Wireless in-vehicle networking enhanced interference detection via external sensors

Abstract

The technology described herein utilizes existing positioning sensors or V2X devices to detect one or more other vehicles including wireless systems that may interfere with the wireless network in the vehicle. The positioning sensors or V2X devices can provide information to determine the location, heading, speed, size, and type of other vehicles. This information can be used to determine the probability of network interference and allow the wireless network in the vehicle to use one or more techniques to mitigate the effects of the interference. Interference mitigation techniques can include increasing or decreasing transmitter power, changing the frequency or channel of the wireless transmitter, or activating one or more additional transmitters as repeaters to improve reliability.

Description

[0001] background

[0002] Automakers are increasingly interested in replacing existing in-vehicle wired networks (e.g., Controller Area Network (CAN), FlexRay, Local Interconnect Network (LIN), Media Oriented Systems Transport (MOST), Ethernet, etc.) with wireless networks. Introducing wireless networks into vehicles also requires detecting and managing wireless interference. Interference can cause intermittent failures of automotive systems, impair system performance, and can be difficult to troubleshoot. Sources of wireless interference can include wireless nodes within the vehicle and wireless signals outside the vehicle, including in-vehicle wireless networks from neighboring vehicles. Successfully detecting and managing external interference sources is a prerequisite for implementing effective and reliable in-vehicle wireless networks.

[0003] Brief Overview

[0004] The techniques described herein provide for detecting and calculating the movement of potential interference sources to determine the probability of wireless network interference. These techniques can utilize information provided by sensors in a vehicle and / or the reception of vehicle-to-everything (V2X) messages. If there is a possibility of interference, one or more mitigation strategies can be adopted by the wireless network in the vehicle.

[0005] Vehicles manufactured today include arrays of sensors that can detect the presence of other vehicles. These sensors may include cameras, radar, lidar, and ultrasound. Using these sensors, vehicles can determine the static and dynamic characteristics of adjacent vehicles, including position, heading, speed, size, and type. Additionally, vehicles with V2X capabilities can broadcast their static and dynamic characteristics using industry standard messages such as the Society of Automotive Engineers (SAE) Basic Safety Messages (BSM) or the European Telecommunications Standards Institute (ETSI) Intelligent Transport Systems (ITS) Collaborative Awareness Messages (CAM).

[0006] By combining information from the vehicle's onboard sensors and, if available, from received V2X messages, the vehicle can determine the location of other vehicles relative to its location and, thereby, what part of the vehicle will be most affected by an interfering signal from that vehicle. Algorithms for detecting neighboring vehicles can be incorporated into the wireless network upper layer management.

[0007] These and other embodiments are described in detail below. For example, other embodiments relate to systems, devices, and computer-readable media associated with the methods described herein. A better understanding of the nature and advantages of the disclosed embodiments can be obtained with reference to the following detailed description and accompanying drawings.

[0008] An example method of detecting and mitigating radio frequency (RF) interference at a first vehicle according to the present specification includes: detecting one or more vehicles within a threshold distance of the first vehicle; in response to the detection, determining the location and motion state of the one or more vehicles; and determining the potential RF interference of the one or more vehicles with at least a portion of a wireless network of the first vehicle based at least in part on the determined location and the determined motion state of the one or more vehicles. The method further includes implementing interference mitigation techniques based at least in part on the determined location and the determined motion state of the one or more vehicles.

[0009] According to the present specification, an example device includes a memory and one or more processing units communicatively coupled to the memory. The one or more processing units are configured to: detect one or more vehicles within a threshold distance of a first vehicle; and in response to the detection, determine the location and motion state of the one or more vehicles. The one or more processing units are further configured to: determine the potential RF interference of the one or more vehicles with at least a portion of a wireless network of the first vehicle based at least in part on the determined location and the determined motion state of the one or more vehicles; and implement interference mitigation techniques based at least in part on the determined location and the determined motion state of the one or more vehicles.

[0010] Another example device according to the present specification includes: means for detecting one or more vehicles within a threshold distance of a first vehicle; means for determining, in response to the detection, a location and a motion state of the one or more vehicles; and means for determining, based at least in part on the determined location and the determined motion state of the one or more vehicles, potential RF interference of the one or more vehicles with at least a portion of a wireless network of the first vehicle. The device further includes means for implementing interference mitigation techniques based at least in part on the determined location and the determined motion state of the one or more vehicles.

[0011] According to an example non-transitory computer-readable medium of the present specification, there is stored thereon instructions, which when executed by one or more processing units cause the processing units to perform functions including: detecting one or more vehicles within a threshold distance of a first vehicle; in response to the detection, determining the position and motion state of the one or more vehicles; and determining the potential radio frequency (RF) interference of the one or more vehicles with at least a portion of a wireless network of the first vehicle based at least in part on the determined position and the determined motion state of the one or more vehicles. When executed by the one or more processing units, the instructions further cause the processing units to perform functions including: implementing interference mitigation techniques based at least in part on the determined position and the determined motion state of the one or more vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A vehicle with multiple wireless transmitters is illustrated.

[0014] Figure 2 An exemplary encounter with possible interference with wireless sensors is illustrated.

[0015] Figure 3 Exemplary techniques for using existing onboard sensors to determine the location and motion status of other vehicles are explained.

[0016] Figure 4 An exemplary V2X vehicle is illustrated.

[0017] Figure 5 A road segment with multiple V2X vehicles is illustrated.

[0018] Figure 6 is a flow chart of a method for detecting wireless network interference according to an embodiment.

[0019] Figure 7 is a flow chart of a method for detecting wireless network interference according to an embodiment.

[0020] Figure 8 is a block diagram of an embodiment of a V2X device.

[0021] Similar reference numerals and symbols in the various drawings indicate similar elements according to certain example implementations. In addition, multiple instances of the element can be indicated by adding a letter or hyphen and a second numeral after the first numeral of the element. For example, multiple instances of element 110 can be indicated as 110-1, 110-2, 110-3, etc. or as 110a, 110b, 110c, etc. When only the first numeral is used to refer to such an element, it will be understood as any instance of the element (for example, the element 110 in the previous example will refer to elements 110-1, 110-2 and 110-3 or elements 110a, 110b and 110c).

[0022] Detailed Description

[0023] Several illustrative embodiments will now be described with reference to the accompanying drawings which form a part hereof. Although specific embodiments are described below in which one or more aspects of the present disclosure may be implemented, other embodiments may be used and various modifications may be made without departing from the scope of the present disclosure or the spirit of the appended claims.

[0024] V2X is a communication standard for vehicles to exchange information about the traffic environment with related entities. V2X may include vehicle-to-vehicle (V2V) communication between vehicles with V2X capabilities, vehicle-to-infrastructure (V2I) communication between vehicles and infrastructure-based devices (commonly referred to as roadside units (RSUs)), and vehicle-to-person (V2P) communication between vehicles and nearby people (pedestrians, cyclists, and other road users). Further, V2X can use any of a variety of wireless radio frequency (RF) communication technologies. For example, cellular V2X (CV2X) is a form of V2X that uses cellular-based communications such as long-term evolution (LTE), fifth-generation new radio (5G NR), and / or other cellular technologies in a direct communication mode as defined by the third generation partnership project (3GPP). Components or devices used to convey V2X messages on vehicles, RSUs, or other V2X entities are generally referred to as V2X devices or V2X user equipment (UE). V2X capabilities can be used to detect other vehicles that may interfere with wireless networks in vehicles.

