Location using location coordination of road signs

Abstract

Systems and methods for determining validity of a location of a vehicle include obtaining a first location of the vehicle corresponding to a first time. A first roadside unit (RSU) signal including an indication of a location of the first RSU is received at the vehicle from the first RSU. One or more location measurements of the vehicle relative to the first RSU are obtained based on one or more sensors of the vehicle. The first location of the vehicle is compared to a first RSU-based location of the vehicle.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. patent application No. 18 / 189,050, filed on March 23, 2023, entitled “LOCALIZATION USING POSITIONCOORDINATION OF ROAD SIGNS,” which is assigned to the assignee of this application, and the entire contents of which are hereby incorporated by reference herein for all purposes. Background Art

[0003] When an autonomous vehicle moves along a street or other terrain, it typically requires accurate information about its current location. This can advantageously allow the vehicle to generate and follow a correct path and / or speed.

[0004] To achieve this, a vehicle may receive and utilize Global Positioning System (GPS) signals to determine the vehicle's current location, and then use this current location information as input for navigation applications. GPS is an example of a Global Navigation Satellite System (GNSS) navigation system, in which a receiver determines its position by accurately measuring the arrival times of signaling events received from multiple satellites. However, GPS signals are not always reliably received by receivers. For example, in weak signal conditions, such as when the line of sight (LOS) to a satellite (S) is blocked by natural or man-made objects such as tall buildings, mountains, or canyons, GPS accuracy can be significantly reduced. Depending on the environment, a receiver (e.g., in a vehicle) may not even be able to receive GPS signals, or the accuracy of GPS may result in position errors on the order of tens of meters (e.g., up to 50 meters). Furthermore, GPS signals are susceptible to spoofing by hackers or intruders.

[0005] Another navigation system that may be employed by a vehicle uses an inertial measurement unit (IMU) sensor employed on the vehicle to determine distance traveled and the vehicle's heading, which are then processed to calculate the vehicle's position. If one or more of the inertial measurement unit (IMU) sensors are inaccurate, the errors caused by this lack of accuracy over an extended period of time may result in significant errors in the determined distance traveled and / or deviations in the determined heading of the vehicle.

[0006] Additionally, having updated maps is crucial for autonomous driving safety. For example, construction zone signs may be added to roads, and not adjusting vehicle speed based on these new conditions could increase the risk of accidents with construction workers, for example.

[0007] Due to increasing demands from the automotive industry, future consumer navigation systems will require higher positioning accuracy than currently implemented systems. Path planning, path following, and speed profiles without updated, accurate, and resilient positioning can lead to dangerous and fatal accidents for passengers and other road users. Summary of the Invention

[0008] A method for determining the validity of a location of a vehicle according to the present disclosure includes obtaining a first location of the vehicle, for example, corresponding to a first time. A first roadside unit (RSU) signal including an indication of the location of the first RSU is received from a first RSU at the vehicle. One or more location measurements of the vehicle relative to the first RSU are obtained based on one or more sensors of the vehicle. A first RSU-based location of the vehicle corresponding to the first time is determined based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU. The first location of the vehicle is compared to the first RSU-based location of the vehicle.

[0009] An example system for determining the validity of a location of a vehicle according to the present disclosure includes a memory and at least one processor communicatively coupled to the memory. The at least one processor is configured to: obtain a first location of the vehicle corresponding to a first time; receive a first RSU signal from a first roadside unit (RSU) at the vehicle including an indication of the location of the first RSU; obtain one or more location measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; determine a first RSU-based location of the vehicle corresponding to the first time based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU; and compare the first location of the vehicle with the first RSU-based location of the vehicle.

[0010] An example system for determining the validity of a location of a vehicle according to the present disclosure includes: means for obtaining a first location of the vehicle corresponding to a first time; means for receiving a first roadside unit (RSU) signal including an indication of the location of the first RSU from the vehicle; means for obtaining one or more location measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; means for determining a first RSU-based location of the vehicle corresponding to the first time based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU; and means for comparing the first location of the vehicle with the first RSU-based location of the vehicle.

