Vehicle-to-Vehicle Communication Using Drones

Abstract

A drone communication system is described. A method can be performed using the system, the method including: when a receiving vehicle is out of wireless range, transmitting a message from a transmitting vehicle to a plurality of drones that focus an antenna beam on the transmitting vehicle, such that the plurality of drones can then transmit the message to the receiving vehicle by focusing the antenna beam on the receiving vehicle.

Description

Technical Field

[0001] The present invention relates to a drone communication system. A method can be performed using the system, the method including: when a receiving vehicle is out of wireless range, transmitting a message from a sending vehicle to a plurality of drones that focus antenna beams on the sending vehicle, such that the plurality of drones can then transmit the message to the receiving vehicle by focusing antenna beams on the receiving vehicle. Background Art

[0002] Vehicle-to-vehicle (V2V) communication may not always be successful. For example, a vehicle may attempt V2V communication, but there may be no recipient that responds, e.g., because any suitable recipient may be out of range. Summary of the Invention

[0003] A method includes: when a receiving vehicle is out of wireless range, transmitting a message from a sending vehicle to a plurality of drones that focus antenna beams on the sending vehicle, such that the plurality of drones can then transmit the message to the receiving vehicle by focusing antenna beams on the receiving vehicle.

[0004] The focused antenna beams on the receiving vehicle can form a conformal wavefront.

[0005] The method can include: at the sending vehicle, receiving a reply message from the receiving vehicle via the plurality of drones that focus antenna beams on the sending vehicle.

[0006] A method includes: determining a drone configuration of a plurality of drones relative to a first vehicle and a second vehicle; receiving, at each of the plurality of drones, a message from the first vehicle; and transmitting the message to the second vehicle via a conformal wavefront that is based on the configuration and corresponding drone phase delays.

[0007] The configuration can be determined based on minimization of phase delays between the plurality of drones and the first vehicle.

[0008] The configuration can be determined based on minimization of phase delays between the plurality of drones and the second vehicle.

[0009] Receiving the message can include reconstructing the message using a first set of phase delay parameters, where each parameter is associated with one of the plurality of drones and the first vehicle.

[0010] Receiving can include focusing an antenna receiving beam of each of the plurality of drones on the first vehicle.

[0011] Transmitting the message may include calculating a second set of phase delay parameters, each parameter being associated with one of the plurality of drones and the second vehicle.

[0012] Transmitting may include focusing the antenna transmission beam of each of the plurality of drones on the second vehicle.

[0013] The method may include: prior to determining the configuration, determining to establish drone-to-drone communication between the plurality of drones.

[0014] The method may include: prior to determining the configuration, determining to assist vehicle-to-vehicle communication between the first vehicle and the second vehicle.

[0015] The method may include: maintaining the configuration while receiving and transmitting the message and while the first vehicle and the second vehicle are moving.

[0016] The method may include: prior to receiving a reply message from the second vehicle for the first vehicle, changing the configuration to minimize the phase delay between the plurality of drones and the second vehicle.

[0017] A system includes: a plurality of drones, each of the plurality of drones having a processor and a memory storing instructions executable by the respective processor, the respective instructions including instructions for: determining a drone configuration of the plurality of drones relative to a first vehicle and a second vehicle; at each of the plurality of drones, receiving a message from the first vehicle; and transmitting the message to the second vehicle via a conformal wavefront, the wavefront being based on the configuration and corresponding drone phase delays.

[0018] The instructions may include instructions for: determining the configuration to minimize the phase delay between the plurality of drones and the first vehicle, between the plurality of drones and the second vehicle, or both.

[0019] The instructions may include instructions for: at reception, focusing the antenna reception beam of each of the plurality of drones on the first vehicle; and at transmission, focusing the antenna transmission beam of each of the plurality of drones on the second vehicle.

[0020] The instructions may include instructions for: prior to determining the configuration, determining to establish drone-to-drone communication between the plurality of drones.

[0021] The instructions may include instructions for performing the following: determining vehicle-to-vehicle communication between the first vehicle and the second vehicle before determining the configuration.

[0022] The instructions may include instructions for performing the following: changing the configuration to minimize a phase delay between the plurality of drones and the second vehicle before receiving, from the second vehicle, a reply message for the first vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram showing a plurality of drones assisting vehicle-to-vehicle communication between a first vehicle and a second vehicle.

[0024] Figure 2 is a schematic diagram of one of the plurality of drones.

[0025] Figure 3 is a schematic diagram of a drone configuration of the plurality of drones relative to the first vehicle and the second vehicle, where the plurality of drones are shown focusing an antenna receiving beam on the first vehicle and are shown focusing an antenna transmitting beam on the second vehicle.

[0026] Figure 4 is Figure 3 another schematic diagram of the shown drone configuration.

[0027] Figures 5A to 5B is a flowchart showing a process that can be performed using the plurality of drones, the first vehicle, and the second vehicle. DETAILED DESCRIPTION

[0028] Describes a drone communication system that includes a plurality of drones that can assist in facilitating vehicle-to-vehicle (V2V) communication. According to one illustrative example, a method may include: when a receiving vehicle is out of wireless range, transmitting a message from a sending vehicle to a plurality of drones that focus an antenna beam on the sending vehicle, such that the plurality of drones can then transmit the message to the receiving vehicle by focusing an antenna beam on the receiving vehicle.

[0029] According to at least one of the above examples, a conformal wavefront is formed by the focused antenna beam on the receiving vehicle.

[0030] According to at least one of the above examples, the method may further include: at the sending vehicle, receiving a reply message from the receiving vehicle via the plurality of drones that focus an antenna beam on the sending vehicle.

[0031] According to another illustrative example, a method may include: determining a drone configuration for a plurality of drones relative to a first vehicle and a second vehicle; receiving, at each of the plurality of drones, a message from the first vehicle; and transmitting the message to the second vehicle via a conformal wavefront that is based on the configuration and corresponding drone phase delays.

[0032] According to at least one of the above examples, the configuration is determined based on minimization of phase delays between the plurality of drones and the first vehicle.

[0033] According to at least one of the above examples, the configuration is determined based on minimization of phase delays between the plurality of drones and the second vehicle.

[0034] According to at least one of the above examples, receiving the message further includes reconstructing the message using a first set of phase delay parameters, where each parameter is associated with one of the plurality of drones and the first vehicle.

[0035] According to at least one of the above examples, receiving further includes focusing an antenna reception beam of each of the plurality of drones on the first vehicle.

[0036] According to at least one of the above examples, transmitting the message further includes calculating a second set of phase delay parameters, where each parameter is associated with one of the plurality of drones and the second vehicle.

[0037] According to at least one of the above examples, transmitting further includes focusing an antenna transmission beam of each of the plurality of drones on the second vehicle.