[0025] As referred to herein, "V2X devices," "V2X-capable vehicles" (or simply "V2X vehicles"), and "V2X entities" refer to devices, vehicles, and entities that are capable of transmitting and receiving V2X messages, respectively. Similarly, "non-V2X vehicles" and "non-V2X entities" refer to vehicles and entities that do not or cannot participate in V2X communications. Although many embodiments describe "V2X vehicles" and "non-V2X vehicles," it will be understood that many embodiments may be expanded to include non-vehicle entities, such as pedestrians, cyclists, road hazards, obstacles, and / or other traffic-related objects. As generally referred to herein, an "object" detected by a sensor as described in the embodiments herein may refer to a detectable vehicle or non-vehicle object on or near a road. Additionally, although the embodiments herein are directed to V2X enhanced navigation technology, it should be understood that alternative embodiments may be directed to alternative forms of traffic-related communications. One of ordinary skill in the art will appreciate such variations.

[0026] In V2X communications, data transmitted by one V2X device may only be relevant to V2X devices within a certain distance of the transmitting V2X device. For example, a vehicle attempting to cross an intersection may only find relevant data within a certain proximity of the intersection. Similarly, for vehicles participating in coordinated driving, only the vehicles affected by the maneuver may find relevant data.

[0027] As mentioned, V2X (under 5G NR) supports distance-based communication control. More specifically, if a receiving V2X device within a specified distance (referred to herein as the "V2X communication range" or simply the "communication range") receives a V2X message from a transmitting V2X device, the receiving V2X device will transmit a negative acknowledgement (NAK) if it is within the specified range but fails to decode the message. This allows the transmitting V2X device to retransmit the message. Through this mechanism, the reception reliability of V2X is increased for V2X devices within the specified range, thereby enhancing the performance of device control that relies on the underlying V2X communication.

[0028] Additionally, V2X-capable devices may have knowledge of the location and motion state of other V2X vehicles and non-V2X vehicles (and other objects) in their vicinity. For the former, this may be determined by receiving messages or signaling from other V2X devices, such as control signaling, BSM or CAM indicating the location of the V2X device or vehicle. For the latter, this may be determined by onboard sensors capable of detecting the motion state and / or other attributes of non-V2X vehicles and other objects.

[0029] The embodiments provided herein utilize existing positioning sensors or V2X devices to detect one or more other vehicles including wireless systems that may interfere with the wireless network in the vehicle. The positioning sensors or V2X devices can provide information to determine the location, heading, speed, size, and type of other vehicles. This information can be used to determine the probability of network interference and allow the wireless network in the vehicle to use one or more techniques to mitigate the effects of the interference. This prior knowledge of potential interference (such as detection of the advancing vehicle) enables proactive mitigation steps.

[0030] Figure 1 A vehicle 100 with multiple wireless transmitters 102 according to one embodiment is illustrated. The vehicle 100 may have numerous sensors distributed throughout the vehicle 100. These sensors may include, but are not limited to, collision impact sensors that deploy vehicle airbags, humidity sensors that activate windshield wipers, light sensors that automatically activate vehicle lights, and tire pressure monitoring sensors. Currently, many sensors have wired connections to send messages to the dashboard or computer system of the vehicle. Automakers are increasingly interested in replacing existing wired networks in vehicles (e.g., controller area networks (CAN), FlexRay, local interconnect networks (LIN), media-oriented systems transmission (MOST), Ethernet, etc.) with wireless networks. For example, wireless transmitters 102-1 to 102-7 are distributed throughout the vehicle 100. These wireless transmitters may be susceptible to radio frequency (RF) interference from other RF transmissions that may originate from other vehicles. Depending on the transmitter location, the wireless transmitter may be affected by external sensors. For example, sensors behind a vehicle (e.g., sensors 102-1 and 102-2) may be affected by external sources (e.g., other vehicles) behind the vehicle. Figure 1 The distribution of wireless transmitters (102-1 to 102-7) shown in FIG is provided as an example. Sensor locations may vary depending on vehicle type, technology employed, and / or other factors.

[0031] Figure 2 Exemplary encounters 200 , 210 regarding possible interference of wireless sensors between vehicles are illustrated. Figure 2 Two vehicles 202 are illustrated in close proximity on a divided road. The first vehicle 202-1 may include multiple wireless transmitters, and the second vehicle 202-2 may also include a wireless transmitter that may operate in the same RF frequency band as the wireless transmitters in the first vehicle 202-1.

[0032] In the first exemplary encounter 200, the two vehicles are traveling in opposite directions, and the wireless sensor on the first vehicle 202-1 may initially experience interference on the front driver side from transmissions originating from the second vehicle 202-2. In the first encounter 200, the interference may travel from the front driver side to the rear driver side of the second vehicle 202-2. The strength of the interference may be affected by the distance between the first vehicle 202-1 and the second vehicle 202-2.

[0033] In the second exemplary encounter 210, the first vehicle 202-1 and the second vehicle 202-2 are traveling in the same direction. Here, the wireless sensor on the first vehicle 202-1 may be subject to interference from the rear passenger side of the transmission originating from the second vehicle 202-2. In the second encounter, if the second vehicle 202-2 passes the first vehicle 202-1, the interference may travel from the rear passenger side of the first vehicle 202-1 to the front passenger side. Again, the strength of the interference may be affected by the distance between the first vehicle 202-1 and the second vehicle 202-2.

[0034] Figure 3 Explanation of exemplary techniques for using existing onboard sensors to determine the position and motion state of other vehicles. Modern vehicles can include multiple onboard sensors (e.g., cameras, lidar, radar, ultrasound). In some embodiments, the front camera can be mounted at the top center of the windshield. In some embodiments, radar sensors can be located at the front and rear corners of the vehicle. In some embodiments, side mounted cameras can be mounted on the side doors of the vehicle.

[0035] In various embodiments, these onboard sensors can be used for various autonomous driving features (e.g., emergency braking features, adaptive cruise control, lane centering). These onboard sensors in the first vehicle 302-1 can be used to detect the distance and appearance of one or more vehicles near the first vehicle 302-1. Figure 3 In the embodiment, the first vehicle 302-1 can use these onboard sensors to determine the position and / or motion state of the second vehicle 302-2 and the third vehicle 302-3. In various embodiments, the onboard sensors can determine the position and / or motion state of more distant vehicles (such as the fourth vehicle 302-4 and the fifth vehicle 302-5).

[0036] The positions of vehicles 302-2, 302-3, 302-4 and / or 302-5 can be determined by the first vehicle 302-1, for example, by obtaining distance and angle measurements of return signals from the transmitted signals reflected from the vehicles. Active sensors that transmit signals and can obtain distance and / or angle measurements from such return signals include, for example, laser radars, radars, and ultrasonic sensors. For example, the distance can be determined by measuring the time difference between transmitting a signal (e.g., light, electromagnetic, and sound) and receiving a return signal. The propagation rate of the transmitted signal is a known quantity. Therefore, the distance can be calculated by multiplying the propagation rate of the signal by the travel time.

[0037] Additionally or alternatively, the angle measurement of vehicles 302-2, 302-3, 302-4, and / or 302-5 can be determined, for example, by the position of a sensor on the first vehicle 302-1 that receives a return signal (e.g., light, electromagnetic, radar, and sound, which can also be used for distance determination as described above). For example, if the signal is received by a sensor on the driver's side of the first vehicle 302-1, the angle or direction of the third vehicle 302-3 relative to the first vehicle 302-1 can be determined. Using the first distance calculated from the round-trip time of the first vehicle 302-1 and the third vehicle 302-3, and the position of the sensor on the first vehicle 302-1 (e.g., the driver's side front), the first vehicle 302-1 can determine the position of the third vehicle 302-3. The determined position of the third vehicle 302-3 can be relative to the first vehicle 302-1. Additionally or alternatively, the determined position may be absolute and / or relative to another object, area, or region (which may be determined based on a known absolute / relative position of the first vehicle 302 - 1 ).