[0011] An example non-transitory processor-readable storage medium according to the present disclosure includes processor-readable instructions configured to cause one or more processors to determine the validity of a location of a vehicle. The non-transitory processor-readable storage medium may include: code for obtaining a first location of the vehicle corresponding to a first time; code for receiving a first RSU signal including an indication of the location of the first RSU from a first roadside unit at the vehicle; code for obtaining one or more location measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; and code for comparing the first location of the vehicle with a first RSU-based location of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Non-limiting and non-exhaustive aspects are described with reference to the following drawings.

[0013] Figure 1 Block diagrams illustrating example components and / or systems implemented in a vehicle are illustrated.

[0014] Figure 2 Illustrations of example vehicles configured with various sensor and communication components and / or systems are shown.

[0015] Figure 3 is a functional block level diagram of an example vehicle.

[0016] Figure 4 An example vehicle is illustrated traveling on a road with roadside units (RSUs) positioned at various intervals.

[0017] Figure 5 An example method of determining the validity of a location of a vehicle is shown.

[0018] Figure 6 is an example flow chart of vehicle actions based on the availability of the vehicle's location. DETAILED DESCRIPTION

[0019] Techniques for determining the validity of a vehicle's location are provided. Advantageously, roadside units (RSUs) located at various intervals along a road provide corresponding indications of the RSU's location to vehicles in proximity to the RSUs. The vehicle may compare its location, determined using, for example, global positioning satellite (GPS) signals and / or inertial measurement unit (IMU) measurements, with a location determined based on one or more of the RSU locations and one or more distances from the one or more of the RSUs. These techniques and configurations are examples, and other configurations and techniques may be used.

[0020] Figure 1 1 is a block diagram of various components and / or systems implemented in an example vehicle, such as an automobile. Vehicle 100 may be non-autonomous, autonomous, or semi-autonomous. Vehicle 100 may include camera 135 (which may include one or more cameras). Camera 135 may include a camera sensor and a mounting assembly. Different mounting assemblies may be used for different cameras on vehicle 100. For example, a forward-facing camera may be mounted in the front bumper, in the stalk of a rearview mirror assembly, and / or in other forward-facing areas of vehicle 100. A rearward-facing camera may be mounted in the rear bumper / fender, on the rear window, and / or in the trunk or other rearward-facing areas of vehicle 100. Side mirrors may be mounted on the sides of vehicle 100, such as integrated into the mirror assembly and / or door assembly. Camera 135 may facilitate object detection and distance estimation, particularly for objects of known size and / or shape (for example, stop signs and license plates both have standardized sizes and shapes), and may also provide information about rotational motion relative to the axes of vehicle 100, such as during cornering. The camera 135 can be used in conjunction with other sensors such as lidar, wheel tick / distance sensors, and / or GNSS to verify travel distance and angular orientation. The camera 135 can be used to verify and calibrate one or more other systems to verify that distance measurements are correct (e.g., by calibrating against known distances between known objects (landmarks, roadside markings, road mile markers, etc.)), and / or can be used to verify that object detection is accurately performed so that objects are mapped to the correct location relative to the vehicle by the lidar and other systems. The camera data can be combined with, for example, accelerometer data to estimate the time to impact with a road hazard (e.g., the time elapsed before hitting a pothole). This can be verified against the actual time of impact and / or against a stopping model (e.g., by comparing it to an estimated stopping distance if the vehicle attempted to stop before hitting the object), and / or against a maneuvering model (verifying that the current estimate of the turning radius at the current speed and / or a maneuverability metric at the current speed is accurate under the current conditions and modifying the estimated parameters accordingly based on the camera and other sensor measurements).

[0021] The accelerometer, gyroscope, and magnetometer 140 can be used to provide and / or verify motion and direction information. For example, the accelerometer and gyroscope can be used to monitor wheel and drivetrain performance. The accelerometer can also be used to verify the actual time of impact with a road hazard (such as a pothole) relative to the predicted time based on existing stop and acceleration models and steering models. In one embodiment, the gyroscope and magnetometer can be used to measure the rotational state of the vehicle and the orientation relative to magnetic north, respectively. The gyroscope and magnetometer can also be used to measure and calibrate an estimate and / or model of the turning radius at the current speed and / or a maneuverability measure at the current speed, particularly when used in conjunction with measurements from other external and internal sensors 145 such as speed sensors, wheel tick sensors, and / or odometer measurements.

