporally related to the initial connected entity as to whether any person associated with the connected entities is exhibiting an inherent human behavior. When a threshold level of responses to the inquiry are received from the connected entities indicating that an inherent human behavior has been detected, the one or more connected entities can be caused to upload driving scene data for at least a time when the inherent human behavior by the occupant of the connected vehicle was detected.

Abstract: A method for generating a view for an unmanned aerial vehicle is provided. The method includes obtaining an origin and a destination of the unmanned aerial vehicle, determining a group of imaging devices based on a route between the origin and the destination of the unmanned aerial vehicle, and obtaining a view of the unmanned aerial vehicle following the route based on images of the unmanned aerial vehicle captured by the group of imaging devices. The group of imaging devices form one or more collaborative camera sensor networks. The collaborative camera sensor networks identify an unmanned aerial vehicle and create human operator's view of the unmanned aerial vehicle. The route of the unmanned aerial vehicle is determined based on the availability of imaging devices of the camera sensor network. The route of the unmanned aerial vehicle may be changed based on the availability of imaging devices.

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: A sensor control system for a vehicle includes one or more processors and a memory communicably coupled to the one or more processors. The memory stores a zone of interest determination module including computer-readable instructions that when executed by the one or more processors cause the one or more processors to determine if at least one localized zone of interest resides within a preliminary zone of interest of the vehicle. The memory also stores a sensor control module including computer-readable instructions that when executed by the one or more processors cause the one or more processors to control one or more operational parameters of at least one sensor so as to, if at least one localized zone of interest resides within the preliminary zone of interest, bring at least a portion of the at least one localized zone of interest into a of field view of the at least one sensor.

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.

Abstract: System, methods, and embodiments described herein relate to creating and utilizing one or more vehicular micro clouds to assist in responding to a traffic event. At least one disclosed method includes receiving report information indicating a detection of a traffic event and including a location of the traffic event, defining a region of interest based at least in part on the report information, forming a dependent vehicular micro cloud in the region of interest, determining guidance information based at least in part on the report information, and transmitting the guidance information to the dependent vehicular micro cloud. The dependent vehicular micro cloud executes at least one responsive action based on the guidance information.

Abstract: System, methods, and embodiments described herein relate to controlling a view, provided by a vehicular micro cloud, associated with a remotely supported vehicle. A method according to the disclosed embodiments can include communicating with a plurality of vehicles in a vicinity of the remotely supported vehicle to collectively form a vehicular micro cloud, each of the plurality of vehicles being equipped with at least one camera, tracking respective positions of the plurality of vehicles relative to the remotely supported vehicle, selecting a set of vehicles from among the plurality of vehicles, receiving a live video stream from each of the set of vehicles, and transmitting the live video stream to an external controller.

Abstract: System, methods, and embodiments described herein relate to controlling a vehicular micro cloud, which may include a plurality of vehicle members each having respective positions in a formation and in which two or more of the vehicle members collaboratively execute at least one micro cloud operation. Control may be implemented to monitor performance of the at least one micro cloud operation, monitor operational capabilities of the vehicle members, determine, based at least in part on the operational capabilities of the vehicle members, a change in formation position for at least one of the vehicle members, wherein the change in formation position improves the performance of the at least one micro cloud operation and transmit one or more commands to cause the vehicle members to execute the change in formation position.

Abstract: A system for assisting a maneuver of a moving object is provided. The system includes a plurality of unmanned aerial vehicles, and a computing device comprising a controller configured to: identify a maneuver location of the moving object based on location information associated with the moving object, determine one or more unmanned aerial vehicles among the plurality of unmanned aerial vehicles based on a proximity of the maneuver location and the plurality of unmanned aerial vehicles, dispatch the one or more unmanned aerial vehicles to the maneuver location, and transmit an instruction signal to the one or more unmanned aerial vehicles, wherein the instruction signal causes the one or more unmanned aerial vehicles to generate an indication configured to assist one or more vehicles approaching the maneuver location.