[0038] In some embodiments, due to the movement of the third vehicle 302-3 relative to the first vehicle 302-1, the return signal received by the first vehicle 302-1 from the reflection of the transmitted signal by the third vehicle 302-3 can be a Doppler shift. That is, the return signal can have a higher or lower frequency than the corresponding transmitted signal. For example, a sensor receiving a return signal that undergoes a Doppler shift to a higher frequency indicates that the object (which reflects the signal) is moving toward the sensor, while a Doppler shift to a lower frequency indicates that the object moves away from the sensor. The amount of frequency shift can indicate the relative speed of movement. The Doppler shift and known heading information about the first vehicle 302-1 can be used to determine the heading of one or more other vehicles. In this way, according to some embodiments, the first vehicle 302-1 can determine the motion state (e.g., speed and / or heading) of one or more nearby vehicles 302-2, 302-3, 302-4 and / or 302-5.

[0039] In addition to or in lieu of active sensors that transmit signals and measure return signals, the first vehicle 302-1 may use one or more passive sensors (which do not transmit signals) to determine the position and / or velocity of other vehicles. For example, where image processing is used to achieve target detection, a camera at a fixed position on the first vehicle 302-1 may identify an object within the camera's field of view and determine the position of the object based on the area within the camera's field of view where the object is detected (e.g., pixels of the camera's sensor). In addition, according to some embodiments, tracking techniques may be used to track an object from one camera image to another (e.g., between video frames) to determine the object's velocity and / or heading.

[0040] Figure 4 404. The V2X vehicle 402 may broadcast one or more messages using an RF signal 404. The messages may be broadcast at regular intervals, and may include static and dynamic information of the V2X vehicle (along with other information). The V2X vehicle 402 may broadcast using application layer messages defined by SAE, ETS-ITS, C-SAE / C-ITS. The broadcast information message may include the V2X vehicle 402 location, vehicle heading, and vehicle speed.

[0041] In some embodiments, the message sent by the V2X vehicle 402 may include a BSM. The BSM may include a data packet containing information about the vehicle's location, heading, velocity, and other information related to the vehicle's state and predicted path. In various embodiments, the BSM may not contain personal identification information (PII), but may identify the type and model of the vehicle. In this way, the receiving V2X vehicle 402 can determine the wireless network configuration on the vehicle.

[0042] In some embodiments, the messages sent by the V2X vehicle 402 may include a CAM. The CAM is broadcast as part of the ETSI standard and, similar to the BSM, may include information about the V2X vehicle 402, such as vehicle type, location, heading, velocity, and acceleration. The V2X vehicle 402 may send a CAM periodically. The recipient entity of such messages interprets them and creates a so-called local dynamic map (LDM). The LDM is an environmental database maintained in and by each vehicle and supports a variety of applications.

[0043] In some embodiments, a V2X device is an electronic device (e.g., a smartphone) deployed with a V2X chipset to provide motion information and driving intent to assist in policy setting of edge network devices. As such, embodiments of V2X vehicles 402 may include vehicles with such V2X devices located therein or thereon. Smartphones with V2X chipsets may access motion and sensor data of associated vehicles through wired or wireless connections. If there is no direct connection to the vehicle, a smartphone with sensors and GPS may provide information such as location, velocity, acceleration for calculating a recommended route, recommended velocity, and recommended lanes.

[0044] Where a direct wireless connection is used (e.g., PC5 or similar connection), the V2X vehicle 402 may periodically broadcast its motion state directly to all V2X devices (including edge network devices and other vehicles within the message coverage area) in real time or near real time. Additionally or alternatively, a network-based connection (e.g., a Uu connection) may enable the V2X vehicle 402 to transmit vehicle information to associated edge network devices. In addition to motion state and / or vehicle information (e.g., in a BSM or CAM), the V2X vehicle 402 may send intent information (such as a driving destination, desired direction, or lane change intent).

[0045] According to some embodiments, the V2X vehicle 402 may send information in the V2X message indicating the properties of the detected vehicle. These properties may vary depending on the type of sensor used to detect the detected vehicle. These properties may generally include information about the position and motion state of the detected vehicle, which may be determined in the manner previously described. More specifically, the properties may include the absolute and / or relative position (e.g., relative to the transmitting vehicle, intersection, etc.) of the detected vehicle, speed (or separate rate and / or direction components), acceleration, etc. In some embodiments, other detected properties may include the type of vehicle, one or more detected visible features, etc.

[0046] Figure 5 A road segment 500 is illustrated having a plurality of vehicles 502-1 through 502-5 (collectively and generally referred to herein as vehicles 502) according to an example. In this example, each vehicle 502 comprises a V2X vehicle that can transmit and receive V2X messages in the manner previously described. Each V2X message may include the location and motion state of an adjacent vehicle. For example, in Figure 5In FIG. 5 , the first vehicle 502-1 may receive V2X messages sent from the second vehicle 502-2, the third vehicle 502-3, the fourth vehicle 502-4, and the fifth vehicle 502-5, wherein each message includes the position and motion state of the vehicle 502 that sent the message. Figure 5 Five vehicles are depicted in the example of FIG, but different situations may include any number of vehicles. Further, the messages from the V2X vehicles 502-2 to 502-5 may augment the information received from the onboard sensors, as previously described with respect to FIG. Figure 3 In addition to motion state and location, the V2X message may contain information about the type, model, and configuration of nearby vehicles. In this way, the first vehicle 502-1 may more easily determine whether there is a possibility of wireless network interference to take proactive measurements.

[0047] According to an embodiment of the present invention, if the first vehicle 502-1 determines the possibility of wireless network interference based on the V2X message and / or sensor information it receives, the first vehicle 502-1 can implement one or more interference mitigation measurements. Interference mitigation techniques may include, for example, increasing or decreasing the power of a wireless transmitter of a wireless network, changing the frequency or channel of a wireless transmitter of a wireless network, increasing or decreasing the gain level of a wireless receiver of a wireless network, and / or activating one or more additional wireless transmitters as relays to improve the reliability of the wireless network. Additional or replacement interference mitigation techniques may include vehicle movement, such as changing lanes, speeds, routes, and / or intervals between vehicles. Each interference mitigation technique may be based on the detection of wireless interference sources. Such prior knowledge of potential interference parties (such as detection of approaching vehicles) implements proactive mitigation steps. The system may also record and adjust the recorded reliability of specific sensors based on wireless network interference. In this way, reliability can be used for subsequent vehicle design, sensor selection, or mitigation strategies armed with knowledge of potential interference sources.

[0048] Figure 6 6 is a flow chart of a method 600 for detecting and mitigating wireless network interference according to an embodiment. Alternative embodiments may be combined, separated or otherwise varied in Figure 6 The functionality described in the box in the explanation is used to change the function. Figure 6 The functional means of one or more blocks illustrated in the example may include hardware and / or software components of a V2X vehicle, or more broadly, a V2X device. Figure 8 and described below.

[0049] At block 602, method 600 may include receiving a V2X broadcast message (e.g., BSM, CAM). V2X broadcast messages may be received periodically, and the periodicity may depend on vehicle capabilities, regulatory standards, and / or other relevant factors. V2X messages may be transmitted wirelessly using applicable RF frequencies. In some embodiments, for example, the 5.9 GHz frequency band is used to broadcast V2X messages. Other embodiments may use additional or alternative frequency bands. V2X messages broadcast from a transmitting vehicle may be wirelessly received (e.g., via a receiver or transceiver) by multiple V2X vehicles within the broadcast range of the transmitting vehicle.