[0038] According to at least one of the above examples, the method may further include: establishing drone-to-drone communication between the plurality of drones before determining the configuration.

[0039] According to at least one of the above examples, the method may further include: assisting vehicle-to-vehicle communication between the first vehicle and the second vehicle before determining the configuration.

[0040] According to at least one of the above examples, the method may further include: maintaining the configuration while receiving and transmitting the message and while the first vehicle and the second vehicle are moving.

[0041] According to at least one of the above examples, the method may further include: changing the configuration to minimize phase delays between the plurality of drones and the second vehicle before receiving a reply message for the first vehicle from the second vehicle.

[0042] According to another illustrative example, a system includes: a plurality of drones, each of the plurality of drones having a processor and a memory storing instructions executable by the respective processor, the respective instructions including instructions for: determining a drone configuration of the plurality of drones relative to a first vehicle and a second vehicle; receiving, at each of the plurality of drones, a message from the first vehicle; and transmitting the message to the second vehicle via a conformal wavefront that is based on the configuration and a respective drone phase delay.

[0043] According to at least one of the above examples, the instructions may further include instructions for: determining the configuration to minimize a phase delay between the plurality of drones and the first vehicle, between the plurality of drones and the second vehicle, or both.

[0044] According to at least one of the above examples, the instructions may further include instructions for: at reception, focusing an antenna reception beam of each of the plurality of drones on the first vehicle; and at transmission, focusing an antenna transmission beam of each of the plurality of drones on the second vehicle.

[0045] According to at least one of the above examples, the instructions may further include instructions for: prior to determining the configuration, determining to establish drone-to-drone communication between the plurality of drones.

[0046] According to at least one of the above examples, the instructions may further include instructions for: prior to determining the configuration, determining to assist vehicle-to-vehicle communication between the first vehicle and the second vehicle.

[0047] According to at least one of the above examples, the instructions may further include instructions for: prior to receiving a reply message from the second vehicle for the first vehicle, changing the configuration to minimize a phase delay between the plurality of drones and the second vehicle.

[0048] According to at least one example, a computer is disclosed that is programmed to execute any combination of the above examples.

[0049] According to at least one example, a computer is disclosed that is programmed to execute any combination of the examples of the above one or more methods.

[0050] According to at least one example, a computer program product is disclosed that includes a computer-readable medium storing instructions executable by a computer processor, wherein the instructions include any combination of the above instruction examples.

[0051] According to at least one example, a computer program product is disclosed, the computer program product including a computer-readable medium storing instructions executable by a computer processor, wherein the instructions include any combination of examples of the one or more methods described above.

[0052] Turning now to the drawings, in which like numerals represent like parts throughout the figures, there is shown a drone communication system 10 that includes a plurality of drones 12, 14, 16, which may assist in facilitating vehicle-to-vehicle (V2V) communication. As will be described more below, drones 12 through 16 may each receive a relatively weak wireless signal from a first target vehicle 18 (e.g., a sending vehicle) by focusing an antenna beam reception thereon. The signal may include a message for a second target vehicle 20 (e.g., an intended recipient vehicle). However, in at least some examples, e.g., based on distances between vehicles 18, 20, obstacles 21, etc., the wireless signal transmitted from vehicle 18 may attenuate before reaching vehicle 20. Drones 12 through 16 may use the separately received signals to reconstruct the originally transmitted signal (from the first vehicle 18), amplify the reconstructed signal, and then transmit the reconstructed signal to vehicle 20, e.g., by focusing their respective antenna beam transmissions thereon. Thus, wireless message communication may be achieved between vehicles 18 and 20 in situations where it may otherwise not be feasible.

[0053] As will be explained more below, such assisted vehicle-to-vehicle (V2V) communication may be achieved based on each of drones 12 through 16 knowing their relative spacing and orientation with respect to each other (e.g., drone configuration 22) and knowing their relative spacing and orientation with respect to each of the first vehicle 18 and the second vehicle 20. Further, as will be explained more below, drones 12 through 16 may determine an optimal drone configuration, range, and orientation with respect to vehicles 18, 20.

[0054] The phase and beam focusing techniques described herein may be implemented using at least two drones. And while three drones (12 through 16) are shown, more drones may be used in other examples. Further, in at least one example, the drones 12 through 16 shown may be identical; thus, for illustrative purposes, only one will be described herein.

[0055] As Figure 2As shown, the drone 12 can be any flying vehicle, which can be at least partially (if not entirely) operated and controlled by at least one computer 26 on the drone 12 itself. Non-limiting examples of drones include unmanned aerial vehicles (UAVs), unmanned aircraft systems (UASs), etc. The autonomous operation of the drone 12 can particularly include drone flight control, drone steering, drone stabilization, drone navigation, drone-to-drone communication, drone position determination, vehicle position determination, and drone antenna control (e.g., beamforming, beam steering, amplification, etc.). Techniques for autonomous flight control, steering, stabilization, and navigation are known in the art and will not be discussed in detail below.

[0056] To improve V2V communication, the drone 12 can include a computer 26 (the computer includes at least one processor 28 coupled to a memory 30), a telematics device 32, an antenna circuit 34, and a sensor system 36. The computer 26 can be a single computer (or multiple computing devices (e.g., shared with other drone systems and / or subsystems)). The processor 28 can be any type of device capable of processing electronic instructions, non-limiting examples including microprocessors, microcontrollers or controllers, application-specific integrated circuits (ASICs), etc., just to name a few examples. Generally speaking, the computer 26 can be programmed to execute digitally stored instructions, which can be stored in the memory 30, such that the computer 26 can particularly perform the following operations: determine to relay a message from the first vehicle 18 to the second vehicle 20 among multiple drones 12 to 16; determine a drone configuration 22 suitable for receiving and reconstructing a signal carrying the message (e.g., based on phase delay); focus the antenna reception of each of the multiple drones 12 to 16 on the first vehicle 18 to receive the message; again use the phase delay parameter to determine a drone configuration 22 also suitable for transmitting the message within a signal having a conformal wavefront 37 (e.g., the wavefront 37 can have a flat leading edge) towards the second vehicle 20; and focus the antenna transmission of each of the multiple drones 12 to 16 on the second vehicle 20 to send the message to it.

[0057] The telematics device 32 can be any suitable telecommunications device configured to communicate wirelessly with other electronic devices (i.e., wirelessly communicate with target vehicles such as vehicles 18, 20, etc.). The device 32 can include a dedicated microprocessor (not shown), at least one wireless chipset 38, and a matching antenna 40 coupled to the chipset 38. The chipset 38 can facilitate wireless communication according to a predetermined frequency, symbol rate, etc. The telematics device 32 can use the chipset 38 and the antenna 40 to communicate via cellular communication (e.g., GSM, CDMA, LTE, etc.), via medium-range wireless communication (e.g., dedicated short-range communication (DSRC)), via short-range wireless communication (e.g., Bluetooth, Wi-Fi, Wi-Fi Direct, etc.), combinations thereof, etc. In at least one example, when attempting vehicle-to-vehicle communication, the device 32 communicates via a different frequency and / or protocol than vehicles 18, 20. One example includes communication via a short-range wireless communication link using a protocol such as Wi-Fi Direct, Bluetooth, or other suitable peer-to-peer communication. In this way, drone-to-drone communication is less likely to interfere with vehicle-to-drone (or drone-to-vehicle) communication, as will be explained in more detail below.

