Position assistance system

Abstract

A position assistance system includes a distressed vehicle and a plurality of assisting vehicles. The distressed vehicle broadcasts an emergency signal. The assisting vehicles are operable to receive the emergency signal, determine a plurality of distances to the distressed vehicle, triangulate among the assisting vehicles to generate a spatial map of the distressed vehicle relative to the assisting vehicles, determine one or more approximate horizontal lines in the spatial map that include the distressed vehicle and at least one horizontally aligned assisting vehicle in response to the distressed vehicle and the at least one horizontally aligned assisting vehicle being on the same vertical level in the spatial map, coordinate among the assisting vehicles to determine one or more horizontal sequences along the one or more approximate horizontal lines, and flash the lights of the assisting vehicles in the one or more horizontal sequences to lead to the distressed vehicle.

Description

Technical Field

[0001] This disclosure relates to systems and methods for location assistance. In some cases, GPS positioning alone may not be sufficient for a first responder to locate a distressed vehicle or its passengers. For example, if the distressed vehicle / passengers are in a warehouse, GPS positioning may not provide enough information to determine the correct floor of the warehouse to locate the vehicle / passengers.

[0002] Therefore, those skilled in the art continue to conduct research and development in the field of guiding first responders to the location of the distressed vehicle with the help of nearby vehicles. Summary of the Invention

[0003] This document provides a location assistance system. The system includes a distressed vehicle and multiple assistance vehicles. The distressed vehicle is operable to broadcast an emergency signal in response to an emergency. Multiple assistance vehicles are located near the distressed vehicle. Each of the multiple assistance vehicles has multiple lights. The multiple assistance vehicles are operable to receive an emergency signal from the distressed vehicle, determine multiple distances from the multiple assistance vehicles to the distressed vehicle based on the emergency signal, perform triangulation among the multiple assistance vehicles to generate a spatial map of the distressed vehicle relative to the multiple assistance vehicles based on the multiple distances, determine one or more approximate horizontal lines in the spatial map including the distressed vehicle and at least one horizontally aligned assistance vehicle in the spatial map in response to the distressed vehicle and at least one horizontally aligned assistance vehicle being at the same vertical level in the spatial map, coordinate among the multiple assistance vehicles to determine one or more horizontal sequences along one or more approximate horizontal lines from the farthest to the nearest distressed vehicle, and flash multiple lights of the multiple assistance vehicles in one or more horizontal sequences to guide the distressed vehicle.

[0004] In one or more embodiments of the location assistance system, the plurality of assistance vehicles are further operable to determine at least one vertical cone in a spatial map including the distressed vehicle and at least one vertically aligned assistance vehicle among the plurality of assistance vehicles in response to at least one vertically aligned assistance vehicle being at a different vertical level from the distressed vehicle, and to flash a plurality of lights of the plurality of assistance vehicles to guide the distressed vehicle at the different vertical levels.

[0005] In one or more embodiments of the location assistance system, multiple assistance vehicles include multiple horns, and the multiple assistance vehicles are operable to sound the multiple horns in one or more horizontal sequences to direct the distressed vehicle.

[0006] In one or more embodiments of the location assistance system, multiple assistance vehicles include multiple motion detectors, and the multiple assistance vehicles are operable to initiate the flashing of multiple lights in response to at least one of the motion detectors detecting movement toward the distressed vehicle.

[0007] In one or more embodiments, the location assistance system further includes a rescue vehicle that communicates with a plurality of assistance vehicles. The rescue vehicle is operable to access a spatial map to aid in locating the distressed vehicle.

[0008] In one or more embodiments, the location assistance system further includes a radio frequency identification (RFID) tag operable to transmit an identification signal to a plurality of assistance vehicles. The identification signal indicates the presence of a first responder. The plurality of assistance vehicles are further operable to receive the identification signal at one or more locations within the plurality of assistance vehicles, and in response to the reception of the identification signal, to initiate the flashing of a plurality of lights.

[0009] In one or more embodiments of the location assistance system, at least one of the multiple assistance vehicles is an autonomous vehicle operable to guide a first responder to the vehicle in distress.

[0010] In one or more embodiments of the location assistance system, multiple assistance vehicles include multiple speakers, and the multiple assistance vehicles are operable to generate multiple audio alarms in one or more horizontal sequences through the multiple speakers to direct the distressed vehicle.

[0011] In one or more embodiments of the location assistance system, multiple assistance vehicles are further operable to detect the end of the emergency and, in response to the end, stop flashing multiple lights.

[0012] This paper provides a method for location assistance. The method includes: broadcasting an emergency signal from a vehicle in distress in response to an emergency, and receiving the emergency signal from the vehicle in distress at multiple assistance vehicles. Each of the multiple assistance vehicles has multiple lights. The method includes: determining multiple distances from the multiple assistance vehicles to the vehicle in distress based on the emergency signal; performing triangulation among the multiple assistance vehicles to generate a spatial map of the vehicle in distress relative to the multiple assistance vehicles based on the multiple distances; determining one or more approximate horizontal lines in the spatial map including the vehicle in distress and at least one horizontally aligned assistance vehicle in distress, in response to the vehicle in distress and at least one horizontally aligned assistance vehicle being at the same vertical level in the spatial map; coordinating among the multiple assistance vehicles to determine one or more horizontal sequences along the one or more approximate horizontal lines from the farthest to the nearest vehicle in distress; and flashing multiple lights of the multiple assistance vehicles in the one or more horizontal sequences to guide the vehicle in distress.

[0013] In one or more embodiments, the method further includes: in response to at least one vertically aligned assistance vehicle being at a different vertical level from the distressed vehicle, determining at least one vertical cone in a spatial map including the distressed vehicle and at least one vertically aligned assistance vehicle among a plurality of assistance vehicles, and flashing a plurality of lights of the plurality of assistance vehicles to direct the distressed vehicle to the different vertical levels.

[0014] In one or more embodiments of the method, the multiple assistance vehicles include multiple horns. The method further includes: sounding the multiple horns in one or more horizontal sequences to direct the distressed vehicle.

[0015] In one or more embodiments of the method, the multiple assistance vehicles include multiple motion detectors. The method further includes: in response to at least one of the motion detectors detecting movement toward the distressed vehicle, initiating the flashing of multiple lights.

[0016] In one or more embodiments, the method further includes: establishing communication between multiple aid vehicles and rescue vehicles, and accessing a spatial map of the location of the rescue vehicles to help locate the distressed vehicle.

[0017] In one or more embodiments, the method further includes: transmitting an identification signal from a radio frequency identification tag. The identification signal indicates the presence of a first responder. The method further includes: receiving the identification signal at one or more locations among a plurality of assistance vehicles, and in response to the reception of the identification signal, initiating the flashing of a plurality of lights.

[0018] In one or more embodiments, the method further includes: using an autonomous vehicle among multiple assistance vehicles to guide a first responder to the vehicle in distress.