[0050] At block 604, method 600 may include using the V2X broadcast message to determine the location and motion state of the transmitting V2X entity. In various embodiments, the V2X broadcast message may include information that may include one or more of the following: the location of one or more vehicles, the speed of one or more vehicles, the heading of one or more vehicles, the identification of one or more vehicles, the type and model of one or more vehicles, and the wireless network configuration of one or more vehicles. The location of one or more vehicles may be provided by a navigation sensor (e.g., a GNSS sensor) of the vehicle. In some embodiments, the location of one or more vehicles may be determined by user equipment (UE) assisted / UE-based and / or network-based procedures / methods, such as Assisted GNSS (A-GNSS), Observed Time Difference of Arrival (OTDOA), Real-Time Kinematics (RTK), Precise Point Positioning (PPP), Differential GNSS (DGNSS), Enhanced Cell Identity (ECID), Angle of Arrival (AOA), Angle of Departure (AOD), Wireless Local Area Network (WLAN) positioning and / or other positioning procedures and methods. Network-based positioning procedures and methods may include the use of wireless networks, including mobile communication networks (e.g., LTE or NR), WLAN, Bluetooth networks, and / or other wireless networks. In some embodiments, the speed of one or more vehicles may be determined by a sensor in the vehicle (e.g., a rate meter or accelerometer). In some embodiments, the speed may be determined by a navigation sensor of the vehicle (e.g., a GNSS sensor).

[0051] At block 606, for non-V2X vehicles, method 600 may include detecting adjacent vehicles (approaching, backing up, side by side) via onboard sensors (e.g., cameras, lidar, radar, ultrasound). In various embodiments, the onboard sensors may include active sensors (e.g., lidar, radar, and ultrasound) that transmit signals from non-V2X vehicles that are reflected from one or more adjacent vehicles and received by a receiver of the non-V2X vehicle. As mentioned, the round trip time of the active signal may be used to calculate the distance to one or more adjacent vehicles. The frequency shift of the active signal may be used to calculate the relative speed of one or more adjacent vehicles. Inactive sensors (such as cameras) may be used to measure speed, heading, and / or position in the manner previously described.

[0052] In box 608, method 600 may include determining the position and motion state of one or more detected vehicles. In various embodiments, the position may include a range and an angle. In various embodiments, the position may include an absolute or relative position. In various embodiments, the motion state may include the speed of one or more detected vehicles. The speed may include a rate and a direction. The position of one or more vehicles may be provided by a navigation sensor (e.g., a GNSS sensor) of the vehicle. In some embodiments, the position of one or more vehicles may be determined by multi-angle positioning and / or multi-lateration positioning of one or more transmission signals in a network. In some embodiments, the rate of one or more vehicles may be determined by a sensor (e.g., a rate meter or an accelerometer) in the vehicle. In some embodiments, the rate may be determined by a navigation sensor (e.g., a GNSS sensor) of the vehicle.

[0053] At 610, method 600 may include determining the current and future relative positions of a potential interferer (e.g., a vehicle). In various embodiments, determining the future relative position of the potential interferer may include interpolating the motion state from the current position of the vehicle. The position using the detected position and motion state of the vehicle and the motion state of the subject vehicle (V2X or non-V2X vehicle) may be used to determine the current relative position of the potential interferer. In various embodiments, the position and motion state information may infer the future positions of the detected vehicle and the subject vehicle. In some embodiments, the functionality at box 610 may include determining whether the distance and angular relationship between the detected vehicle and the subject vehicle is within a predetermined threshold.

[0054] At block 612, method 600 may include invoking one or more appropriate interference mitigation techniques. As mentioned, interference mitigation techniques may include, for example, increasing or decreasing the power of a wireless transmitter of the wireless network, changing the frequency or channel of a wireless transmitter of the wireless network, increasing or decreasing the gain level of a wireless receiver of the wireless network, and / or activating one or more additional wireless transmitters as relays to improve the reliability of the wireless network. Additional or alternative interference mitigation techniques may include vehicle movement, such as changing lanes, speeds, routes, and / or spacing between vehicles.

[0055] It should be understood that Figure 6 The functions illustrated in provide detection and mitigation of wireless network signals according to various embodiments of the present disclosure. Other sequences of steps may also be performed according to alternative embodiments. For example, alternative embodiments of the present disclosure may perform the steps outlined above in a different order and / or be rearranged in other ways. In some embodiments, such as for non-V2X vehicles, the functions at blocks 602 and 604 may be omitted. In addition, Figure 7 The individual steps illustrated in the foregoing may include multiple sub-steps, which may be performed in various sequences that are appropriate for the individual steps. In addition, additional steps may be added or removed depending on the specific application. Those of ordinary skill in the art will recognize many variations, modifications, and substitutions.

[0056] Figure 7 700 is a flow chart of a method 700 for detecting and mitigating RF interference at a first vehicle according to an embodiment. Alternative embodiments may be combined, separated, or otherwise varied in Figure 7 The functionality described in the box in the explanation is used to change the function. Figure 7 The functional means of one or more blocks illustrated in FIG. 1 may include hardware and / or software components of a vehicle computer system (such as in FIG. Figure 8 The vehicle computer system 810 illustrated in and described below).

[0057] At box 702, method 700 includes detecting one or more vehicles within a threshold distance of a first vehicle. In various embodiments, detecting one or more vehicles within a threshold distance of a first vehicle may include determining the distance between the first vehicle and the one or more vehicles. As previously discussed, the determination may include receiving one or more return signals from a sensor of the first vehicle (e.g., an active sensor, such as a radar, a lidar, or an ultrasonic sensor), calculating a distance based on the one or more return signals (e.g., determined based on a round-trip time), and comparing the distance to a threshold distance. According to some embodiments, detecting one or more vehicles within a threshold distance of a first vehicle may include: receiving one or more return signals from a sensor of the first vehicle, determining the distance of the one or more vehicles based on the one or more return signals, and determining that the distance is less than the threshold distance.

[0058] In some embodiments, the threshold distance may vary depending on the speed (rate and direction) of one or more vehicles. For example, the threshold distance for triggering interference mitigation techniques may be farther when the detected vehicle is rapidly approaching the first vehicle than when the detected vehicle is slowly approaching the first vehicle. For detected vehicles moving away from the first vehicle, the threshold distance for triggering interference mitigation techniques may be much smaller (e.g., triggered only when the vehicle is within a short range of the first vehicle). Thus, in some embodiments of method 700, detecting one or more vehicles within the threshold distance may include determining the speed and direction of the one or more vehicles.

[0059] According to some embodiments, the threshold distance may be based on additional or alternative factors. The first vehicle may be more susceptible to interference in some adjacent locations than in other locations (e.g., more susceptible to interference on the driver's side than on the passenger's side). Thus, one factor that may affect the threshold distance may include the angle at which the first vehicle detects the one or more vehicles. Different vehicle types and models may result in different levels of interference. And thus, in some embodiments, factors that may affect the threshold distance may include the type and model of one or more vehicles. Another factor may include the type of wireless network of the first vehicle, which may determine how susceptible the wireless network is to interference.

[0060] As mentioned in previously discussed embodiments, embodiments may employ V2X functionality to determine whether one or more vehicles are within a threshold distance, and / or to obtain additional information about one or more vehicles. Thus, in some embodiments of method 700, detecting one or more vehicles proximate to a first vehicle includes receiving one or more V2X broadcast messages from the one or more vehicles. Means for performing the functionality of block 702 may include, for example, the wireless communication interface 830, the processing unit(s) 825, the DSP 820, the sensor(s) 840, and / or other components of the vehicle computer system 810, such as Figure 8 and described below.