[0058] The antenna circuit 34 can be used to relay communication between vehicles 18, 20, e.g., for receiving a message from vehicle 18 and then transmitting the message to vehicle 20. Generally speaking, the circuit 34 can include any suitable directional antenna. In the illustration ( Figure 2 ), the circuit 34 includes a phased array antenna implementation; however, this is merely an example. For example, a phased array antenna implementation can include: a plurality of antenna elements 44, the plurality of antenna elements being coupled to a power source 46 (the power source can distribute power among the antennas 44); a transceiver 48 (coupled to the power source 46 and the computer 26); and a phase shifter driver 50, the phase shifter driver being coupled to each of the antennas (also coupled to the computer 26). In operation, the computer 26 can use the driver 50 to selectively control the actuation of one or more antennas 44. In this way, the antenna circuit 34 can control the directivity of one or more antennas 44 using phase control techniques known to those skilled in the art. Additionally, the computer 26 can selectively switch the antennas 44 between a receive mode and a transmit mode by controlling the transceiver 48.

[0059] As will be discussed more below, computer 26 can operate the antenna receiving beam (e.g., to receive a message from the first vehicle 18) and relatively quickly switch to the antenna transmitting beam (e.g., to send the message to the second vehicle 20). This switching may include not only changing the transceiver 48 from the receiving mode to the transmitting mode, but also changing the directivity of the antenna 44 (e.g., from the first vehicle 18 to the second vehicle 20). According to at least one example (e.g., such as a phased array example), the beam steering (or so-called beam shifting) from the first vehicle 18 to the second vehicle 20 can occur within 1 / 4 wavelength of each other. In this way, the transmission latency experienced at the receiving vehicle (e.g., vehicle 20) can be minimized. Those skilled in the art will understand other aspects and techniques of phased array antenna actuation. As will be explained more below, when multiple drones (e.g., 12 to 16) control the directivity of the antenna reception or antenna transmission on a common object (e.g., such as vehicle 18 or 20), then drones 12 to 16 can focus their respective antenna beams on the common object, resulting in a longer transmission range and a higher signal-to-noise ratio (e.g., whether for reception or transmission); in this way, drones 12 to 16 can facilitate V2V that might otherwise be difficult or impossible (e.g., including around obstacle 21, beyond an extended range, etc.).

[0060] The antenna circuit 34 can be adapted to receive and / or transmit wireless signals having any suitable frequency and according to any suitable protocol. Thus, the circuit 34 can be configured to operate in a megahertz (MHz) band, a gigahertz (GHz) band, a terahertz (THz) band, or an ultra-wideband (UWB), just to name a few non-limiting examples. Non-limiting examples of protocols include Wi-Fi, Bluetooth, DSRC, cellular networks, etc. According to at least one example, the antenna circuit 34 is configured for DSRC communication, and more specifically, is configured to participate in intelligent transportation system (ITS) communication. In some commercial implementations, DSRC utilizes the 5.9 GHz band (e.g., in the United States and Europe), the 5.8 GHz band (e.g., in Japan), the infrared band, etc.; of course, there are also other examples. In this way, drones 12 to 16 (e.g., via their respective antenna circuits 34) can receive DSRC communication messages sent from vehicle 18 and targeted at vehicle 20, especially when vehicle 20 is beyond the range of vehicle 18.

[0061] The sensor system 36 on the unmanned aerial vehicle 12 may include a positioning device 52 and one or more other optional position determination units 54. According to one example, the positioning device 52 is a radio detection and ranging (RADAR) device, that is, an object detection device that can use radio waves to determine the following: the range from the device 52 to the vehicle 18 (and / or 20); the range to reference points (such as P1, P2, P3, …, Pn) on the ground 56; the angle or orientation of the vehicle 18 (and / or 20) with respect to the device 52; and / or the vehicle speed or velocity of the vehicle 18 (and / or 20) with respect to the device 52. The positioning device 52 may include one or more directional antennas or omnidirectional antennas, such that the unmanned aerial vehicle 12 can determine the three-dimensional positioning or location of objects around it. Positioning devices other than radar are also possible, for example, including the device 52 being a GPS device, a light detection and ranging (LIDAR) device, etc.

[0062] In at least one example, the sensor system 36 includes a radar device 52 and at least one position determination unit 54. Non-limiting examples of the unit 54 include: an electronic device that can use the Global Positioning System (GPS) or the Global Navigation Satellite System (GLONASS) to determine a position; an electronic device that uses LIDAR; an electronic device that uses triangulation, received signal strength, angle of arrival, time of flight, differential time of flight, combinations thereof, etc. to determine a position (or relative position). Thus, the unmanned aerial vehicle 12 can use the radar device 52 and the unit 54 to more accurately determine the relative positions of other unmanned aerial vehicles, the ground 56, the vehicles 18, 20, etc.

[0063] Turning now to the vehicles 18, 20, in at least one example, the vehicles 18, 20 are identical. Therefore, only one will be described in detail. The vehicle 18 is shown as a sedan; however, the vehicle 18 can also be a truck, a sport utility vehicle (SUV), a recreational vehicle, a bus, a train, a ship, etc. that uses the unmanned aerial vehicle communication system 10 to communicate.

[0064] Vehicle 18 includes in particular one or more computers 60 that facilitate vehicle-to-vehicle (V2V) communication. According to one example, computer 60 includes a telematics device similar to device 32 (of drones 12 to 16); however, this is not necessary (e.g., while computer 60 may perform one or more telecommunications services for vehicle 18, it may also perform other vehicle instructions). According to one example, computer 60 may include a processor 62, a memory 64, a wireless chipset 66, and a matching antenna 68. Processor 62 may be any type of device capable of processing electronic instructions, non-limiting examples including a microprocessor, a microcontroller or controller, an application specific integrated circuit (ASIC), etc., just to name a few examples. Generally speaking, computer 60 may be programmed to execute digitally stored instructions, which may be stored in memory 64, enabling computer 60 to in particular perform the following operations: receive and / or transmit wireless communication using a protocol, channel, etc. common to vehicle 20 and drones 12 to 16; attempt to transmit a message to another vehicle (e.g., such as vehicle 20) via chipset 66 and antenna 68; determine that the message has failed (e.g., by not receiving an acknowledgment (ACK) message from vehicle 20); based on the communication failure, identify a plurality of drones (e.g., such as drones 12 to 16) that may assist V2V communication; and transmit the message again via chipset 66 and antenna 68, such that drones 12 to 16 can then transmit the message to the receiving vehicle by focusing the antenna transmission beam on the receiving vehicle (e.g., 20) and by providing the transmission (from the plurality of drones 12 to 16) as a conformal wavefront 37. These instructions are just one example; other examples are possible, including instructions for performing the following operation: at vehicle 18, receive a reply message from vehicle 20 via the plurality of drones 12 to 16 via chipset 66 and antenna 68 (e.g., since drones 12 to 16 focus the antenna transmission beam on vehicle 20).