[0019] This document provides a positioning device. The positioning device includes multiple lights, a transceiver, and a controller. The transceiver is operable to communicate with a distressed vehicle and multiple additional positioning devices located near the distressed vehicle. The controller communicates with the multiple lights and the transceiver. The controller is operable to receive an emergency signal from the distressed vehicle via the transceiver, determine the distance to the distressed vehicle based on the emergency signal, perform triangulation using the multiple additional positioning devices to generate a spatial map of the distressed vehicle relative to the positioning devices and the additional positioning devices based on the distance, determine an approximate horizontal line in the spatial map including the distressed vehicle and the positioning devices in response to both the distressed vehicle and the positioning devices being at the same vertical level in the spatial map, coordinate with the multiple additional positioning devices to determine a horizontal sequence along the approximate horizontal line from the farthest to the nearest distressed vehicle, and flash one or more of the multiple lights of the positioning devices in the horizontal sequence to guide the distressed vehicle.

[0020] In one or more embodiments of the positioning device, the controller is further operable to determine at least one vertical cone in a spatial map including the distressed vehicle and the positioning device in response to the positioning device being at a different vertical level from the distressed vehicle, and to flash a plurality of lights on the positioning device to direct the distressed vehicle at the different vertical level.

[0021] In one or more embodiments, the locating device further includes a horn. The controller is further operable to sound the horn in a horizontal sequence to direct the distressed vehicle toward it.

[0022] In one or more embodiments, the positioning device further includes a motion detector operable to detect movement toward the distressed vehicle. The controller is further operable to initiate the flashing of one or more of a plurality of lights in response to the motion detector detecting movement toward the distressed vehicle.

[0023] The present invention also includes the following solutions:

[0024] Option 1. A location assistance system, comprising:

[0025] The vehicle in distress is operable to broadcast emergency signals in response to an emergency; and

[0026] Multiple assistance vehicles are located near the distressed vehicle, each of which has multiple lights, and the multiple assistance vehicles are operable for:

[0027] Receive emergency signals from the distressed vehicle;

[0028] Based on the emergency signal, determine multiple distances from the multiple assistance vehicles to the distressed vehicle;

[0029] Triangulation is performed among the multiple aid vehicles to generate a spatial map of the distressed vehicle relative to the multiple aid vehicles based on the multiple distances.

[0030] In response to the distressed vehicle and at least one horizontally aligned assistance vehicle being on the same vertical level in the spatial map, one or more approximate horizontal lines in the spatial map are determined that include the distressed vehicle and at least one horizontally aligned assistance vehicle among the plurality of assistance vehicles.

[0031] Coordination among the multiple assistance vehicles is performed to determine one or more horizontal sequences along one or more approximate horizontal lines from the furthest to the nearest distressed vehicle; and

[0032] Multiple lights of the multiple assistance vehicles are flashed in one or more horizontal sequences to guide the distressed vehicle.

[0033] Option 2. The location assistance system according to Option 1, wherein

[0034] The plurality of aid vehicles are further operable for:

[0035] In response to the at least one vertically aligned assistance vehicle being at a different vertical level from the distressed vehicle, at least one vertical cone is determined in the spatial map comprising the distressed vehicle and at least one vertically aligned assistance vehicle among the plurality of assistance vehicles; and

[0036] Multiple lights of the multiple assistance vehicles are flashed to guide the distressed vehicle at the different vertical levels.

[0037] Option 3. The location assistance system according to Option 1, wherein:

[0038] The multiple aid vehicles include multiple loudspeakers; and

[0039] The plurality of aid vehicles are operable to sound the plurality of horns in one or more horizontal sequences to direct the distressed vehicle toward it.

[0040] Option 4. The location assistance system according to Option 1, wherein:

[0041] The multiple assistance vehicles include multiple motion detectors; and

[0042] In response to at least one of the motion detectors detecting movement toward the distressed vehicle, the plurality of assistance vehicles are operable to begin flashing the plurality of lights.

[0043] Option 5. The location assistance system according to Option 1 further includes:

[0044] A rescue vehicle that communicates with the plurality of assistance vehicles, wherein the rescue vehicle is operable to access the spatial map to help locate the distressed vehicle.

[0045] Option 6. The location assistance system according to Option 1 further includes:

[0046] Radio frequency identification (RFID) tags operable to transmit identification signals to the plurality of assistance vehicles, wherein the identification signals indicate the presence of a first responder.

[0047] The plurality of aid vehicles are further operable for:

[0048] The identification signal is received at one or more of the plurality of aid vehicles; and

[0049] In response to the receipt of the identification signal, the flashing of the plurality of lights begins.

[0050] Option 7. The location assistance system according to Option 1, wherein at least one of the plurality of assistance vehicles is an autonomous vehicle operable to guide a first responder to the distressed vehicle.

[0051] Option 8. The location assistance system according to Option 1, wherein:

[0052] The multiple aid vehicles include multiple loudspeakers; and

[0053] The multiple assistance vehicles are operable to generate multiple audio alarms in one or more horizontal sequences through the multiple speakers to direct the distressed vehicle.

[0054] Option 9. The location assistance system according to Option 1, wherein

[0055] The plurality of aid vehicles are further operable for:

[0056] Detect the end of the emergency situation; and

[0057] In response to the termination, the flashing of the plurality of lights stops.

[0058] Option 10. A method for location assistance, comprising:

[0059] In response to an emergency, broadcast emergency signals from the vehicle in distress;

[0060] Receive emergency signals from the distressed vehicle at multiple aid vehicles, each of which has multiple lights;

[0061] Based on the emergency signal, determine multiple distances from the multiple assistance vehicles to the distressed vehicle;

[0062] Triangulation is performed among the multiple aid vehicles to generate a spatial map of the distressed vehicle relative to the multiple aid vehicles based on the multiple distances.

[0063] In response to the distressed vehicle and at least one horizontally aligned assistance vehicle being on the same vertical level in the spatial map, one or more approximate horizontal lines in the spatial map are determined that include the distressed vehicle and at least one horizontally aligned assistance vehicle among the plurality of assistance vehicles.

[0064] Coordination among the multiple assistance vehicles is performed to determine one or more horizontal sequences along one or more approximate horizontal lines from the furthest to the nearest distressed vehicle; and

[0065] Multiple lights of the multiple assistance vehicles are flashed in one or more horizontal sequences to guide the distressed vehicle.

[0066] Option 11. The method according to Option 10 further includes:

[0067] In response to the at least one vertically aligned assistance vehicle being at a different vertical level from the distressed vehicle, at least one vertical cone is determined in the spatial map comprising the distressed vehicle and at least one vertically aligned assistance vehicle among the plurality of assistance vehicles; and

[0068] Multiple lights of the multiple assistance vehicles are flashed to guide the distressed vehicle at the different vertical levels.