[0061] At block 704, method 700 may include determining the position and motion state of the one or more vehicles. In some embodiments, this may include determining the relative angle of the one or more vehicles to the first vehicle and / or the relative speed between the one or more vehicles and the first vehicle. In embodiments using V2X messages, determining the position and motion state of the one or more vehicles may include receiving one or more V2X messages from the one or more vehicles, and determining the position, heading, and velocity of the one or more vehicles based on the one or more V2X messages. Means for performing the functionality of block 704 may include, for example, the wireless communication interface 830, the processing unit(s) 825, the DSP 820, and / or other components of the vehicle computer system 810, such as Figure 8 and described below.

[0062] At box 706, method 700 includes determining potential RF interference of the one or more vehicles to at least a portion of the wireless network of the first vehicle based at least in part on the determined position and determined motion state of the one or more vehicles. In some embodiments, this may include determining the time of potential interference based at least in part on the position, heading, and velocity of the one or more vehicles. Additionally or alternatively, determining potential RF interference to at least a portion of the wireless network of the first vehicle may include determining a portion of the wireless network that is susceptible to potential RF interference based at least in part on the position, heading, and velocity of the one or more vehicles. The determination may include identifying zones and / or components on the first vehicle that are exposed to interference from RF signals from the one or more vehicles. Means for performing the functionality of box 706 may include, for example, processing unit(s) 825, DSP 820, and / or other components of the vehicle computer system 810, such as Figure 8 and described below.

[0063] At block 708, method 700 includes implementing interference mitigation techniques based at least in part on the determined position and the determined motion state of one or more vehicles. Means for performing the functionality of block 706 may include, for example, processing unit(s) 825, DSP 820, and / or other components of vehicle computer system 810, such as Figure 8 and described below.

[0064] As described in the previously described embodiments, interference mitigation techniques may vary depending on the desired functionality. Such techniques may include, for example, increasing or decreasing the power of a wireless transmitter of a wireless network, changing the frequency or channel of a wireless transmitter of a wireless network, increasing or decreasing the gain level of a wireless receiver of a wireless network, activating one or more additional wireless transmitters of a wireless network, and / or any combination thereof. Increasing or decreasing the power of a wireless transmitter may, for example, adjust the signal-to-noise ratio (SNR) level within a wireless network to a suitable range to help ensure reliable wireless communication despite potential interference. Increasing or decreasing the gain level may have a similar effect, but on the receiver side of a wireless link. Changing the frequency or channel of a wireless transmitter may help reduce interference, where the frequency or channel of potential RF interference is known or predictable (e.g., detected by one or more components of a first vehicle and / or determined based on vehicle type, model, and / or other factors). Activating one or more additional wireless transmitters of a wireless network may help boost signal strength within a wireless network, which may also help ensure the reliability of communications within the wireless network.

[0065] You should understand that Figure 7 The specific steps illustrated in provide specific techniques for detecting and mitigating wireless network signals according to various embodiments of the present disclosure. Other sequences of steps may also be performed according to alternative embodiments. For example, alternative embodiments of the present disclosure may perform the steps outlined above in a different order. In addition, Figure 7 The individual steps illustrated in the foregoing may include multiple sub-steps, which may be performed in various sequences that are appropriate for the individual steps. In addition, additional steps may be added or removed depending on the specific application. Those of ordinary skill in the art will recognize many variations, modifications, and substitutions.

[0066] It will be apparent to those skilled in the art that substantial modifications may be made depending on specific requirements. For example, customized hardware may also be used, and / or specific elements may be implemented in hardware, software (including portable software, such as applets, etc.), or both. Further, connections to other computing devices (such as network input / output devices) may be employed.

[0067] Figure 88 is a block diagram of an embodiment of a vehicle computer system 810 that can be utilized as described above herein. In some embodiments, the vehicle computer system 810 may include or be integrated into one or more additional vehicle systems, such as those vehicle systems related to navigation and / or autonomous driving of the vehicle. As such, the components shown may be able to communicate with other onboard systems and / or other transportation entities (not shown). In some embodiments, the vehicle computer system 810 may include a standalone device or component on the vehicle that may be communicatively coupled to other components / devices of the vehicle (or entity). In some embodiments, the vehicle computer system 810 may include a V2X device and / or otherwise be able to allow the vehicle to participate in V2X communications and functionality.

[0068] As mentioned, the vehicle computer system 810 may implement the application layer and the radio layer and may execute Figure 7 One or more functions of the method 700 of . For example, the application layer can be performed by (all) processing units 825, and the radio layer can be performed by the wireless communication interface 830. In alternative embodiments, the application layer and / or the radio layer can be implemented by additional or alternative components. It should be noted that Figure 8 It is intended only to provide a generalized description of the various components, any or all of which may be utilized as appropriate. Figure 8 The illustrated components may be localized into a single physical device and / or distributed among various networked devices, for example, which may be located at different physical locations on a vehicle. Figure 1 As mentioned, the vehicle's wireless network may include sensors and / or other wireless components located on the vehicle. According to some embodiments, the vehicle computer system 810 may communicate with the wireless network via the wireless communication interface 830 .

[0069] The vehicle computer system 810 is shown as including hardware elements that may be electrically coupled via a bus 805 or may otherwise be in communication as appropriate. In some embodiments, one or more of the components illustrated in the vehicle computer system 810 may be wirelessly connected (and thus may be part of a wireless network of the vehicle, as described in the embodiments herein). The hardware elements may include a processing unit(s) 825, which may include, but is not limited to, one or more general purpose processors, one or more special purpose processors (such as a digital signal processing (DSP) chip, a graphics acceleration processor, an application specific integrated circuit (ASIC), etc.), and / or other processing structures or devices. Figure 8As shown in , some embodiments may have a separate digital signal processor (DSP) 820 depending on the desired functionality. In embodiments where the sensor processing unit 840 is integrated into the vehicle computer system 810 , the processing unit(s) 825 may include the sensor processing unit 840 .

[0070] The vehicle computer system 810 may also include one or more input devices 870, which may include devices related to user interface (e.g., touch screen, touch pad, microphone, key(s), dial(s), switch(s), etc.) and / or devices related to navigation, autonomous driving, etc. Similarly, one or more output devices 815 may involve interaction with a user (e.g., via a display, light emitting diode(s) (LED), speaker(s), etc.) and / or devices related to navigation, autonomous driving, etc.

[0071] The vehicle computer system 810 may also include a wireless communication interface 830, which may include but is not limited to a modem, a network card, an infrared communication device, a wireless communication device and / or a chipset (such as Devices, IEEE 802.11 devices, IEEE 802.15.4 devices, WiFi devices, WiMax devices, WAN devices and / or various cellular devices, etc.), etc. The wireless communication interface 830 can enable the vehicle computer system 810 to communicate with other devices (including V2X devices (in some embodiments)) that are away from the vehicle. As previously mentioned, additionally or alternatively, it can be used to communicate with the wireless network of the vehicle. Communication using the wireless communication interface 830 can be performed via one or more wireless communication antennas 832 that send and / or receive wireless signals 834. According to some embodiments, the wireless communication antenna 832 may include multiple discrete antennas, antenna arrays, or any combination thereof.