[0065] The memory 64 can include any non-transitory computer-usable or readable medium, which can include one or more storage devices or articles. Exemplary non-transitory computer-usable storage devices include conventional computer system RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), and any other volatile or non-volatile medium. Non-volatile media include, for example, optical discs or magnetic disks and other persistent memories. Volatile media include dynamic random access memory (DRAM) which typically constitutes the main memory. Common forms of computer-readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic medium, CD-ROM, DVD, any other optical medium, punched cards, paper tapes, any other physical medium with hole patterns, RAM, PROM, EPROM, FLASH-EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read. As discussed above, the memory 64 can store one or more computer program products, which can be embodied as software, firmware, etc.

[0066] Since the wireless chipset 66 and the matching antenna 68 may be identical to the chipset 38 and the antenna 40, these elements are not described in more detail here. In at least one example, the chipset 66 and the antenna 68 are configured for DSRC; however, other communication protocols and frequencies can also be used. Additionally, it should be understood that in at least some examples, the vehicle 18 can have multiple distributed antennas 68. Additionally, in at least one example, one or more antennas 68 are omnidirectional or bi-directional and are generally non-steerable or non-focusable.

[0067] Figure 3 and Figure 4 A simplified example of the drone configuration 22 of the drones 12 to 16 is shown. This figure is for illustrative purposes only and not restrictive (e.g., specifically, different configurations of the drone configuration will result in beams with different characteristics, but the drone configuration is generally arbitrary). In the drawing, the vehicles 18, 20 are moving at speeds v 18 and v 20 along the road 70. Here, the vehicles 18, 20 are moving in a common direction; however, this is not necessary. As will be described more below, when the vehicle 18 transmits a message to the vehicle 20 (e.g., according to DSRC), the vehicle 20 can be separated from the vehicle 18 by a sufficient distance such that it is outside the wireless range. Or for example, natural or man-made obstacles (such as Figure 1The shown obstacle 21) may cause the message not to reach the vehicle 20 (or the strength and / or quality of the message may be reduced such that the vehicle 20 cannot resolve the message from the signal noise). Non-limiting examples of obstacles include mountains, road bends, buildings, tunnels, combinations thereof, etc.

[0068] The drones 12 to 16 may already be in (or enter) the configuration 22 and can thus assist in V2V communication. Figure 3 The configuration 22 in which the drones 12 to 16 are spaced apart from each other along the Y axis is shown (wherein the vehicles 18, 20 are spaced apart along the X axis and the drone 14 positioned between the drones 12, 16 is positioned along the Z axis (e.g., vertically with respect to the ground 56)). As will be discussed more below, when assisting V2V communication between the vehicles 18, 20, there may be an ideal (e.g., even optimal) configuration 22 that can minimize the phase delay between each vehicle 18, 20 and the drones 12 to 16. Of course, since the vehicles 18, 20 may be moving (and may have different speeds), since the surrounding terrain (and potential obstacles 21) may be changing (with respect to the vehicles 18, 20), and since the shape, direction, and / or slope of the road 70 may be changing, the optimal configuration of the drones 12 to 16 may also be changing. Thus, Figures 3 to 4 Only one example is shown.

[0069] Figure 3 The beam focusing between each of the drones 12 to 16 and each corresponding vehicle 18, 20 is also shown. The drone 12 can focus an antenna beam 72 having a divergence angle α 18 towards the vehicle 18 and / or can focus an antenna beam 74 having a divergence angle α 20 towards the vehicle 20; depending on the mode of the corresponding transceiver 48, either of the beams 72, 74 can be an antenna receiving beam or an antenna transmitting beam. The drone 14 can focus an antenna beam 76 having a divergence angle β 18 towards the vehicle 18 and / or can focus an antenna beam 78 having a divergence angle β 20 towards the vehicle 20; again, depending on the mode of the corresponding transceiver 48, either of the beams 76, 78 can be an antenna receiving beam or an antenna transmitting beam. And the drone 16 can focus an antenna beam 80 having a divergence angle γ 18 towards the vehicle 18 and / or can focus an antenna beam 82 having a divergence angle γ 20 towards the vehicle 20; and again, depending on the mode of the corresponding transceiver 48, either of the beams 80, 82 can be an antenna receiving beam or an antenna transmitting beam. The angles α 18 、α 20 、β 18 、β20 、 γ 18 and γ 20 The amounts of can be the same and / or different. In at least one example, each of drones 12 to 16 is based on the respective and relative line-of-sight (LOS) ranges r 12,18 、 r 12,20 、 r 14,18 、 r 14,20 、 r 16,18 and r 16,20 ( Figure 4 ) to determine and adjust the shape of the respective beam, as will be explained in more detail below. Figure 4 A figure similar to Figure 3 is shown, except that beams 72 to 82 are hidden and instead ranges r 12,18 、 r 12,20 、 r 14,18 、 r 14,20 、 r 16,18 and r 16,20 are shown.

[0070] Now turning to Figures 5A to 5B , process 500 is shown, and its various parts can be performed using either the drone communication system 10 or one of vehicles 18, 20. The process begins at block 502, where drones 12 to 16 use their respective computers 26 to establish drone-to-drone communication (e.g., establish a wireless drone communication network 90). At least some of the following instructions can be performed by one or more of drones 12 to 16, e.g., using their respective computers 26. For example, a single drone (e.g., drone 12) can perform the instructions by controlling the remaining drones (e.g., as in a master-slave relationship); or each of drones 12 to 16 can be programmed to perform at least some of the instructions, e.g., by operating according to a set of predefined protocols and priorities, where no single drone controls the remaining drones. These are just two examples of drone operations; there are other examples.

[0071] According to one example of block 502, drones 12 to 16 use their respective telematics devices 32 to establish communication via cellular, Bluetooth, Wi-Fi, Wi-Fi Direct, or other suitable short-range, medium-range, or long-range wireless communication. In at least one example, drones 12 to 16 establish communication via a peer-to-peer protocol such as Bluetooth. Again, as discussed above, more or fewer than three drones can be used. Additionally, for example, as available drones enter the vicinity (or leave the vicinity) of a networked drone cluster that aids in facilitating V2V communication, additional drones can be temporarily added to or removed from network 90.