[0069] Option 12. The method according to Option 10, wherein the plurality of aid vehicles includes a plurality of horns, and the method further includes:

[0070] The plurality of horns are sounded in one or more horizontal sequences to direct the distressed vehicle toward it.

[0071] Option 13. The method according to Option 10, wherein the plurality of assistance vehicles include a plurality of motion detectors, and the method further includes:

[0072] In response to at least one of the motion detectors detecting movement toward the distressed vehicle, the flashing of the plurality of lights begins.

[0073] Option 14. The method according to Option 10 further includes:

[0074] Establish communication between the multiple aid vehicles and rescue vehicles; and

[0075] Access the spatial map at the rescue vehicle location to help locate the distressed vehicle.

[0076] Option 15. The method according to Option 10 further includes:

[0077] An identification signal is emitted from an RFID tag, wherein the identification signal indicates the presence of a first responder;

[0078] The identification signal is received at one or more of the plurality of aid vehicles; and

[0079] In response to the receipt of the identification signal, the flashing of the plurality of lights begins.

[0080] Option 16. The method according to Option 10 further includes:

[0081] The first responders are guided to the distressed vehicle using an autonomous vehicle among the multiple assistance vehicles.

[0082] Option 17. A positioning device, comprising:

[0083] Multiple lights;

[0084] A transceiver operable to communicate with the distressed vehicle and multiple additional positioning devices located near the distressed vehicle; and

[0085] A controller that communicates with the plurality of lights and the transceiver, wherein the controller is operable to:

[0086] The transceiver receives emergency signals from the distressed vehicle.

[0087] The distance to the distressed vehicle is determined based on the emergency signal;

[0088] Triangulation is performed using the multiple additional positioning devices to generate a spatial map of the distressed vehicle relative to the positioning devices and the additional positioning devices based on the distance;

[0089] In response to the fact that both the distressed vehicle and the positioning device are in the same vertical level in the spatial map, an approximate horizontal line including the distressed vehicle and the positioning device is determined in the spatial map;

[0090] Coordinate with the plurality of additional positioning devices to determine the horizontal sequence along the approximate horizontal line from the farthest to the nearest distressed vehicle; and

[0091] One or more of the lights on the positioning device are flashed in the horizontal sequence to guide the distressed vehicle.

[0092] Option 18. The positioning device according to Option 17, wherein...

[0093] The controller is further operable to:

[0094] In response to the positioning device being at a different vertical level from the distressed vehicle, at least one vertical cone in the spatial map including the distressed vehicle and the positioning device is determined; and

[0095] The positioning device flashes multiple lights to direct the distressed vehicle to the different vertical levels.

[0096] Option 19. The positioning device according to Option 17 further includes a horn, wherein

[0097] The controller is further operable to sound the horn in the horizontal sequence to direct the distressed vehicle.

[0098] Option 20. The positioning device according to Option 17 further includes:

[0099] A motion detector, operable to detect movement toward the distressed vehicle, wherein

[0100] The controller is further operable to initiate the flashing of one or more of the plurality of lights in response to the motion detector detecting movement toward the distressed vehicle.

[0101] The foregoing features and advantages, as well as other features and advantages, of this disclosure will become apparent when understood in conjunction with the accompanying drawings and from the following detailed description of the best mode for carrying out this disclosure. Attached Figure Description

[0102] Figure 1 This is a schematic plan view illustrating a location assistance system according to one or more exemplary embodiments.

[0103] Figure 2 It is a schematic floor plan of a parking lot according to one or more exemplary embodiments.

[0104] Figure 3 This is a schematic side view of a parking structure according to an exemplary embodiment.

[0105] Figure 4 This is a schematic side view of a parking ramp according to an exemplary embodiment.

[0106] Figure 5 This is a schematic diagram of a positioning device according to one or more exemplary embodiments.

[0107] Figure 6 It is a schematic diagram of two-dimensional graphic information according to one or more exemplary embodiments.

[0108] Figure 7 It is a schematic diagram of three-dimensional graphic information according to one or more exemplary embodiments.

[0109] Figure 8 This is a flowchart of a method for locating and assisting a distressed vehicle according to one or more exemplary embodiments.

[0110] Figure 9 This is a flowchart of a method for starting / stopping an alarm according to one or more exemplary embodiments.

[0111] Figure 10 This is a flowchart of a method for assimilating a rescue vehicle into a location assistance system according to one or more exemplary embodiments. Detailed Implementation

[0112] Embodiments of this disclosure provide a location assistance system that supports first responders attempting to locate a vehicle involved in an emergency. This location assistance system assists first responders by communicating with other nearby vehicles using vehicle-to-vehicle wireless technologies such as Bluetooth Low Energy (BLE), Wi-Fi, and vehicle-to-vehicle (V2V) communication. Using connected vehicle families, coordinated flashing of lights and / or sound effects from nearby vehicles can be initiated. The lights and / or sounds can guide the first responder to the vehicle in distress. In various embodiments, proximity sensors of nearby vehicles can be used to determine the location of the first responder and help guide them to the vehicle in distress. In some embodiments, nearby autonomous vehicles can guide the first responder to the vehicle in distress.

[0113] refer to Figure 1 The illustration shows a schematic plan view of a location assistance system 100 according to one or more exemplary embodiments. The location assistance system 100 typically includes a distress vehicle 102, one or more assistance vehicles 104a-104n, one or more optional mobile vehicles 106 (one shown), one or more rescue vehicles 108 (one shown), one or more autonomous vehicles 110 (one shown), one or more first responders 112a-112b, and one or more radio frequency identification tags 114a-114b.

[0114] The distressed vehicle 102 is operable to generate and broadcast an emergency signal 120 received by assistance vehicles 104a-104n. The emergency signal 120 conveys an alarm that the distressed vehicle 102 or a person inside the distressed vehicle 102 is experiencing an emergency 122 and is requesting assistance. A stop signal 124 can be generated and broadcast by the distressed vehicle 102, one or more assistance vehicles 108, and / or one or more identification tags 114a-114b. The stop signal 124 is received by the distressed vehicle 102, assistance vehicles 104a-104n, assistance vehicles 108, and RFID tags 114a-114b. The stop signal 124 typically indicates that the emergency 122 has ended. Each RFID tag 114a-114b can generate and broadcast its own identification signal 126a-126b. The identification signals 126a-126b notify the assistance vehicles 104a-104n, and optionally notify the distressed vehicle 102 that the corresponding first responders 112a-112b are nearby.

[0115] The distressed vehicle 102 is a stationary vehicle experiencing an emergency 122. The emergency 122 may relate to the vehicle itself and / or to one or more people in or around the distressed vehicle 102. When the emergency 122 is detected, an emergency signal 120 is generated and broadcast from the distressed vehicle location 128. This detection may be automatic by the electrical system within the distressed vehicle 102 and / or may be manual (e.g., the driver presses a button to request assistance).