[0072] Depending on the desired functionality, the wireless communication interface 830 may include a separate receiver and transmitter, or any combination of a transceiver, transmitter, and / or receiver to communicate with a base station of a mobile carrier network and / or other ground transceivers (such as wireless devices and access points). The wireless communication interface 830 may allow a vehicle to communicate with different data networks that may include various network types. For example, a wireless wide area network (WWAN) may be a code division multiple access (CDMA) network, a time division multiple access (TDMA) network, a frequency division multiple access (FDMA) network, an orthogonal frequency division multiple access (OFDMA) network, a single carrier frequency division multiple access (SC-FDMA) network, WiMAX (IEEE 802.16), etc. A CDMA network may implement one or more radio access technologies, such as CDMA2000, wideband code division multiple access (WCDMA), etc. CDMA2000 includes IS-95, IS-2000, and / or IS-856 standards. A TDMA network may implement a Global System for Mobile Communications (GSM), a Digital Advanced Mobile Phone System (D-AMPS), or some other RAT. An OFDMA network may employ LTE, Advanced LTE, 5G NR, and the like. 5G NR, LTE, Advanced LTE, GSM, and WCDMA are described in documents from 3GPP. Cdma2000 is described in documents from an organization named "3rd Generation Partnership Project X3" (3GPP2). 3GPP and 3GPP2 documents are publicly available. A wireless local area network (WLAN) may also be an IEEE 802.11x network, while a wireless personal area network (WPAN) may be a Bluetooth network, IEEE 802.15x, or some other type of network.

[0073] The vehicle computer system 810 may further include sensor(s) 840. The sensor(s) 840 may include, but are not limited to, one or more accelerometers, gyroscopes, cameras, magnetometers, altimeters, microphones, proximity sensors, light sensors, barometers, radars, lidars, ultrasonic sensors, etc. As previously mentioned, the sensor(s) 840 may be used to determine certain real-time characteristics of the vehicle, such as position, velocity, acceleration, etc. Additionally or alternatively, the sensor(s) 840 may be used to determine characteristics of nearby vehicles and other objects as described herein.

[0074] Embodiments of the vehicle computer system 810 may also include a GNSS receiver 880 that is capable of receiving signals 884 from one or more GNSS satellites using an antenna 882 (which may be the same as antenna 832). Positioning based on GNSS signal measurements may be used to determine the current position of the vehicle, and further may be used as a basis for determining the positions of nearby detected objects (including other vehicles). The GNSS receiver 880 may extract the position of the vehicle computer system 810 from GNSS satellites of a GNSS system such as a global positioning system (GPS) and / or similar satellite system using conventional techniques.

[0075] The vehicle computer system 810 may further include and / or be in communication with memory 860. The memory 860 may include, but is not limited to, local and / or network accessible storage, disk drives, drive arrays, optical storage devices, solid-state storage devices (such as random access memory (RAM) and / or read-only memory (ROM)), which may be programmable, flash-updatable, etc. Such storage devices may be configured to implement any appropriate data storage, including, but not limited to, various file systems, database structures, and / or the like.

[0076] The memory 860 of the vehicle computer system 810 may also include software elements ( Figure 8 825 ), these software elements include operating systems, device drivers, executable libraries, and / or other code (such as one or more application programs), which may include computer programs provided by various embodiments, and / or may be designed to implement methods as described herein, and / or configure systems as described herein. Software applications stored in memory 860 and executed by (the) processing unit(s) 825 can be used to implement the application layer. In addition, one or more procedures described with respect to the method(s) discussed herein can be implemented as code and / or instructions in memory 860 that can be executed by the vehicle computer system 810 (and / or (the) processing unit(s) 825 or DSP 820 within the vehicle computer system 810), including Figure 6 In one aspect, such codes and / or instructions may be used to configure and / or adapt a general purpose computer (or other device) to perform one or more operations according to the described method.

[0077] With reference to the accompanying drawings, components that may include memory may include non-transient machine-readable media. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any storage medium that participates in providing data that enables a machine to operate in a particular manner. In the embodiments provided above, various machine-readable media may be involved when providing instructions / codes to processing unit 825 and / or other (s) devices for execution. Additionally or alternatively, machine-readable media may be used to store and / or carry such instructions / codes. In many implementations, computer-readable media are physical and / or tangible storage media. Such media may take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Common forms of computer-readable media include, for example: magnetic and / or optical media, any other physical media with hole patterns, RAM, programmable ROM (PROM), erasable PROM (EPROM), FLASH-EPROM, any other memory chip or memory box, carrier described below, or any other medium from which a computer can read instructions and / or codes.

[0078] The methods, systems and devices discussed herein are examples. Various embodiments may appropriately omit, substitute, or add various procedures or components. For example, features described with reference to certain embodiments may be combined in various other embodiments. Different aspects and elements of the embodiments may be combined in a similar manner. The various components of the accompanying drawings provided herein may be embodied in hardware and / or software. In addition, technology may evolve, and therefore many elements are examples that will not limit the scope of the present disclosure to those specific examples.

[0079] It has proven convenient at times, primarily for reasons of common usage, to refer to such signals as bits, information, values, elements, symbols, characters, variables, terms, quantities, numbers, and the like. However, it should be understood that all of these or similar terms are to be associated with the appropriate physical quantities and are merely convenient labels. Unless specifically stated otherwise, as will be apparent from the above discussion, it should be appreciated that throughout this specification, discussions utilizing terms such as "processing," "computing," "calculating," "determining," "ascertaining," "identifying," "correlating," "measuring," "performing," and the like refer to the actions or processes of a specific apparatus, such as a special-purpose computer or similar special-purpose electronic computing device. Thus, in the context of this specification, a special-purpose computer or similar special-purpose electronic computing device is capable of manipulating or transforming signals that are typically represented as physical, electronic, electrical, or magnetic quantities within a memory, register, or other information storage device, transmission device, or display device of the special-purpose computer or similar special-purpose electronic computing device.

[0080] As used herein, the terms "and" and "or" may include various meanings that are also intended to depend at least in part on the context in which such terms are used. Generally, "or", if used in association with a list, such as A, B, or C, is intended to mean A, B, and C (inclusive meanings are used here) as well as A, B, or C (exclusive meanings are used here). In addition, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular, or may be used to describe a certain combination of features, structures, or characteristics. However, it should be noted that this is merely an illustrative example, and the subject matter claimed is not limited to this example. In addition, the term "at least one of", if used in association with a list, such as A, B, or C, may be interpreted to mean any combination of A, B, and / or C, such as A, AB, AA, AAB, AABBCCC, etc.

[0081] Several embodiments have been described, and various modifications, alternative constructions, and equivalents may be used without departing from the spirit of the present disclosure. For example, the above elements may be components of a larger system, where other rules may take precedence over the application of the various embodiments or otherwise modify the application of the various embodiments. In addition, several steps may be taken before, during, or after considering the above elements. Accordingly, the above description does not limit the scope of the present disclosure.

[0082] In view of this description, various embodiments may include different combinations of features. Various implementation examples are described in the following numbered clauses:

[0083] Clause 1: A method of detecting and mitigating radio frequency (RF) interference at a first vehicle, the method comprising:

[0084] detecting one or more vehicles within a threshold distance of the first vehicle;

[0085] In response to the detecting, determining the position and motion state of the one or more vehicles;

[0086] determining potential RF interference of the one or more vehicles with at least a portion of the wireless network of the first vehicle based at least in part on the determined location and the determined motion state of the one or more vehicles; and

[0087] Interference mitigation techniques are implemented based at least in part on the determined positions and the determined motion states of the one or more vehicles.

[0088] Clause 2: The method of clause 1, wherein detecting the one or more vehicles within a threshold distance of the first vehicle comprises:

[0089] receiving one or more return signals from sensors of the first vehicle;

[0090] determining a distance of the one or more vehicles based on the one or more return signals; and

[0091] It is determined that the distance is less than the threshold distance.

[0092] Clause 3: The method of clause 2, further comprising:

[0093] determining a speed of the one or more vehicles based on the one or more return signals, wherein the speed includes a velocity component and a direction component; and

[0094] The threshold distance is determined based at least in part on the determined speed.