[0072] After that, there can be block 504. Here, drones 12 to 16 can use the respective computers 26 to determine to perform V2V assistance between two target vehicles (e.g., vehicles 18, 20). This determination can occur in any suitable manner. According to one example, drones 12 to 16 operate in a listening mode, e.g., they do not interact with vehicles 18, 20 until requested. For example, vehicle 18 can transmit (via chipset 66) a message for vehicle 20, and for example, vehicle 18 can infer a failure based on not receiving an acknowledgment (ACK) message from vehicle 20. Based on this inferred failure, vehicle 18 can communicate with the drone network 90 via DSRC, e.g., to request V2V assistance.

[0073] There are other examples of block 504. For example, one or more of drones 12 to 16 can determine that the communication attempts of vehicles 18, 20 have failed and can mediate. There are still other examples.

[0074] In the subsequent block 506, according to one example, each of drones 12 to 16 can determine its relative positioning and orientation with respect to each of the target vehicles 18, 20. For example, each respective computer 26 can utilize its on-vehicle sensor system 36 (e.g., RADAR, GPS, etc.) to determine the relative position and orientation parameters. According to one example, each of drones 12 to 16 identifies its current position and the corresponding positioning of the target vehicles 18, 20 (e.g., relative to the drone). In some cases, each drone can also use reference points on the ground 56 (e.g., P1, P2, P3, …, Pn) to identify this positioning and orientation data, e.g., so that drones 12 to 16 can have a common reference frame. In this case, each of drones 12 to 16 can utilize the same one or more current reference points; it should be understood that during V2V communication assistance, since vehicles 18, 20 (and drones 12 to 16) may be moving, the reference points may change from time to time.

[0075] In at least one example, block 508 occurs at least partially concurrently with block 506. In block 508, the respective computers 26 of drones 12 to 16 may determine an initial drone configuration 22 of the drones. As used herein, a drone configuration defines the relative position of one drone in a drone communication network 90 relative to at least one other drone (i.e., the drone communication network 90), and when the drones are in configuration 22, each of the drones moves as a whole together so as to maintain their relative positions and orientations with respect to one another (e.g., within a predetermined tolerance). Thus, in block 508, drones 12 to 16 may determine their current configuration 22 (e.g., at block 504 when drones 12 to 16 are determined to be assisting V2V). In at least one example, network 90 is a short-range wireless communication network (e.g., such as Bluetooth), and the size of configuration 22 is limited by the relative positions of drones 12 to 16 and their respective Bluetooth attenuation ranges therebetween.

[0076] In a subsequent block 510, at least one of the respective computers 26 of drones 12 to 16 may determine to change configuration 22. If drones 12 to 16 determine to change or reconfigure configuration 22, process 500 proceeds to block 520. If the drones determine not to change the configuration, the process proceeds to block 530.

[0077] Block 520 may include blocks 522, 524, and 526; it should be understood that block 520 may be iteratively repeated to compensate for drift between the drones due to wind, weather, etc. Thus, process 500 may proceed from block 510 to block 522. In block 522, the respective computers 26 of drones 12 to 16 may determine an optimal or more desirable configuration. In at least one example, a more desirable drone configuration balances and / or minimizes communication latency between drones 12 to 16 and the respective vehicles 18 (or 20). As described below, for example when drones 12 to 16 relay a wireless signal from vehicle 18 to vehicle 20, a more desirable configuration 22 may also facilitate the formation of a conformal wavefront 37. For example, vehicle 18 may have an omnidirectional transmitter (e.g., having a curved wavefront). When drones 12 to 16 are in a receive mode, drone configuration 22 forms a spatial filter tuned with a priori assumptions about the curvature of the wavefront. According to one example, this assumption may be that the conformal wavefront 37 is flat; however, this is merely an example. Other conformal shapes are possible. (Similarly, the wavefront from drones 12 to 16 in a transmit mode (e.g., towards vehicle 20) may be curved to conform to the antenna of vehicle 20 which may be inherently spherical; however, the conformal wavefront 37 in a transmit mode may also be flat (e.g., for simplicity).

[0078] As used herein, a conformal wavefront 37 is a wavefront in a receive mode or a transmit mode that conforms to the shape of a corresponding transmitting vehicle antenna or receiving vehicle antenna. According to one example, the conformal wavefront 37 can include a flat middle portion 91 and can have non-flat outer regions 93, 95 (the outer regions extending outwardly from the middle portion 91). The middle portion 91 can be at least as large as the passenger compartment 97 of the vehicle 18 or 20. For example, to form a flat wavefront, the positions and orientations of the drones 12 to 16 need to share a common axis and a direction along that axis; for example, by way of illustration, at least some component of the transmissions of the drones 12 to 16 (to the vehicle 20, as described below) can be along the positive X-axis, although the components along the Y-axis and Z-axis can be different. Other aspects of forming the conformal wavefront 37 utilize phase delay parameters (e.g., τ 12,20 , τ 14,20 , τ 16,20 ), as described below.

[0079] In yet another example, determining a more optimal configuration 22 can include determining to reposition one or more of the drones 12 to 16 within the wireless range of the vehicles 18, 20. For purposes of illustration, consider, for example, a straight section of a road 70 (e.g., shown in a simplified example in Figures 3 to 4 ); if drone 12 is farther from drone 14 than drone 16 (e.g., if r 12,18 >> r 16,18 and r 12,20 >> r 16,20 ), then a more optimal drone configuration might be to move drone 12 closer to drones 14, 16 (e.g., such that r 12,18 ≈ r 16,18 and r 12,20 ≈ r 16,20 ). In this simplified example, this can place drone 12 within the wireless range of vehicles 18 and 20 and can also minimize the phase delay between drone 12 and vehicle 18 and between drone 12 and vehicle 20.

[0080] As used herein, phase delay refers to the differential time delay in a wireless transmission between a vehicle and at least two drones, and as used herein, a phase delay parameter refers to the value of such differential time delay. For example, if vehicle 18 transmits a DSRC signal, the signal can be received by each of drones 12, 14, and 16 at different times; for example, if the ranges r 12,18 , r 16,18 to drones 12, 16 are longer than the range r 14,18 to drone 14, then the phase delay parameter (τ 14,18) can be zero, but the phase delay parameters (τ 12,18 , τ 16,18 ) of the drones 12, 16 (relative to the vehicle 18) can be greater than zero. Of course, the phase delay parameter τ 12,18 of the drone 12 and the phase delay parameter τ 16,18 of the drone 16 may also be different. Similarly, if each of the drones 12, 14, 16 simultaneously transmits a signal to the vehicle 20, then due to the phase delay (e.g., possibly different values τ 12,20 , τ 14,20 , τ 16,20 ), the signal may be received at the vehicle 20 at three different times. Thus, in block 520, the computers 26 of the drones 12 to 16 can determine the new configuration 22 based at least in part on the minimization of the overall phase delay (e.g., τ 12,18 , τ 14,18 , τ 16,18 , τ 12,20 , τ 14,20 , τ 16,20 ) within the drone network 90.