[0116] Assistance vehicles 104a-104n are vehicles adjacent to the distressed vehicle 102. Upon receiving the emergency signal 120, assistance vehicles 104a-104n may initially be stationary and located at assistance vehicle positions 130a-130n. The distance 132a-132n from the various assistance vehicles 104a-104n to the distressed vehicle 102 can range from approximately one meter to tens of meters (e.g., 50 meters). In response to receiving an emergency signal 120, assistance vehicles 104a-104n determine distances 132a-132n to the distressed vehicle 102 based on the corresponding strength of the received emergency signal 120. Triangulation is performed within assistance vehicles 104a-104n to generate a spatial map of the distressed vehicle 102 relative to assistance vehicles 104a-104n based on distances 132a-132n. One or more lines and / or cones are determined in the spatial map that include the distressed vehicle 102 and at least one aligned assistance vehicle (e.g., 104a). Coordination is performed within assistance vehicles 104a-104n to determine one or more sequences along the lines and / or cones from the farthest distance to the distressed vehicle 102 to the nearest distance. An alarm is generated in sequence to direct first responders 112a-112b to the distressed vehicle 102.

[0117] Moving vehicle 106 is a vehicle in motion near distressed vehicle 102. Because moving vehicle 106 does not remain in a stable position, it often ignores emergency signal 120. As an example, moving vehicle 106 may be too far from distressed vehicle 102 when first responders 112a-112b arrive to provide assistance in locating distressed vehicle 102.

[0118] Rescue vehicle 108 is a vehicle carrying one or more first responders (e.g., 112a) to assist in emergency 122. Rescue vehicle 108 may utilize assistance vehicles 104a-104n to help locate the distressed vehicle 102. In various embodiments, rescue vehicle 108 may access a spatial map generated by assistance vehicles 104a-104n to determine the location of the distressed vehicle 102 relative to assistance vehicles 104a-104n. In some embodiments, once emergency 122 has ended and / or support from assistance vehicles 104a-104n is no longer appropriate, rescue vehicle 108 may generate and broadcast a stop signal 124.

[0119] Autonomous vehicle 110 is a vehicle with self-driving capabilities. Upon detecting identification signals 126a-126b and / or detecting rescue vehicle 108 moving towards distressed vehicle 102, one or more autonomous vehicles 110 can initiate and drive to distressed vehicle location 128. In response to one or more first responders 112a-112b arriving at distressed vehicle 102, autonomous vehicle 110 can return to its initial parking location.

[0120] First responders 112a-112b are individuals who assist the distressed vehicle 102. In some embodiments, first responders 112a-112b may include medical personnel, where the emergency 122 involves a person in or near the distressed vehicle 102. In other embodiments, first responders 112a-112b may include vehicle repair and / or towing personnel, where the emergency 122 involves the distressed vehicle 102 being immobile. In still other embodiments, first responders 112a-112b may include firefighters, where the emergency 122 involves a fire at the distressed vehicle 102. Some first responders (e.g., 112a) may ride in rescue vehicle 108. Other first responders (e.g., 112b) may walk.

[0121] Radio frequency identification (RFID) tags 114a-114b are transceivers worn or carried by first responders 112a-112b and / or carried in rescue vehicle 108. RFID tags 114a-114b operate to transmit identification signals 126a-126b that warn distressed vehicle 102, assistance vehicles 104a-104n, and autonomous vehicle 110 that help is nearby. RFID tags 114a-114b also operate to transmit stop signals 124 to notify distressed vehicle 102, assistance vehicles 104a-104n, rescue vehicle 108, and autonomous vehicle 110 that the emergency 122 has ended.

[0122] refer to Figure 2 A schematic plan view of an example configuration in a parking lot 140 is shown according to one or more exemplary embodiments. The distressed vehicle 102 may be surrounded by one or more assistance vehicles 104a-104n. Multiple horizontal lines 142a-142f can be considered to pass through the distressed vehicle 102. Although six horizontal lines 142a-142f are illustrated in the example, other numbers of horizontal lines 142a-142f can be implemented to meet design criteria for specific applications.

[0123] Along horizontal lines 142a-142f, zero or more horizontally aligned assistance vehicles (e.g., 104f, 104g, 104h, and 104i along horizontal line 142a) can be aligned with the distressed vehicle 102. Assistance vehicles 104a-104n horizontally aligned along horizontal lines 142a-142f typically form a horizontal sequence 144a-144n. The horizontal sequence 144a-144n extends from the assistance vehicle 104a-104n furthest from the distressed vehicle 102 to the nearest assistance vehicle 104a-104n. For example, horizontal sequence 144a can begin with assistance vehicle 104f (farthest) and end with assistance vehicle 104g (nearest). Another horizontal sequence 144b can begin with assistance vehicle 104i (farthest) and end with assistance vehicle 104h (nearest). Similar horizontal sequences 144a-144n can be established along other horizontal lines 142a-142f.

[0124] Once the location of the distressed vehicle 128, the locations of the assistance vehicles 130a-130n, and the horizontal sequence 144a-144n are known, the assistance vehicles 104a-104n can activate visual and / or auditory alarms in the horizontal sequence 144a-144n to help direct first responders 112a-112b toward the distressed vehicle 102. For example, assistance vehicles 104f to 104g located to the left of the distressed vehicle 102 flash right turn signals and / or sound their horns in the following sequence: starting with the furthest assistance vehicle 104f, then the next nearest assistance vehicle, and so on until the nearest assistance vehicle 104g flashes its right turn signal. This sequence is then repeated. In this manner, the first responders 112a-112b will see a series of flashing turn signals and hear a series of horn sounds flowing toward the distressed vehicle 102.

[0125] Assistance vehicles 104h to 104i located to the right of the distressed vehicle 102 will flash left-turn signals and / or sound their horns in a similar sequence, starting with the furthest assistance vehicle 104i, then the next nearest assistance vehicle, and so on, until the nearest assistance vehicle 104h flashes its left-turn signal and / or sounds its horn. Assistance vehicles 104a to 104f in front of the distressed vehicle 102 will flash one or two brake lights in the sequence. Assistance vehicles 104j to 104n behind the distressed vehicle 102 may flash one or two turn signals in a different sequence.

[0126] refer to Figure 3The diagram illustrates a schematic side view of an example configuration in a parking structure 150 according to an exemplary embodiment. The parking structure 150 may include multiple levels 152a-152n. In various embodiments, levels 152a-152n are above ground level 154. In other embodiments, one or more levels 152a-152n are below ground level 154. A distressed vehicle 102 is located on one of the levels (e.g., 152b in this example).