[0095] Clause 4: The method of clause 2 or 3, wherein the sensor of the first vehicle comprises a radar, a lidar, a camera, an ultrasonic sensor, or any combination thereof.

[0096] Clause 5: The method of any of clause 1, wherein detecting the one or more vehicles within the threshold distance of the first vehicle comprises receiving one or more V2X messages.

[0097] Clause 6: The method of clause 5, wherein determining the position and the motion state of the one or more vehicles comprises:

[0098] receiving the one or more V2X messages from the one or more vehicles; and

[0099] The position, heading, and velocity of the one or more vehicles are determined based on the one or more V2X messages.

[0100] Clause 7: The method of clause 6, further comprising determining the time of the potential RF interference based at least in part on the location, the heading, and the velocity of the one or more vehicles.

[0101] Clause 8: The method of clause 6, further comprising determining a portion of the wireless network of a first vehicle that is susceptible to the potential RF interference based at least in part on the location, the heading, and the velocity of the one or more vehicles.

[0102] Clause 9: The method of any of clauses 1-8, wherein the interference mitigation technique comprises:

[0103] increasing or decreasing the power of the wireless network's radio transmitters,

[0104] Changing the frequency or channel of the wireless transmitter of the wireless network,

[0105] increasing or decreasing the gain level of a wireless receiver of the wireless network, or

[0106] activating one or more additional wireless transmitters of the wireless network,

[0107] or any combination thereof.

[0108] Clause 10: A device comprising:

[0109] Memory; and

[0110] One or more processing units communicatively coupled to the memory, and the one or more processing units are configured such that the one or more processing units:

[0111] detecting one or more vehicles within a threshold distance of a first vehicle;

[0112] In response to the detecting, determining the position and motion state of the one or more vehicles;

[0113] determining potential radio frequency (RF) interference of the one or more vehicles with at least a portion of a wireless network of the first vehicle based at least in part on the determined locations and the determined motion states of the one or more vehicles; and

[0114] Interference mitigation techniques are implemented based at least in part on the determined positions and the determined motion states of the one or more vehicles.

[0115] Clause 11: The apparatus of clause 10, wherein, to detect the one or more vehicles within a threshold distance of the first vehicle, the one or more processing units are configured to:

[0116] receiving one or more return signals from sensors of the first vehicle;

[0117] determining a distance of the one or more vehicles based on the one or more return signals; and

[0118] It is determined that the distance is less than the threshold distance.

[0119] Clause 12: The apparatus of clause 11, wherein the one or more processing units are further configured to:

[0120] determining a speed of the one or more vehicles based on the one or more return signals, wherein the speed includes a velocity component and a direction component; and

[0121] The threshold distance is determined based at least in part on the determined speed.

[0122] Clause 13: The apparatus of clause 11 or 12, wherein the sensor of the first vehicle comprises a radar, a lidar, a camera, an ultrasonic sensor, or any combination thereof.

[0123] Clause 14: The apparatus of clause 10, wherein, to detect the one or more vehicles within a threshold distance of the first vehicle, the one or more processing units are configured to receive one or more V2X messages.

[0124] Clause 15: The apparatus of clause 14, wherein, to determine the position and the motion state of the one or more vehicles, the one or more processing units are configured to:

[0125] receiving the one or more V2X messages from the one or more vehicles; and

[0126] The position, heading, and velocity of the one or more vehicles are determined based on the one or more V2X messages.

[0127] Clause 16: The apparatus of clause 15, wherein the one or more processing units are further configured to determine the time of the potential RF interference based at least in part on the location, the heading, and the velocity of the one or more vehicles.

[0128] Clause 17: The device of clause 15, wherein the one or more processing units are further configured to determine a portion of the wireless network of the first vehicle that is susceptible to the potential RF interference based at least in part on the location, the heading, and the velocity of the one or more vehicles.

[0129] Clause 18: The apparatus of clauses 10-17, wherein the mitigation technique comprises increasing or decreasing power of a wireless transmitter of the wireless network.

[0130] Clause 19: The apparatus of clause 18, wherein, to implement the interference mitigation technique, the one or more processing units are further configured to:

[0131] Changing the frequency or channel of the wireless transmitter of the wireless network,

[0132] increasing or decreasing the gain level of a wireless receiver of the wireless network, or

[0133] activating one or more additional wireless transmitters of the wireless network,

[0134] or any combination thereof.

[0135] Clause 20: A device comprising:

[0136] means for detecting one or more vehicles within a threshold distance of a first vehicle;

[0137] means for determining the position and motion state of the one or more vehicles in response to the detecting;

[0138] means for determining potential radio frequency (RF) interference of the one or more vehicles with at least a portion of a wireless network of the first vehicle based at least in part on the determined location and the determined motion state of the one or more vehicles; and

[0139] Means for implementing interference mitigation techniques based at least in part on the determined positions and determined motion states of the one or more vehicles.

[0140] Clause 21: The apparatus of clause 20, wherein the means for detecting the one or more vehicles within a threshold distance of the first vehicle comprises:

[0141] means for receiving one or more return signals from sensors of the first vehicle;

[0142] means for determining a distance of the one or more vehicles based on the one or more return signals; and

[0143] Means for determining that the distance is less than the threshold distance.

[0144] Clause 22: The apparatus of clause 21, further comprising:

[0145] means for determining a speed of the one or more vehicles based on the one or more return signals, wherein the speed includes a velocity component and a direction component; and

[0146] Means for determining the threshold distance based at least in part on the determined speed.

[0147] Clause 23: The apparatus of clause 21 or clause 22, wherein the sensor of the first vehicle comprises a radar, a lidar, a camera, an ultrasonic sensor, or any combination thereof.

[0148] Clause 24: The apparatus of clause 20, wherein the means for detecting the one or more vehicles within the threshold distance of the first vehicle comprises means for receiving one or more V2X messages.

[0149] Clause 25: The apparatus of clause 24, wherein the means for determining the position and the motion state of the one or more vehicles comprises:

[0150] means for receiving the one or more V2X messages from the one or more vehicles; and

[0151] Means for determining the position, heading, and velocity of the one or more vehicles based on the one or more V2X messages.

[0152] Clause 26: The apparatus of clause 25, further comprising means for determining the time of the potential RF interference based at least in part on the location, the heading, and the velocity of the one or more vehicles.

[0153] Clause 27: The apparatus of clause 25, further comprising: means for determining a portion of the wireless network of a first vehicle that is susceptible to the potential RF interference based at least in part on the location, the heading, and the velocity of the one or more vehicles.

[0154] Clause 28: The apparatus of any of clauses 20-27, wherein the means for implementing the interference mitigation technique comprises:

[0155] means for increasing or decreasing the power of a wireless transmitter of the wireless network,

[0156] means for changing the frequency or channel of a wireless transmitter of the wireless network,

[0157] means for increasing or decreasing the gain level of a wireless receiver of the wireless network, or

[0158] means for activating one or more additional wireless transmitters of the wireless network,

[0159] or any combination thereof.

[0160] Clause 29: A non-transitory computer-readable medium having stored thereon instructions that, when executed by one or more processing units, cause the processing units to perform functions comprising:

[0161] detecting one or more vehicles within a threshold distance of a first vehicle;

[0162] In response to the detecting, determining the position and motion state of the one or more vehicles;

[0163] determining potential radio frequency (RF) interference of the one or more vehicles with at least a portion of a wireless network of the first vehicle based at least in part on the determined locations and the determined motion states of the one or more vehicles; and

[0164] Interference mitigation techniques are implemented based at least in part on the determined positions and determined motion states of the one or more vehicles.