[0081] In block 524 (which can occur at least in part simultaneously with block 522), the computers 26 of the drones 12 to 16 can determine a first set of phase delay parameters (e.g., τ 12,18 , τ 14,18 , τ 16,18 ) (e.g., in this case, related to reception) and a second set of phase delay parameters (e.g., τ 12,20 , τ 14,20 , τ 16,20 ) (e.g., in this case, related to transmission). The first set of phase delay parameters can be associated with the relative position and / or orientation of the drones 12 to 16 relative to the vehicle 18. And the second set of phase delay parameters can be associated with the relative position and / or orientation of the drones 12 to 16 relative to the vehicle 20. As used herein, the first set (or second set) of phase delay parameters is two or more phase delay values, one for each drone in the arrangement 22. As described above, the phase delay value of at least one of the drones can be equal to zero (0); however, this is not required. According to at least one non-limiting example, it may be desirable that the maximum value of the phase delay parameters in the group is not greater than ten times the smaller value of the different phase delay parameters in the corresponding group; however, this is merely an example, and there are other examples.

[0082] In block 526, one or more of drones 12 to 16 may move and reposition according to the newly determined drone configuration 22 (e.g., according to the determination in block 522). It should be understood that the configuration 22 determined in block 522 may be temporary, for example because the situation may change repeatedly based on the changing vehicle speeds and / or directions of vehicles 18, 20, based on changes in terrain, based on different obstacles, etc.

[0083] In at least one example of block 520, the configuration 22 of drones 12 to 16 (of block 526) may change the drone position and / or orientation relative to one or both of vehicles 18, 20. For example, the configuration 22 may move as a single unit relative to vehicle 18, vehicle 20, or both. After block 526, process 500 may proceed to block 528.

[0084] In block 528, drones 12 to 16 may at least temporarily maintain the configuration 22. For example, drones 12 to 16 may maintain the configuration 22 at least until drones 12 to 16 receive a wireless signal from vehicle 18 (e.g., including a message for vehicle 20). As described in the blocks discussed below, the configuration 22 may be further maintained until a message is transmitted from drones 12 to 16 to vehicle 20. After block 528, process 500 may proceed to block 540.

[0085] Returning to block 530 (which may be after block 510, at which point drones 12 to 16 determine not to change the initial configuration 22 determined in block 508), in block 530, one or more of drones 12 to 16 may determine corresponding first sets of phase delay parameters (e.g., τ 12,18 、τ 14,18 、τ 16,18 ) and corresponding second sets of phase delay parameters (e.g., τ 12,20 、τ 14,20 、τ 16,20 ). The instructions executed by computer 26 may be identical or similar to those of block 524 (except that it pertains to different ranges r 12,18 、r 12,20 、r 14,18 、r 14,20 、r 16,18 and r 16,20 ); thus, it will not be described in more detail. Block 528 (maintaining configuration 22, in this case the initial configuration determined in block 508) may be after block 530. And again, after block 530, the process proceeds to block 540.

[0086] In block 540, drones 12 to 16 can each focus their antenna receiving beams at the first target vehicle 18. In the subsequent example, antenna 44 is described as a phased antenna array; however, this is for example purposes only and is not intended to be limiting. For example, each respective computer 26 of drones 12 to 16 can place transceiver 48 in receive mode, and the phased array of antenna 44 can be directed towards vehicle 18. The focus of antenna 44 can control the divergence angles (α 18 , β 18 , γ 18 ) of the respective phased array antennas of drones 12 to 16. For example, Figure 3 (discussed above) shows that the focus of each beam 72, 76, 80 can vary based on the position and orientation of the respective drone (12, 14, 16) relative to vehicle 18.

[0087] In block 542, each of drones 12 to 16 can receive wireless signals carrying messages from vehicle 18 (and intended for vehicle 20) via the focused beams 72, 76, 80. Since the ranges r 12,18 , r 14,18 , r 16,18 may be different, these wireless signals may be received at different times. Additionally, in at least some examples, one or more of the separately received wireless signals may be relatively weak; for example, the SNR can be 10 to 15 decibels (dB).

[0088] In block 544, drones 12 to 16 can reconstruct the original wireless signal transmitted from the computer 60 of vehicle 18. According to one example, drones 12 to 16 can compare the actual phase delay parameters with the calculated parameters (e.g., the parameters of block 522) via their respective computers 26, and if the calculated and actual values are within a predetermined tolerance, drones 12 to 16 determine that the message has been successfully received. In block 544, whether or not computer 26 executes the comparison instruction, computer 26 can use the phase delay parameters τ 12,18 , τ 14,18 , τ 16,18 to correlate the received wireless signals, combine the signals, and reconstruct the original transmission from vehicle 18.

[0089] In block 546, drones 12 to 16 can switch the transceivers 48 of their respective antenna circuits 34 to transmit mode, and can also turn their respective phased array antennas 44 towards the second target vehicle 20. Similar to the above discussion, the focus of antenna 44 can control the divergence angles (α 20 , β 20 , γ 20 ) of the respective phased array antennas of drones 12 to 16. For example,Figure 3 (discussed above) shows that the foci of each of the beams 74, 78, 82 can be different based on the position and orientation of the respective drones (12, 14, 16) relative to the vehicle 20. Block 546 can also include non-time-domain multiplexing examples. For example, each of the drones 12 to 16 can include multiple antennas or a single divided antenna. And the configuration 22 can use multiple antennas or, for example, two half-duplex channels for two-way communication (e.g., without switching between transmit mode and receive mode).

[0090] In a subsequent block 548, the computers 26 of the respective drones 12 to 16 can transmit the reconstructed signals (of block 544) to the respective computers 60 of the vehicle 20. According to one example, based on their respective calculated phase delay parameters (e.g., smallest to largest), the drone with the farthest range can transmit first, followed by each successive closer drone. By way of illustration using the figures, the range r of the drone 14 14,20 may be the smallest, while the range r of the drone 16 16,20 may be the largest. In such an example, the phase delay parameter τ 16,20 can be zero (0), the phase delay parameter τ 12,20 can be greater than the phase delay parameter τ 16,20 , and the phase delay parameter τ 14,20 can be greater than the phase delay parameter τ 12,20 . Thus, in operation, according to the configuration 22 described above, the drone 16 can initiate the transmission of the reconstructed wireless signal (at time (t) = 0), the drone 12 can transmit the reconstructed signal at a later time (t = τ 12,20 ), and then the drone 14 can (at a later time (t = τ 14,20 )) finally transmit the reconstructed signal. In this way, the middle portion 91 of the wavefront 37 (e.g., aligned with and received by the vehicle 20) can be flat, and the focused signal can be resolved by the computer 60, for example even if the distances between the drones 12 to 16 and the vehicle 20 may be greater than the typical wireless range in the case of using a protocol. And when these individual wireless drone signals are received as a conformal wavefront 37 (e.g., constructive interference), the vehicle 20 can sense these multiple signals as a single wireless signal or transmission.