[0022] The Light Detection and Ranging (LiDAR) 150 subsystem uses pulsed lasers to measure the distance to objects. While cameras can be used for object detection, LiDAR 150 provides a means to more confidently detect the distance (and orientation) of objects, especially for objects of unknown size and shape. LiDAR 150 measurements can also be used to estimate travel rate, vector direction, relative position, and stopping distance by providing accurate and incremental distance measurements.

[0023] Memory 160 may be used in conjunction with processor 110 and / or DSP 120. Memory 160 may include flash memory, RAM, ROM, a disk drive or flash memory card, or other memory devices, or various combinations thereof. In one embodiment, memory 160 may contain instructions for implementing various methods described throughout this description, including, for example, processes for implementing relative positioning between vehicles and between vehicles and external reference objects (such as roadside units). In one embodiment, memory 160 may contain instructions for operating and calibrating sensors, and for receiving map, weather, vehicle (both vehicle 100 and surrounding vehicles), and other data. Memory 160 may also contain instructions for utilizing various internal and external sensor measurements and received data and measurements to determine driving parameters such as relative position, absolute position, stopping distance, acceleration and turn radius at current speed and / or maneuverability at current speed, head-to-head distances, turn initiation / timing and performance, and initiation / timing of driving maneuvers.

[0024] The power and drive system (generator, battery, transmission, engine) and related systems 175 and systems (brakes, actuators, throttle control, steering, and electrical) 155 can be controlled by a processor, hardware, software, and / or by the operator of the vehicle, or by some combination thereof. The systems (brakes, actuators, throttle control, steering, electrical, etc.) 155 and power and drive or other systems 175 can be used in conjunction with performance parameters and operating parameters to enable automatic (and manual with respect to alerts and emergency overrides / braking / stopping) driving and safe and accurate operation of the vehicle 100 (e.g., with respect to merging into traffic, stopping, accelerating, and otherwise operating the vehicle 100). Inputs from various sensor systems (such as cameras 135, accelerometers, gyroscopes and magnetometers 140, lidar 150, GNSS receiver 170, radar 153), and / or inputs, messaging and / or measurements from wireless transceiver 130 and / or other sensors 145, or various combinations thereof, may be used by processor 110 and / or DSP 120 or other processing systems to control power and drive systems 175 and systems 155 (e.g., brake actuators, throttle control, steering, electrical, etc.).

[0025] A Global Navigation Satellite System (GNSS) receiver can be used to determine position relative to the ground (absolute position) and, when used with other information (such as measurements and / or mapping data from other objects), can be used to determine position relative to other objects (such as relative to other cars and / or relative to the road).

[0026] The GNSS receiver 170 may support one or more GNSS constellations and other satellite-based navigation systems. For example, the GNSS receiver 170 may support global navigation satellite systems such as the Global Positioning System (GPS), Russia's Global Navigation Satellite System (GLONASS), Galileo, and / or BeiDou, or any combination thereof. In one embodiment, the GNSS receiver 170 may support regional navigation satellite systems (such as NAVIC or QZSS, or a combination thereof) and various augmentation systems (e.g., satellite-based augmentation systems (SBAS) or ground-based augmentation systems (GBAS)) such as Doppler Orbit Patterns Integrated by Satellite Radiolocation (DORIS), Wide Area Augmentation System (WAAS), European Geostationary Navigation Overlay Service (EGNOS), Multipurpose Satellite Augmentation System (MSAS), or Local Area Augmentation System (LAAS). In one embodiment, the GNSS receiver 130 and antenna 132 may support multiple frequency bands and sub-bands, such as the GPS L1, L2, and L5 bands, the Galileo E1, E5, and E6 bands, the Compass (Beidou) B1, B3, and B2 bands, the GLONASS G1, G2, and G3 bands, and the QZSS L1C, L2C, and L5-Q bands.