[0165] Clause 30: The non-transitory computer-readable medium of clause 29, wherein, to detect the one or more vehicles within a threshold distance of the first vehicle, the instructions, when executed by the one or more processing units, cause the one or more processing units to:

[0166] receiving one or more return signals from sensors of the first vehicle;

[0167] determining a distance of the one or more vehicles based on the one or more return signals; and

[0168] It is determined that the distance is less than the threshold distance.

Claims

1. A method for detecting and mitigating radio frequency (RF) interference at a first vehicle, the method comprising: Detecting one or more vehicles within a threshold distance of the first vehicle, wherein detecting the one or more vehicles within the threshold distance of the first vehicle comprises: receiving one or more return signals from a sensor of the first vehicle; determining a distance and a speed of the one or more vehicles based on the one or more return signals, wherein the speed includes a velocity component and a direction component; determining the threshold distance based at least in part on the determined speed; and determining that the distance is less than the threshold distance; In response to the detecting, determining the position and motion state of the one or more vehicles; determining potential RF interference of the one or more vehicles with at least a portion of the first vehicle's wireless network based at least in part on the determined locations and determined motion states of the one or more vehicles; and Interference mitigation techniques are implemented based at least in part on the determined positions and determined motion states of the one or more vehicles. 2 . The method of claim 1 , wherein the sensor of the first vehicle comprises a radar, a lidar, a camera, an ultrasonic sensor, or any combination thereof.

3. The method of claim 1 , wherein detecting the one or more vehicles within a threshold distance of the first vehicle comprises receiving one or more V2X messages.

4. The method of claim 3, wherein determining the position and the motion state of the one or more vehicles comprises: receiving the one or more V2X messages from the one or more vehicles; as well as The position, heading, and velocity of the one or more vehicles are determined based on the one or more V2X messages. 5 . The method of claim 4 , further comprising determining a time of the potential RF interference based at least in part on the location, the heading, and the speed of the one or more vehicles.

6. The method of claim 4, further comprising determining a portion of the wireless network of a first vehicle that is susceptible to the potential RF interference based at least in part on the location, the heading, and the velocity of the one or more vehicles.

7. The method of claim 1, wherein the interference mitigation technique comprises: increasing or decreasing the power of a wireless transmitter of said wireless network, changing the frequency or channel of a wireless transmitter of the wireless network, increasing or decreasing a gain level of a wireless receiver of the wireless network, or activating one or more additional wireless transmitters of the wireless network, or any combination thereof.

8. A device comprising: Memory; as well as one or more processing units communicatively coupled to the memory, and the one or more processing units are configured to: detecting one or more vehicles within a threshold distance of a first vehicle; In response to the detecting, determining the position and motion state of the one or more vehicles; determining potential radio frequency (RF) interference of the one or more vehicles with at least a portion of a wireless network of the first vehicle based at least in part on the determined locations and determined motion states of the one or more vehicles; as well as implementing interference mitigation techniques based at least in part on the determined positions and determined motion states of the one or more vehicles, Wherein, in order to detect the one or more vehicles within a threshold distance of the first vehicle, the one or more processing units are configured to: receiving one or more return signals from a sensor of the first vehicle; determining a distance and a speed of the one or more vehicles based on the one or more return signals, wherein the speed includes a velocity component and a direction component; determining the threshold distance based at least in part on the determined speed; and It is determined that the distance is less than the threshold distance.

9. The apparatus of claim 8, wherein the sensor of the first vehicle comprises a radar, a lidar, a camera, an ultrasonic sensor, or any combination thereof.

10. The device of claim 8, wherein: To detect the one or more vehicles within a threshold distance of the first vehicle, the one or more processing units are configured to receive one or more V2X messages.

11. The device of claim 10, wherein: In order to determine the position and the motion state of the one or more vehicles, the one or more processing units are configured to: receiving the one or more V2X messages from the one or more vehicles; as well as The position, heading, and velocity of the one or more vehicles are determined based on the one or more V2X messages.

12. The apparatus of claim 11, wherein the one or more processing units are further configured to determine a time of the potential RF interference based at least in part on the location, the heading, and the velocity of the one or more vehicles.

13. The apparatus of claim 11, wherein the one or more processing units are further configured to determine a portion of the wireless network of a first vehicle that is susceptible to the potential RF interference based at least in part on the location, the heading, and the speed of the one or more vehicles.

14. The apparatus of claim 8, wherein the mitigation technique comprises increasing or decreasing power of a wireless transmitter of the wireless network.

15. The apparatus of claim 8, wherein: To implement the interference mitigation technique, the one or more processing units are further configured to: changing the frequency or channel of a wireless transmitter of the wireless network, increasing or decreasing a gain level of a wireless receiver of the wireless network, or activating one or more additional wireless transmitters of the wireless network, or any combination thereof.

16. A device comprising: Means for detecting one or more vehicles within a threshold distance of a first vehicle, wherein the means for detecting comprises: means for receiving one or more return signals from sensors of said first vehicle; means for determining a distance and a speed of the one or more vehicles based on the one or more return signals, wherein the speed includes a velocity component and a direction component; means for determining the threshold distance based at least in part on the determined speed; and means for determining that the distance is less than the threshold distance; means for determining the position and motion state of said one or more vehicles in response to said detecting; means for determining potential radio frequency (RF) interference of the one or more vehicles with at least a portion of a wireless network of the first vehicle based at least in part on the determined positions and determined motion states of the one or more vehicles; and Means for implementing interference mitigation techniques based at least in part on the determined positions and determined motion states of the one or more vehicles.

17. The apparatus of claim 16, wherein the sensor of the first vehicle comprises a radar, a lidar, a camera, an ultrasonic sensor, or any combination thereof.

18. The apparatus of claim 16, wherein the means for detecting the one or more vehicles within a threshold distance of the first vehicle comprises means for receiving one or more V2X messages.

19. The apparatus of claim 18, wherein the means for determining the position and the motion state of the one or more vehicles comprises: means for receiving the one or more V2X messages from the one or more vehicles; as well as Means for determining a position, heading, and velocity of the one or more vehicles based on the one or more V2X messages.

20. The apparatus of claim 19, further comprising means for determining a time of the potential RF interference based at least in part on the location, the heading, and the velocity of the one or more vehicles.

21. The apparatus of claim 19, further comprising means for determining a portion of the wireless network of a first vehicle that is susceptible to the potential RF interference based at least in part on the location, the heading, and the velocity of the one or more vehicles.

22. The apparatus of claim 16, wherein the means for implementing interference mitigation techniques comprises: means for increasing or decreasing the power of a radio transmitter of said wireless network, means for changing the frequency or channel of a radio transmitter of said wireless network, means for increasing or decreasing the gain level of a wireless receiver of said wireless network, or means for activating one or more additional wireless transmitters of said wireless network, or any combination thereof.

23. A non-transitory computer-readable medium having stored thereon instructions that, when executed by one or more processing units, cause the processing units to perform functions comprising: detecting one or more vehicles within a threshold distance of a first vehicle; In response to the detecting, determining the position and motion state of the one or more vehicles; determining potential radio frequency (RF) interference by the one or more vehicles to at least a portion of a wireless network of the first vehicle based at least in part on the determined locations and determined motion states of the one or more vehicles; as well as implementing interference mitigation techniques based at least in part on the determined positions and determined motion states of the one or more vehicles, Wherein, in order to detect the one or more vehicles within a threshold distance of the first vehicle, the instructions, when executed by the one or more processing units, cause the processing units to: receiving one or more return signals from a sensor of the first vehicle; determining a distance and a speed of the one or more vehicles based on the one or more return signals, wherein the speed includes a velocity component and a direction component; determining the threshold distance based at least in part on the determined speed; and It is determined that the distance is less than the threshold distance.

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