[0127] Horizontal lines 152a-152n are generally parallel in horizontal plane 156. The normal 158 of horizontal plane 156 can be defined as passing through the distressed vehicle 102. Two vertical cones 162a-162b can originate from the distressed vehicle 102, one cone 162a extending above the distressed vehicle 102 and the other cone 162b extending below the distressed vehicle 102. An example angle for the vertical cones 162a-162b can be approximately 30 degrees. Other angles can be implemented to meet the design criteria of specific applications.

[0128] Within vertical cones 162a-162b, zero or more vertically aligned assistance vehicles (e.g., 104b-104d in vertical cone 162a, and 104k-104m in vertical cone 162b) may be vertically aligned with the distressed vehicle 102. The vertically aligned assistance vehicles 104a-104n within vertical cones 162a-162b typically form a vertical sequence 164a-164b. The vertical sequence 164a-164b extends from assistance vehicles 104a-104n at the level furthest from the distressed vehicle 102 (e.g., 152a and 152c) to the nearest assistance vehicles 104a-104n. For example, the vertical sequence 164a may begin with assistance vehicles 104b-104d at a level 152c, different from the level 152b where the distressed vehicle 102 is located. Another vertical sequence 164b can begin with the aid vehicles 104k-104m on level 152a below the distressed vehicle 102. For example... Figure 2 As shown, aid vehicles 104a-104n at the same level 152b as the distressed vehicle 102 can form a horizontal sequence 144a-144n.

[0129] Once the location of the distressed vehicle 128, the locations of the assistance vehicles 130a-130n, and the vertical sequence 164a-164b are known, assistance vehicles 104a-104n can activate visual and / or auditory alarms in the vertical sequence 164a-164n to help direct first responders 112a-112b to the level 152b where the distressed vehicle 102 is located. For example, assistance vehicles 104b-104d located above the distressed vehicle 102 will flash their fog lights and / or sound their horns in the vertical sequence 164a, which begins with assistance vehicles 104a-104n at the highest level 152a-152c above the distressed vehicle 102, then the next level below, and so on, until assistance vehicles 104a-104n at the level 152a-152c directly above the distressed vehicle 102 flash their fog lights and / or sound their horns. This sequence will then be repeated. First responders 112a-112b who find themselves at a different vertical level from the distressed vehicle 102 will see fog lights flashing (e.g., the distressed vehicle 102 is below) and hear a series of horn blasts flowing downhill.

[0130] Assistance vehicles 104k to 104m located at the lowest level below distressed vehicle 102 will flash their headlights in a similar sequence, starting from the furthest level 152a, then the next nearest level, and so on, until the nearest assistance vehicles 104k-1041 flash their headlights (e.g., distressed vehicle 102 is above them) and / or sound their horns. This sequence may then be repeated.

[0131] refer to Figure 4 A schematic side view of an example configuration on a parking ramp 170 is shown according to an exemplary embodiment. The parking ramp 170 may include a plurality of horizontal levels 152a-152n (two shown) parallel to the horizontal plane 156, and angled ramps 171a-171n (one shown) between adjacent levels 152a-152n. The distressed vehicle 102 is located on one of the ramps (e.g., 171a in the example).

[0132] Two angled cones 172a-172b may originate from the distressed vehicle 102, with one cone 172a extending to the right of the distressed vehicle 102 and the other cone 172b extending to the left of the distressed vehicle 102. An example angle for the angled cones 172a-172b could be approximately 50 degrees. Other angles can be achieved to meet the design criteria for specific applications. The angles of the angled cones 172a-172b are typically considered for the assistance vehicles 104h-104i on ramp 171a.

[0133] Within the angled cones 172a-172b, zero or more angled-aligned assistance vehicles (e.g., 104d-104e in the angled cones 172b) may be aligned with the distressed vehicle 102. The angled-aligned assistance vehicles 104a-104n within the angled cones 172a-172b typically form an angled sequence 174a-174b. The angled sequence 174a-174b extends from assistance vehicles 104a-104n on the ramp 171a furthest from the distressed vehicle 102 to the nearest assistance vehicle 104a-104n. For example, the angled sequence 174b may begin with assistance vehicle 104h and extend to assistance vehicle 104i.

[0134] Once the location of the distressed vehicle 128, the locations of the assistance vehicles 130a-130n, and the angled sequence 174a-174b are known, assistance vehicles 104a-104n can assert visual and / or audible alarms in the angled sequence 174a-174b to help guide first responders 112a-112b to the distressed vehicle 102. For example, assistance vehicles 104h-104i located below the distressed vehicle 102 on ramp 171a will flash turn signals and / or sound their horns in the angled sequence 174b, which begins with the assistance vehicle 104a-104n furthest from the distressed vehicle 102, then the next closest assistance vehicle 104a-104n, and so on, until the assistance vehicle 104d closest to the distressed vehicle 102 on ramp 171a flashes turn signals and / or sounds its horn. This sequence will then be repeated. When the distressed vehicle 102 is on ramp 171a between levels 152a and 152b, the first rescuers 112a-112b searching on level (e.g., 152a) will see a turn signal flashing and hear a horn sounding as they move up ramp 171a.

[0135] refer to Figure 5 The diagram illustrates an example implementation of a positioning device 180 according to one or more exemplary embodiments. The positioning device 180 operates to provide an alarm 200 to assist first responders 112a-112b in locating the distressed vehicle 102. The positioning device 180 may be implemented in assistance vehicles 104a-104n, rescue vehicle 108, and in some cases in the distressed vehicle 102. The positioning device 180 includes a transceiver 182, a controller 184, multiple lights 186, a horn 188, one or more optional speakers 190, and multiple motion detectors 192. The positioning device 180 implemented at least in the rescue vehicle 108 further includes a display 194.

[0136] Transceiver 182 implements a two-way wireless communication device. Transceiver 182 communicates with controller 184 to send and receive messages. Transceiver 182 can implement Bluetooth Low Energy communication, Wi-Fi communication, vehicle-to-vehicle communication, or other short-range communication standards. Transceiver 182 operates to receive emergency signal 120, stop signal 124, and identification signals 126a-126b. The distance from transceiver 182 to the distressed vehicle 102 is 132a-132n. Figure 1 The location of the emergency signal 120 can be determined by transceiver 182 based on its strength. Each transceiver 182 also wirelessly communicates with other transceivers 182 in other assistance vehicles 104a-104n, distressed vehicle 102 (if equipped), and rescue vehicle 108. Communication among assistance vehicles 104a-104n, distressed vehicle 102, and rescue vehicle 108 enables coordination among the vehicles to determine a spatial map of each vehicle's location relative to distressed vehicle 102.

[0137] Controller 184 implements one or more electronic control units. Controller 184 operates to receive emergency signals 120, stop signals 124, and identification signals 126a-126b via transceiver 182. Controller 184 receives distances 132a-132n to the distressed vehicle 102 measured by transceiver 182. Controller 184 also communicates with other controllers 184 via transceiver 182. Controller 184 uses the collected information to generate a spatial map including the locations of assistance vehicles 130a-130n and the distressed vehicle 128. This spatial map can be shared among controllers 184 in assistance vehicles 104a-104n, rescue vehicle 108, and distressed vehicle 102 (where possible).