[0091] It should be understood that if the UAV transmissions are not synchronized in this manner, a concave or convex wavefront may be received at vehicle 20. For example, simultaneous transmissions of UAVs 12, 14, 16 (e.g., not according to the phase delay parameters discussed in the above examples) may result in a concave wavefront. Or for example, a transmission of UAV 14 lagging behind the transmissions of UAVs 12, 16 may result in a convex wavefront. Regardless of the shape, vehicle 20 may not be able to resolve a non-flat wavefront or other unfocused transmissions because the strength and / or quality of the signal may be significantly reduced. Additionally, in some cases, instead of constructive interference, the wireless signals may even combine destructively.

[0092] By using beam steering of the respective antennas 44 of UAVs 12 to 16 and constructing the conformal wavefront 37 using phase delay techniques, only the intended recipient can receive the signal. For example, road 70 may have many other vehicles (e.g., vehicle 92 such as Figure 1 that can intercept the wireless signal). Computer 26 can use the aforementioned instructions to increase communication security by minimizing the recipients that receive the transmitted signal, avoiding potential eavesdroppers, and so on. In some examples, only the intended recipient (e.g., vehicle 20) can receive the wireless signal.

[0093] Thus, vehicle 20 (via chipset 66 and antenna 68) can receive the message sent from vehicle 18 even if direct vehicle-to-vehicle communication is not feasible or successful. Additionally, by using phase delay techniques, the wireless range can be extended. According to one non-limiting example, the maximum DSRC range can be approximately 300 meters; however, by using the focused antenna beams 74, 78, 82 and forming the conformal wavefront 37, the transmission can be extended to 20 kilometers. In response to receiving the reconstructed signal, as described more below, vehicle 20 can send a reply message.

[0094] After block 548, process 500 can proceed to block 550 (e.g., again determining whether to change configuration 22). Block 550 can be similar or identical to block 510; thus, it will not be described in detail again. However, it should be understood that vehicles 18, 20 can move at speeds v 18 and v 20 respectively. In some examples, speeds v 18 and v 20 can be the same value and road 70 can be straight; thus, computers 26 of UAVs 12 to 16 can determine not to change configuration 22, and process 500 can proceed to block 554. However, in other examples, speeds v 18 and v 20They may be different. Road 70 may not be straight. Vehicles 18, 20 may be approaching different obstacles 21, etc. Thus, the situation may have changed, which makes it desirable (or even better) to first update configuration 22 and then continue. In the latter case, process 500 may first proceed to block 552.

[0095] Block 552 may be the same as block 520; thus, it will not be discussed here. As a result of block 552, one or more of the drone computers 26 may store new phase delay parameters, may maintain the new configuration, may have new positions and orientations relative to vehicles 18 and / or 20, etc. After block 552, the process proceeds to block 554.

[0096] In block 554, the computers 26 of drones 12 to 16 may determine to facilitate relaying of a reply message from vehicle 20 to vehicle 18. In block 554, the computers 26 of drones 12 to 16 may switch the transceivers 48 back to the receiving mode and focus the antenna beams 74, 78, 82 on vehicle 20.

[0097] And in block 556, each of drones 12 to 16 may receive a wireless signal carrying the reply message from vehicle 20 via computer 26. The signal may be reconstructed according to instructions similar to those discussed above (e.g., using the respective computers 26), so that the message may be provided to vehicle 18 (e.g., using the determined phase delay parameters, conformal wavefronts, etc.). Thus, in at least some examples, drones 12 to 16 may be reused to send communications back and forth between vehicles 18, 20. Thereafter, process 500 may end.

[0098] Therefore, it should be understood that the operation of drones 12 to 16 may be associated with a so-called synthetic aperture array, each having different three-dimensional positions and orientations and each moving relative to a reference frame including points P1, P2, etc. on ground 56. Similar to a synthetic aperture array, the more drones used in configuration 22 discussed above, the higher the strength and / or quality of the reconstructed signal and the higher the strength and / or quality of the signal received by the receiving vehicle.

[0099] There are also other examples. According to one example, block 550 may occur between block 544 and block 546; that is, the drone may change configuration 22 after receiving a wireless signal from vehicle 18 but before transmitting the reconstructed signal to vehicle 20.

[0100] In another example, one or more additional sets of drones can be used to extend the range between vehicles 18 and 20. For example, a first set of drones can determine a configuration, receive a wireless signal from vehicle 18, and then transmit the reconstructed signal to a second set of drones. The second set of drones, with its own configuration, can receive the reconstructed wireless signal and transmit it to vehicle 20. Of course, one or more intermediate sets of drones can also be spaced between the first and second sets (e.g., to further extend the wireless range).

[0101] Thus, a drone communication system that can be used for vehicle-to-vehicle (V2V) communication between two vehicles has been described. Vehicles can use the system to communicate when range and / or obstacles would otherwise prevent wireless communication.

[0102] Generally speaking, the described computing systems and / or devices can employ any of a number of computer operating systems, including but not limited to the following versions and / or variants of operating systems: Ford Applications, AppLink / Smart Device Link middleware, Automotive Operating System, Microsoft Operating System, Unix Operating System (e.g., the operating system released by Oracle Corporation of Redwood Shores, California), the AIX UNIX operating system released by International Business Machines of Armonk, New York, Linux operating system, the Mac OS X and iOS operating systems released by Apple Inc. of Cupertino, California, the BlackBerry OS released by BlackBerry Limited of Waterloo, Canada, and the Android operating system developed by Google Inc. and the Open Handset Alliance or CAR Infotainment Platform. Examples of computing devices include but are not limited to in-vehicle computers, computer workstations, servers, desktop computers, laptop computers, or notebook computers or handheld computers, or some other computing systems and / or devices.

[0103] A computing device generally includes computer-executable instructions, which can be executed by one or more computing devices such as those listed above. The computer-executable instructions can be compiled or interpreted from computer programs created using various programming languages and / or technologies, which alone or in combination include, but are not limited to, JavaTM, C, C++, Visual Basic, Java Script, Perl, etc. Some of these applications can be compiled and executed on a virtual machine (such as a Java virtual machine, a Dalvik virtual machine, etc.). Generally speaking, a processor (e.g., a microprocessor) receives instructions from, for example, a memory, a computer-readable medium, etc. and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. A variety of computer-readable media can be used to store and transmit such instructions and other data.