[0027] The GNSS receiver 170 can be used to determine location and relative location, which can be used for positioning, navigation, and, where appropriate, to calibrate other sensors. For example, the GNSS receiver 170 can be used to determine the distance between two points in time under clear-sky conditions and use this distance data to calibrate other sensors such as odometers and / or lidar. In one embodiment, GNSS-based relative location (e.g., based on shared Doppler and / or pseudorange measurements between vehicles) can be used to determine a highly accurate distance between two vehicles. These distances can be combined with vehicle information such as shape and model information, as well as GNSS antenna location, to calibrate, validate, and / or influence the confidence level associated with information from lidar, cameras, radar, sonar, and other distance estimation techniques. GNSS Doppler measurements can also be used to determine the linear and rotational motion of a vehicle or a vehicle relative to another vehicle, which can be further used in conjunction with gyroscopes and / or magnetometers and other sensor systems to maintain the calibration of those systems based on measured location data. Relative GNSS position data can also be combined with high-confidence absolute positions from roadside equipment (also known as roadside units or RSUs) to determine a high-confidence absolute position of the vehicle. Furthermore, relative GNSS position data can be used during inclement weather, which may obscure lidar and / or camera-based data sources, to avoid other vehicles and remain in lanes or other assigned road areas. For example, using an RSU equipped with a GNSS receiver and V2X capabilities, GNSS measurements can be provided to the vehicle. This GNSS measurement data, when provided along with the RSU's absolute position, can be used to navigate the vehicle relative to a map, thereby keeping the vehicle in its lane and / or road despite a lack of visibility.

[0028] Radio detection and ranging (radar 153) uses transmitted radio waves that reflect off objects. The reflected radio waves are analyzed based on the time it takes for the reflections to arrive and other signal characteristics of the reflected waves to determine the location of nearby objects. Radar 153 can be used to detect the location of nearby cars, roadside objects (signs, other vehicles, pedestrians, etc.), and is often capable of detecting objects even in obscuring weather conditions such as snow, rain, or hail. Therefore, radar 153 can be used to supplement the lidar 150 system and camera 135 system by providing ranging and distance measurements and information to other objects, where vision-based systems would typically fail. Furthermore, radar 153 can be used to calibrate and / or sanity check other systems, such as lidar 150 and camera 135. Odometry measurements from radar 153 can be used to determine / measure stopping distance at current speed, acceleration, maneuverability at current speed, and / or turning radius at current speed. In some systems, ground-penetrating radar can also be used to track the road surface, for example, via radar-reflecting markings on the road surface or terrain features such as ditches.

[0029] The vehicle 100 may also include a plurality of wireless transceivers, including radio, WAN, WLAN, and / or PAN transceivers. In one embodiment, the vehicle may include a radio technology that can support one or more wireless communication links, and the radio technology may also include a wireless local area network (e.g., WLAN, such as IEEE 802.11), Bluetooth (BT), and / or ZigBee.

[0030] Figure 2 Illustrated is a diagram of a vehicle configured with example sensor and communication components and / or systems. Figure 2As shown in FIG, vehicle 100 may have, for example, cameras such as a rearview mirror-mounted camera 206, a front fender-mounted camera (not shown), a side mirror-mounted camera (not shown), and a rear camera (not shown, but typically located on the trunk, hatch, or rear bumper). Vehicle 100 may also have a lidar subsystem 204 for detecting objects and measuring distances to them; lidar system 204 is typically mounted on the roof, however, if multiple lidar units 204 are present, they may be oriented around the front, rear, and sides of the vehicle. Vehicle 100 may have various other location-related systems, such as a GNSS receiver 170 (typically located in a shark fin 202 on the rear of the roof), various wireless transceivers (such as radio, WAN, WLAN, V2X; typically, but not necessarily, located in the shark fin 202), a radar system 208 (typically located in the front bumper), and sonar 210 (typically located on both sides of the vehicle, if present). There may also be various wheel sensors 212 and driveline sensors such as tire pressure sensors, accelerometers, gyroscopes, and wheel rotation detection and / or counters. This list is not limiting, and Figure 2 Example locations for various sensors are provided, but other configurations of vehicles may be used. Additionally, further details regarding specific sensors are provided relative to Figure 1 Described.