[0138] In various embodiments, controller 184 typically includes at least one microcontroller. The at least one microcontroller may include one or more processors, each of which may be implemented as a separate processor, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or dedicated electronic control unit. The at least one microcontroller may be an electronic processor (implemented in hardware, software executed on hardware, or a combination of both). The at least one microcontroller may also include tangible, non-transitory memory (e.g., read-only memory in the form of optical, magnetic, and / or flash memory). For example, the at least one microcontroller may include appropriate amounts of random access memory, read-only memory, flash memory, and other types of electrically erasable programmable read-only memory, along with accompanying hardware in the form of high-speed clocks or timers, analog-to-digital and digital-to-analog circuitry systems, input / output circuitry systems and devices, and appropriate signal conditioning and buffering circuitry systems.

[0139] The computer-readable and executable instructions embodying this method can be recorded (or stored) in memory and executed as described herein. The executable instructions can be a series of instructions for running an application on at least one microcontroller (in the foreground or background). The at least one microcontroller can receive commands and information in the form of one or more input signals from various controllers or components and transmit instructions to other electronic components.

[0140] The light 186 provides at least turn signals, headlights, taillights, and fog lights. The light 186 operates to create a visual warning 202. The light 186 communicates with and is controlled by the controller 184. The light 186 is mounted around the exterior of the assistance vehicles 104a-104n and is visible from the exterior of the assistance vehicles 104a-104n.

[0141] Horn 188 implements a standard car horn. Horn 188 operates to generate a horn alarm 204. Horn 188 communicates with and is controlled by controller 184. Horn 188 is typically located in the engine compartment of assistance vehicles 104a-104n and can be heard from outside the assistance vehicles 104a-104n.

[0142] Speaker 190 implements an acoustic loudspeaker. Speaker 190 communicates with and is controlled by controller 184. Speaker 190 can generate voice alarms 206, such as "left," "right," "rear," "front," "up," and "down." Voice alarms 206 can be heard from outside the assistance vehicles 104a-104n.

[0143] Motion detector 192 implements proximity detection and orientation sensors. Motion detector 192 communicates with controller 184. Motion detector 192 operates to sense an object 198 (e.g., another vehicle or person) moving in the vicinity of one or more motion detectors 192. Motion detector 192 also operates to determine the orientation 196 of object 198. Controller 184 can use the received detected motion and identification signals 126a-126b to estimate whether object 198 is a rescue vehicle 108 moving toward distress vehicle 102 and / or first responders 112a-112b.

[0144] Display 194 implements a visual display. Display 194 is typically implemented, at least in rescue vehicle 108. Display 194 can be operated to present graphic information 208. Graphic information 208 may include a spatial map and / or arrows pointing to the distressed vehicle 102.

[0145] refer to Figure 6This diagram illustrates an example two-dimensional graphic information 208a according to one or more exemplary embodiments. Graphic information 208a may be a variation of graphic information 208. Graphic information 208a typically includes an arrow 210. Arrow 210 may be rotatable to point in the direction of the distressed vehicle 102. The driver of rescue vehicle 108 uses arrow 210 to navigate to the distressed vehicle 102. Additional information (such as the distance to the distressed vehicle 102, 132h) is also provided. Figure 1 This can be included in graphic information 208a.

[0146] refer to Figure 7 The diagram illustrates an example three-dimensional graphic information 208b according to one or more exemplary embodiments. Graphic information 208b may be a variation of graphic information 208. Graphic information 208b typically includes a spatial map 220 generated by assistance vehicles 104a-104n. Spatial map 220 includes a distress vehicle icon 222 representing distressed vehicle 102, one or more assistance vehicle icons 224a-224 representing nearby assistance vehicles 104a-104n, and a rescue vehicle icon 228 representing rescue vehicle 108. The driver of rescue vehicle 108 can use spatial map 220 to navigate to distressed vehicle 102 at any level where distressed vehicle 102 is located.

[0147] refer to Figure 8 A flowchart illustrating an example implementation of a method 300 for location assistance for a distressed vehicle 102 is shown, according to one or more exemplary embodiments. The method (or process) 300 is implemented by a location assistance system 100. As illustrated, the method 300 includes steps 302 to 334. The sequence of steps is shown as a representative example. Other step sequences may be implemented to meet the standards of a particular application.

[0148] In step 302, the distressed vehicle 102 detects an emergency 122 (e.g., automatically or manually). In step 304, the distressed vehicle 102 broadcasts an emergency signal 120 to nearby vehicles (e.g., stationary assistance vehicles 104a-104n and moving vehicle 106) (see [link to emergency signal]). Figure 1 In step 306, a neighboring vehicle receives an emergency signal 120 from the distressed vehicle 102. In step 308, based on the strength of the emergency signal 120, the distances 132a-132n from the neighboring vehicle to the distressed vehicle 102 are calculated.

[0149] In step 312, distances 132a-132n are transmitted among neighboring vehicles. In step 314, one or more stationary neighboring vehicles (e.g., assistance vehicles 104a-104n) may discard (or filter out) distances 132a-132n of moving neighboring vehicles (e.g., moving vehicle 106). In step 316, a spatial map 220 is generated using triangulation of distances 132a-132n from assistance vehicles 104a-104n to the distressed vehicle 102.

[0150] In step 318, one or more assistance vehicles 104a-104n identify one or more approximate horizontal lines 142a-142f and / or one or more angled cones 172a-172b in the spatial map 220. One or more angled cones 172a-172b and / or horizontal lines 142a-142f, including the distressed vehicle 102 and at least one aligned assistance vehicle 104a-104n, are marked as being associated with guiding the first responders 112a-112b in the correct direction.

[0151] In step 320, one or more vertical cones 162a-162b are identified in the spatial map 220. The vertical cones 162a-162b, including the distressed vehicle 102 and at least one vertically aligned assistance vehicle 104a-104n, are marked as being associated with guiding the first responders 112a-112b to the correct level in a multi-level environment.

[0152] In step 322, the assistance vehicles 104a-104n coordinate among themselves to determine one or more horizontal sequences 144a-144n along one or more approximate horizontal lines 142a-142f and / or angled cones 162a-162n, from the farthest to the nearest to the distressed vehicle 102. In step 324, the assistance vehicles 104a-104n also coordinate among themselves to determine one or more vertical sequences 164a-164b in the vertical direction from the farthest to the nearest to the distressed vehicle 102.