[0104] A computer-readable storage medium (also referred to as a processor-readable medium) includes any non-transitory (e.g., tangible) medium that participates in providing data (e.g., instructions) that can be read by a computer (e.g., by a processor of the computer). Such media can take many forms, including but not limited to non-volatile media and volatile media. Non-volatile media can include, for example, optical discs or magnetic disks and other persistent memories. Volatile media can include, for example, dynamic random access memory (DRAM) that typically constitutes main memory. Such instructions can be transmitted by one or more transmission media, which include coaxial cables, copper wire, and fiber optics, including the wires that make up a system bus coupled to a processor of a computer. Common forms of computer-readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic medium, CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with hole patterns, RAM, PROM, EPROM, FLASH-EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.

[0105] A database, a data warehouse, or other data storage devices described herein can include various mechanisms for storing, accessing, and retrieving various data, including hierarchical databases, sets of files in a file system, application databases in a proprietary format, relational database management systems (RDBMS), etc. Each such data storage device is typically included within a computing device that employs a computer operating system such as one of the operating systems described above and is accessed via a network in any one or more of a variety of ways. A file system can be accessed from a computer operating system and can include files stored in various formats. In addition to languages for creating, storing, editing, and executing stored programs (such as the PL / SQL language mentioned above), an RDBMS typically also employs the Structured Query Language (SQL).

[0106] In some examples, system components may be implemented as computer-readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.), which are stored on a computer-readable medium associated therewith (e.g., disk, memory, etc.). A computer program product may include such instructions stored on a computer-readable medium for performing the functions described herein.

[0107] The processor is implemented via circuitry, chips, or other electronic components and may include one or more microcontrollers, one or more field programmable gate arrays (FPGAs), one or more application specific integrated circuits (ASICs), one or more digital signal processors (DSPs), one or more customer integrated circuits, etc. The processor may be programmed to process sensor data. Processing the data may include processing a video feed or other data stream captured by the sensor to determine the road lanes of the host vehicle and the presence of any target vehicles. As described below, the processor instructs vehicle components to actuate based on the sensor data. The processor may be incorporated into a controller (e.g., an autonomous mode controller).

[0108] The memory (or data storage device) is implemented via circuitry, chips, or other electronic components and may include one or more of the following: read only memory (ROM); random access memory (RAM); flash memory; electrically programmable read only memory (EPROM); electrically erasable programmable read only memory (EEPROM); embedded multimedia card (eMMC); hard disk drive; or any volatile or non-volatile medium, etc. The memory may store data collected from the sensors.

[0109] The present disclosure has been described in an illustrative manner, and it is to be understood that the terms used are of a descriptive nature and not of a limiting nature. Given the above teachings, many modifications and variations of the present disclosure are possible, and the present disclosure may be practiced in other ways than specifically described.

Claims

1. A communication method, comprising: Determining a drone configuration of a plurality of drones with respect to a first vehicle and a second vehicle, the drone configuration minimizing a phase delay between the plurality of drones and the first vehicle, or minimizing a phase delay between the plurality of drones and the second vehicle, or both; Receiving, at each of the plurality of drones, a message from the first vehicle when the second vehicle is out of wireless range; Transmitting the message to the second vehicle via a conformal wavefront, the wavefront being based on the configuration and corresponding drone phase delays.

2. The method according to claim 1, wherein upon receiving, focusing an antenna reception beam of each of the plurality of drones on the first vehicle; and upon transmitting, focusing an antenna transmission beam of each of the plurality of drones on the second vehicle.

3. The method according to claim 1, further comprising: Changing the configuration to minimize a phase delay between the plurality of drones and the second vehicle before receiving a reply message for the first vehicle from the second vehicle.

4. A communication method, comprising: Determining a drone configuration of a plurality of drones with respect to a first vehicle and a second vehicle, the drone configuration minimizing a phase delay between the plurality of drones and the first vehicle, or minimizing a phase delay between the plurality of drones and the second vehicle, or both; Receiving, at each of the plurality of drones, a message from the first vehicle; And Transmitting the message to the second vehicle via a conformal wavefront, the wavefront being based on the configuration and corresponding drone phase delays.

5. The method according to claim 4, wherein receiving the message further comprises reconstructing the message using a first set of phase delay parameters, each parameter being associated with one of the plurality of drones and the first vehicle.

6. The method according to claim 4, wherein receiving further comprises focusing an antenna reception beam of each of the plurality of drones on the first vehicle.

7. The method according to claim 4, wherein transmitting the message further comprises calculating a second set of phase delay parameters, each parameter being associated with one of the plurality of drones and the second vehicle.

8. The method according to claim 4, wherein transmitting further comprises focusing an antenna transmission beam of each of the plurality of drones on the second vehicle.

9. The method according to claim 4, further comprising determining to establish drone-to-drone communication between the plurality of drones before determining the configuration.

10. The method according to claim 4, further comprising determining to assist vehicle-to-vehicle communication between the first vehicle and the second vehicle before determining the configuration.

11. The method according to claim 4, further comprising maintaining the configuration while receiving and transmitting the message and while the first vehicle and the second vehicle are moving.

12. The method according to claim 4, further comprising changing the configuration to minimize a phase delay between the plurality of drones and the second vehicle before receiving a reply message for the first vehicle from the second vehicle.

13. A communication system, comprising: A plurality of unmanned aerial vehicles (UAVs), each of the plurality of UAVs having a processor and a memory storing instructions executable by the respective processor, the respective instructions including instructions for performing the following operations: Determining a UAV configuration of the plurality of UAVs with respect to a first vehicle and a second vehicle, the UAV configuration minimizing a phase delay between the plurality of UAVs and the first vehicle, or minimizing a phase delay between the plurality of UAVs and the second vehicle, or both; Receiving, at each of the plurality of UAVs, a message from the first vehicle; And Transmitting the message to the second vehicle via a conformal wavefront, the wavefront being based on the configuration and the respective UAV phase delays.

14. The system of claim 13, wherein the instructions further include instructions for performing the following operations: at reception, focusing an antenna reception beam of each of the plurality of UAVs on the first vehicle; and at transmission, focusing an antenna transmission beam of each of the plurality of UAVs on the second vehicle.

15. The system of claim 13, wherein the instructions further include instructions for performing the following operations: determining to establish UAV-to-UAV communication between the plurality of UAVs before determining the configuration.

16. The system of claim 13, wherein the instructions further include instructions for performing the following operations: determining to assist vehicle-to-vehicle communication between the first vehicle and the second vehicle before determining the configuration.

17. The system of claim 13, wherein the instructions further include instructions for performing the following operations: changing the configuration to minimize a phase delay between the plurality of UAVs and the second vehicle before receiving a reply message for the first vehicle from the second vehicle.

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