[0031] Also refer to Figure 3, a functional block-level diagram of vehicle 100 includes functional blocks shown for determining the validity of the location of vehicle 100. Illustratively, vehicle location verification module 312 may include one or more processors that execute code and may also include additional modules, such as, but not limited to, first location module 310, RSU module 306, verification module 314, and action module 316. Vehicle location verification module 312 receives information from, but not limited to, vehicle external sensors 302 and vehicle internal sensors 304. The received vehicle sensor output (which may be used to provide, but not limited to, GPS and / or IMU location information) is used by first location module 310 to obtain a first location 318 of vehicle 100. Roadside unit (RSU) module 306 receives RSU signals (from external sensors 302, e.g., transmitted via radio) from RSUs (described in more detail below) encountered by vehicle 100. The RSU signals include an indication of the location of the RSU. The RSU module 306 also obtains the distance between the vehicle 100 and the RSU based on signals received from the external sensors 302 (e.g., via radar, or if there is no direct line of sight, via radio positioning). Using the indication of location received from the RSU and the distance between the vehicle 100 and the RSU, the RSU module 306 determines the RSU-based location 308 of the vehicle 100. The verification module 314 compares the first location 318 to the RSU-based location 308 to verify that the first location 318 is correct (e.g., within an acceptable error tolerance of the RSU-based location 308). The action module 316 can take one or more of several actions (described in more detail below) based on the comparison of the first location 318 to the RSU-based location 308.

[0032] Vehicle external sensors 302 may include, but are not limited to, camera 206, lidar system 204, radar system 208, a radio transmission system, one or more proximity sensors, one or more rain sensors, one or more weather sensors, GNSS receiver 170 wireless communication and / or radio (see also Figure 1 and Figure 2 and accompanying text). Vehicle internal sensors 304 may include: wheel sensors 212, such as tire pressure sensors, brake pad sensors, brake status sensors, speedometers, and other speed sensors; heading and / or orientation sensors, such as magnetometers and geomagnetic compasses; distance sensors, such as odometers and wheel tick sensors; and / or inertial sensors, such as accelerometers and gyroscopes.

[0033] The vehicle interior sensor 304 and / or the vehicle exterior sensor 302 may have shared or dedicated processing capabilities. For example, a sensor system or subsystem may have one or more sensor processing cores that determine one or more vehicle state values ​​based on measurements and / or other inputs from one or more accelerometers, one or more gyroscopes, one or more magnetometers, and / or one or more other sensing systems. The vehicle state value may include yaw, pitch, roll, heading, speed, acceleration capability, and / or distance, and / or stopping distance. Different sensing systems may communicate with each other to determine the measurement value. The vehicle state value derived from the measurement from the interior sensor 304 and the exterior sensor 302 may be further combined with the vehicle state value and / or measurements from one or more other sensor systems using a general-purpose processor and / or an application processor. Sensors may be separated into related systems, such as lidar, radar, motion, and wheel systems.

[0034] Figure 4 Illustration shows a vehicle 401 traveling on a road 405, with roadside units (RSUs) 403 positioned at various locations. RSUs 403 may be arranged at specific intervals along road 405, or may be placed aperiodically in a more random pattern. Each of RSUs 403 may be part of or attached to a corresponding object, such as, but not limited to, a sign 407, a building, a tree or other natural object, a bridge, an overpass, or a telephone pole, or may be a standalone unit. Each RSU 403 is configured to provide an indication of the RSU's location and / or an indication of the RSU type (e.g., a speed limit sign). RSUs 403 may include a transmitter module that may transmit a unique identification number, for example, in a broadcast signal that can be received by a receiver near RSU 403 (e.g., in the vehicle). A vehicle 401 receiving an identification number for a particular RSU 403 may look up the received identification number in a table or map data to retrieve the location of the RSU 403, which may be, but is not limited to, one or more coordinates (e.g., latitude and longitude). The RSU 403 may also explicitly transmit the location of the RSU 403 (e.g., a set of position coordinates) directly to the vehicle 401.