[0153] In step 326, a timer is started. In step 328, alarms 200 (e.g., visual, siren, and / or voice) of assistance vehicles 104a-104n are activated in horizontal sequences 144a-144n and / or angled sequences 174a-174n to direct nearby first responders 112a-112b (if any) to the distressed vehicle 102 at the current level (or plane). In step 330, alarms 200 of assistance vehicles 104a-104n are activated in vertical sequences 164a-164b to direct nearby first responders 112a-112b up or down to different levels 152a-152n. If no stop signal 124 is received while the timer is active, the time expires in step 332. In various embodiments, the timer length may be approximately 10 minutes. Other time lengths may be implemented to meet the design criteria of a particular application. In step 334, alarm 200 is stopped to conserve battery power for aid vehicles 104a-104n.

[0154] refer to Figure 9 The flowchart illustrates an example implementation of a method 340 for starting / stopping alarm 200, according to one or more exemplary embodiments. Method (or process) 340 is implemented by location assistance system 100. As shown, method 340 includes steps 342 to 368. The sequence of steps is shown as a representative example. Other step sequences may be implemented to meet the standards of a particular application.

[0155] In step 342, a check is performed to determine whether the assistance vehicles 104a-104n have received identification signals 126a-126b from the first rescuers 112a-112b. Once the check is positive, alarm 200 may, in step 344, initiate one or more horizontal sequences 144a-144n and / or angled sequences 174a-174n to direct the first rescuers 112a-112b toward the distressed vehicle 102. In step 346, alarm 200 may also initiate one or more vertical sequences 164a-164n to direct the first rescuers 112a-112b upward or downward along a horizontal line 152a-152n.

[0156] In the presence of autonomous vehicle 110, in step 348, autonomous vehicle 110 can guide first rescuers 112a-112b to distress vehicle 102. Once the first rescuers 112a-112b have reached distress vehicle 102, in step 350, autonomous vehicle 110 can return to its original position.

[0157] If the check in step 342 is negative, method 340 may check for movement of object 198 near assistance vehicles 104a-104n in step 352. If movement is detected, a check is performed in step 354 to determine if the movement is toward the distressed vehicle 102. If the movement is toward the distressed vehicle 102, alarm 200 may be triggered in steps 344 and 346. If the movement is not toward the distressed vehicle 102, method 340 may determine whether emergency 122 has ended.

[0158] In step 356, the distressed vehicle 102 can sense (e.g., automatically and / or manually) the end of the emergency 122. If the emergency 122 has ended, in step 358, the distressed vehicle 102 can stop broadcasting the emergency signal 120. In step 360, the assistance vehicles 104a-104n can sense the cessation of the emergency signal 120. In step 362, in response to sensing the cessation of the emergency signal 120, the assistance vehicles 104a-104n stop alarm 200.

[0159] In step 364, rescue vehicle 108 and / or RFID tags 114a-114b may transmit a stop signal 124. In step 366, assistance vehicles 104a-104n receive the stop signal 124. In response to receiving the stop signal 124, in step 368, assistance vehicles 104a-104n may deactivate alarm 200.

[0160] refer to Figure 10 The following flowchart illustrates an example implementation of a method 380 for assimilating a rescue vehicle 108 into a location assistance system 100, according to one or more exemplary embodiments. Method (or process) 380 is implemented by the location assistance system 100. As illustrated, method 380 includes steps 382 to 390. The sequence of steps is shown as a representative example. Other step sequences may be implemented to meet the standards of a particular application.

[0161] In step 382, ​​rescue vehicle 108 can reach the vicinity of distressed vehicle 102. In step 384, rescue vehicle 108 transmits an identification signal (e.g., 126a). In step 386, assistance vehicles 104a-104n receive identification signal 126a. In step 388, communication is established between assistance vehicles 104a-104n and rescue vehicle 108. In step 390, rescue vehicle 108 accesses spatial map 220 to aid in locating the distressed vehicle. In step 392, spatial map 220 or arrows 210 are displayed to the driver of rescue vehicle 108 to guide rescue vehicle 108 toward distressed vehicle 102.

[0162] Embodiments of the location assistance system 100 may utilize Bluetooth Low Energy communication and / or wireless (e.g., Wi-Fi) communication to detect nearby vehicles. The signal strength of the received emergency signal 120 is used to determine the distance to the distressed vehicle 102. Vehicle lights flash to visually warn first responders 112a-112b of the direction / location of the distressed vehicle 102. A horn 188 or speaker 190 may also be used to provide an audible alert to the first responders 112a-112b towards the distressed vehicle 102. Proximity sensors on assistance vehicles 104a-104n may be used to detect nearby people and determine their movement vectors. In various situations, a nearby autonomous vehicle 110 may guide the first responders 112a-112b to the distressed vehicle 102.

[0163] Embodiments of this disclosure generally provide a location assistance system. The location assistance system includes a distressed vehicle and multiple nearby assistance vehicles. The distressed vehicle broadcasts an emergency signal in response to detecting an emergency. Each assistance vehicle has a positioning device. The positioning device includes multiple lights, a horn, and an optional loudspeaker. The positioning device can receive the emergency signal from the distressed vehicle, determine the distance to the distressed vehicle based on the strength of the emergency signal, perform triangulation among the assistance vehicles to generate a spatial map of the distressed vehicle relative to the assistance vehicles based on the distance, and, in response to the distressed vehicle and at least one horizontally aligned assistance vehicle being at the same vertical level in the spatial map, determine one or more approximate horizontal lines in the spatial map including the distressed vehicle and at least one horizontally aligned assistance vehicle. The positioning device can also coordinate among the assistance vehicles to determine one or more horizontal sequences along one or more approximate horizontal lines from the farthest to the nearest distressed vehicle, and to flash lights, sound horns, and / or broadcast voice messages from the assistance vehicles in one or more horizontal sequences to guide first responders to the distressed vehicle.

[0164] Numerical values ​​(e.g., quantities or conditions) in this specification, including the appended claims, are to be understood to be modified in each case by the term "about," regardless of whether "about" actually precedes the numerical value. "About" indicates that the numerical value allows for a slight degree of imprecision (having some closeness to the exact value; approximately or reasonably close to the value; nearly). If the imprecision provided by "about" is not otherwise understood in its ordinary sense in the art, then "about" as used herein at least indicates variations that may arise from common methods of measuring and using such parameters. Furthermore, the disclosure of ranges includes values ​​throughout the range and disclosures of further subdivided ranges. Each value within a range and the endpoints of the range are disclosed herein as separate embodiments.

[0165] While the best mode of implementing this disclosure has been described in detail, those skilled in the art will recognize various alternative designs and embodiments for practicing this disclosure within the scope of the appended claims.

Claims

1. A location assistance system, comprising: The vehicle in distress is operable to broadcast emergency signals in response to an emergency. as well as Multiple assistance vehicles are located near the distressed vehicle, each of which has multiple lights, and the multiple assistance vehicles are operable for: Receive emergency signals from the distressed vehicle; Based on the emergency signal, determine multiple distances from the multiple assistance vehicles to the distressed vehicle; Triangulation is performed among the multiple aid vehicles to generate a spatial map of the distressed vehicle relative to the multiple aid vehicles based on the multiple distances. In response to the distressed vehicle and at least one horizontally aligned assistance vehicle being on the same vertical level in the spatial map, one or more approximate horizontal lines in the spatial map are determined that include the distressed vehicle and at least one horizontally aligned assistance vehicle among the plurality of assistance vehicles. Coordination is carried out among the multiple assistance vehicles to determine one or more horizontal sequences along one or more approximate horizontal lines from the furthest to the closest to the distressed vehicle. as well as Multiple lights of the multiple assistance vehicles are flashed in one or more horizontal sequences to guide the distressed vehicle.

2. The location assistance system according to claim 1, wherein The plurality of aid vehicles are further operable for: In response to the at least one vertically aligned assistance vehicle being at a different vertical level from the distressed vehicle, at least one vertical cone is determined in the spatial map comprising the distressed vehicle and at least one vertically aligned assistance vehicle among the plurality of assistance vehicles; and Multiple lights of the multiple assistance vehicles are flashed to guide the distressed vehicle at the different vertical levels.

3. The location assistance system according to claim 1, wherein: The multiple aid vehicles include multiple loudspeakers; and The plurality of aid vehicles are operable to sound the plurality of horns in one or more horizontal sequences to direct the distressed vehicle toward it.

4. The location assistance system according to claim 1, wherein: The multiple assistance vehicles include multiple motion detectors; and In response to at least one of the motion detectors detecting movement toward the distressed vehicle, the plurality of assistance vehicles are operable to begin flashing the plurality of lights.

5. The location assistance system according to claim 1, further comprising: A rescue vehicle that communicates with the plurality of assistance vehicles, wherein the rescue vehicle is operable to access the spatial map to help locate the distressed vehicle.

6. The location assistance system according to claim 1, further comprising: Radio frequency identification (RFID) tags operable to transmit identification signals to the plurality of assistance vehicles, wherein the identification signals indicate the presence of a first responder. The plurality of aid vehicles are further operable for: The identification signal is received at one or more of the plurality of aid vehicles; and In response to the receipt of the identification signal, the flashing of the plurality of lights begins.

7. The location assistance system of claim 1, wherein at least one of the plurality of assistance vehicles is an autonomous vehicle operable to direct a first responder to the distressed vehicle.

8. The location assistance system according to claim 1, wherein: The multiple aid vehicles include multiple loudspeakers; and The multiple assistance vehicles are operable to generate multiple audio alarms in one or more horizontal sequences through the multiple speakers to direct the distressed vehicle.

9. The location assistance system according to claim 1, wherein The plurality of aid vehicles are further operable for: Detect the end of the emergency situation; and In response to the termination, the flashing of the plurality of lights stops.

10. A method for location assistance, comprising: In response to an emergency, broadcast emergency signals from the vehicle in distress; Receive emergency signals from the distressed vehicle at multiple aid vehicles, each of which has multiple lights; Based on the emergency signal, determine multiple distances from the multiple assistance vehicles to the distressed vehicle; Triangulation is performed among the multiple aid vehicles to generate a spatial map of the distressed vehicle relative to the multiple aid vehicles based on the multiple distances. In response to the distressed vehicle and at least one horizontally aligned assistance vehicle being on the same vertical level in the spatial map, one or more approximate horizontal lines in the spatial map are determined that include the distressed vehicle and at least one horizontally aligned assistance vehicle among the plurality of assistance vehicles. Coordination is carried out among the multiple assistance vehicles to determine one or more horizontal sequences along one or more approximate horizontal lines from the furthest to the closest to the distressed vehicle. as well as Multiple lights of the multiple assistance vehicles are flashed in one or more horizontal sequences to guide the distressed vehicle.

11. The method of claim 10, further comprising: In response to the fact that the at least one vertically aligned assistance vehicle is at a different vertical level from the distressed vehicle, at least one vertical cone in the spatial map is determined that includes the distressed vehicle and at least one vertically aligned assistance vehicle among the plurality of assistance vehicles. as well as Multiple lights of the multiple assistance vehicles are flashed to guide the distressed vehicle at the different vertical levels.

12. The method according to claim 10, wherein, The plurality of aid vehicles include a plurality of horns, and the method further includes: The plurality of horns are sounded in one or more horizontal sequences to direct the distressed vehicle toward it.

13. The method according to claim 10, wherein, The plurality of assistance vehicles include a plurality of motion detectors, and the method further includes: In response to at least one of the motion detectors detecting movement toward the distressed vehicle, the flashing of the plurality of lights begins.

14. The method of claim 10, further comprising: Establish communication between the multiple aid vehicles and rescue vehicles; as well as Access the spatial map at the rescue vehicle location to help locate the distressed vehicle.

15. The method of claim 10, further comprising: An identification signal is emitted from an RFID tag, wherein the identification signal indicates the presence of a first responder; The identification signal is received at one or more of the plurality of aid vehicles; as well as In response to the receipt of the identification signal, the flashing of the plurality of lights begins.

16. The method of claim 10, further comprising: The first responders are guided to the distressed vehicle using an autonomous vehicle among the multiple assistance vehicles.

17. A positioning device, comprising: Multiple lights; A transceiver operable to communicate with the distressed vehicle and multiple additional positioning devices located near the distressed vehicle; as well as A controller that communicates with the plurality of lights and the transceiver, wherein the controller is operable to: The transceiver receives emergency signals from the distressed vehicle. The distance to the distressed vehicle is determined based on the emergency signal; Triangulation is performed using the multiple additional positioning devices to generate a spatial map of the distressed vehicle relative to the positioning devices and the additional positioning devices based on the distance; In response to the fact that both the distressed vehicle and the positioning device are in the same vertical level in the spatial map, an approximate horizontal line including the distressed vehicle and the positioning device is determined in the spatial map; Coordinate with the plurality of additional positioning devices to determine a horizontal sequence along the approximate horizontal line from the furthest to the closest to the distressed vehicle; as well as One or more of the lights on the positioning device are flashed in the horizontal sequence to guide the distressed vehicle.

18. The positioning device according to claim 17, wherein The controller is further operable to: In response to the positioning device being at a different vertical level from the distressed vehicle, at least one vertical cone in the spatial map including the distressed vehicle and the positioning device is determined; and The positioning device flashes multiple lights to direct the distressed vehicle to the different vertical levels.

19. The positioning device according to claim 17, further comprising a horn, wherein The controller is further operable to sound the horn in the horizontal sequence to direct the distressed vehicle.

20. The positioning device according to claim 17, further comprising: A motion detector, operable to detect movement toward the distressed vehicle, wherein The controller is further operable to initiate the flashing of one or more of the plurality of lights in response to the motion detector detecting movement toward the distressed vehicle.

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