[0035] In addition to transmitting an indication of its location to vehicle 401, RSU 403 may also transmit other information. This other information may include the type of RSU (e.g., speed limit signs) and / or various warnings. For example, RSU 403 may indicate road hazards or severe weather conditions ahead (such as road construction, icy roads, or accidents) and / or provide a recommended speed. RSU 403 may have a communication interface to enable, but not limited to, receiving road or weather conditions, which may then be communicated to vehicle 401. RSU 403 may be configured to receive information from another RSU 403, such as transmissions from one or more other RSUs 403 along road 405, so that advance warnings can be provided to vehicle 401 traveling on road 405. RSU 403 may include cameras or other sensors to determine road conditions, which may then be communicated to vehicle 401. RSUs may also have some level of processing power / intelligence to, but not limited to, help determine surrounding conditions, which may then be communicated to the vehicle.

[0036] The RSU 403 may be powered by, but is not limited to, batteries, solar energy, and / or wind energy. The RSU 403 may be connected to a transmission line that provides power to the RSU 403.

[0037] refer to Figure 5 , and further reference Figures 1 to 4 , an example method 500 for determining the validity of a location of a vehicle is shown. However, the method 500 is an example and not limiting. The method 500 can be modified, for example, by dividing one or more individual stages into multiple stages, combining multiple stages into a single stage, performing multiple stages concurrently, etc.

[0038] At stage 502, a first location of a vehicle corresponding to a first time is obtained. In one example, external sensors 302 and internal sensors 304 (including, but not limited to, a GNSS receiver 170, accelerometers, gyroscopes, magnetometers 140, and other sensors 145), along with the vehicle location verification module 312 (and specifically, the first location module 310, including, but not limited to, the processor 110 and memory 160) may be components for obtaining the first location 318. For example, the first location may be provided, but not limited to, by utilizing GPS / GNSS, or may be based at least in part on dead reckoning. Using dead reckoning (DR), a current location is calculated based on a previously obtained location and one or more sensor measurements between the time corresponding to the previously obtained location and the current time. Generally, as is known in the art, the dead reckoned location of the vehicle at the current time can be determined by advancing the previously obtained location based on sensor information that provides, but is not limited to, heading and speed. For example, the vehicle 100 may be equipped with sensors 145 and corresponding vehicle information (e.g., dimensions), such as wheel circumference measurements, and may be configured to record wheel rotation and steering direction. Other sensors such as one or more inertial sensors (eg, accelerometers, gyroscopes, solid-state compasses) may also be used.

[0039] At stage 504, method 500 includes receiving a first roadside unit (RSU) signal at a vehicle from a first RSU, the first RSU signal including an indication of a location of the first RSU and / or an RSU type. In one example, external sensor 302 (including wireless communication transceiver 202, such as a radio transceiver) along with vehicle location verification module 312 (and specifically, RSU module 306, including but not limited to processor 110 and memory 160) may be components for receiving the first RSU signal.

[0040] As mentioned above about Figure 4 As described, each RSU 403 can be configured to provide an indication of the location of the corresponding RSU 403. For example, the RSU 403 can include a transmitter module that can transmit a unique identification number to vehicles in the vicinity of the RSU 403. Vehicles 401 that receive the identification number of a particular RSU 403 can look up the received identification number in a table or map data to retrieve the location of the RSU 403, which can be, but is not limited to, one or more position coordinates. The RSU 403 can also explicitly transmit the location of the RSU 403 directly to the vehicle 401.

[0041] If the RSU signal includes an identification number, a determination may be made as to whether the identification number is registered in a map and / or database. If it is determined that the RSU is registered in the map and / or database, the RSU may be utilized and method 500 may continue. Alternatively, if the RSU does not have a registered identification number, vehicle 100 may not utilize the RSU. Instead, the RSU identification number, location indication, and type (e.g., school logo) may be reported by vehicle 100 to a server (e.g., in the cloud) for registration and / or future addition to the map and / or database. In various examples, observed RSUs that are not registered / recorded in a map may be identified and transmitted to the cloud. If the same RSU is reported by multiple (e.g., a threshold number) vehicles, the reported RSU may be registered by the server and added to the map and / or database, whereupon the RSU may be utilized, for example, to assist in determining the location of vehicle 100 and / or another vehicle. For example, if the RSU is reported by more than N vehicles, the RSU may be registered and the map and / or database updated with the new RSU. For example, if more than two vehicles report an RSU in succession, the RSU may be registered and the map and / or database updated so that vehicles can begin utilizing that RSU. Increasing N (the number of reports of the same RSU) will increase confidence in the detection of valid RSUs and reduce false alarm rates.

[0042] At stage 506, one or more location measurements of the vehicle relative to the first RSU are obtained. The location measurements may include, but are not limited to, the distance and / or orientation between the vehicle and the first RSU. In one example, external sensors 302 (including, but not limited to, radio transceivers, cameras, lidar, and / or radar) in conjunction with vehicle location verification module 312 (e.g., RSU module 306, including, but not limited to, processor 110 and memory 160) may be components for obtaining the location measurements.

[0043] For example, if vehicle 100 has a line of sight to a first RSU, vehicle 100 may use various sensors (such as cameras, radar, and / or lidar sensors) to measure / determine the distance and / or bearing to the first RSU. For example, a visual / optical sensor (e.g., camera 135) may be configured to capture one or more images that include the first RSU. One or more recognition processes may be performed on the captured images to identify the first RSU. The recognition process may take into account the type of RSU (e.g., whether the RSU is a sign, on a bridge, etc.). Using a radar or lidar system (or other sensor), the distance and / or bearing from vehicle 100 to the first RSU may be determined.

[0044] If a vehicle receives a signal but cannot see the RSU (e.g., its line of sight to the sign is blocked by, for example, other vehicles), the vehicle 100 can still obtain an approximate location measurement using a radiolocation method. In this method, under non-line-of-sight (NLOS) conditions, the vehicle's location measurement to the RSU can be determined based on received signal strength indication (RSSI) measurements. RSSI measurements can be used even under LOS conditions.

[0045] At stage 508, a first RSU-based location of the vehicle corresponding to the first time is determined. For example, the first RSU-based location of the vehicle may be determined based on the one or more location measurements determined at stage 506 and the indication of the location of the first RSU received at stage 504. In one example, the vehicle location verification module 312 (and specifically, the RSU module 306, including but not limited to the processor 110 and the memory 160) may be a component for determining the first RSU-based location 308 of the vehicle.

[0046] At stage 510, the first location of the vehicle is compared to the first RSU-based location of the vehicle. In one example, the vehicle location verification module 312 (and specifically, the verification module 314, including but not limited to the processor 110 and the memory 160) may be the component for comparing the first location of the vehicle to the first RSU-based location of the vehicle. Generally speaking, and without limitation, if the first location of the vehicle matches the first RSU-based location of the vehicle (e.g., within a threshold difference (e.g., a threshold distance) of the first RSU-based location), the first location is verified and may continue to be utilized by the vehicle. If there is a certain threshold confidence level in the first location (e.g., a threshold confidence level that GPS and / or dead reckoning measurements are correct), the first location of the vehicle may continue to be utilized by the vehicle regardless of the result of the comparison.

[0047] Also refer to Figure 6 , an example method 600 for vehicular action based on comparison of RSU-based and non-RSU-based vehicle locations includes the stages shown. At stage 606, a first location 602 (e.g., first location 318) and a first RSU-based location 604 (e.g., RSU-based location 308) are compared. If the first location 602 and the first RSU-based location 604 match, e.g., within an acceptable error tolerance 608 of each other, then no changes are made to the first location 602, and the first location 602 continues to be used as the vehicle location.

[0048] However, if the comparison at stage 606 is outside the acceptable error margin, then a query is made at stage 610 as to whether this is the first mismatch determined. For example, if the processor 110 determines that this is the first mismatch between the first location 602 and the RSU-based location 604, then the method 600 proceeds to stage 614, at which the first location 604 may be replaced with the RSU-based location. If the processor determines at stage 610 that the mismatch determined at stage 606 is not the first mismatch (e.g., the second consecutive mismatch), then the method 600 proceeds to stage 612, at which the processor 110 may request, for example, a minimum risk condition (MRC) action (e.g., parking the vehicle 100 outside the active driving lane), and / or may take other actions, such as alerting the driver and / or having the driver take over (if a driver is behind the wheel).

[0049] More specifically, after the first mismatch, the vehicle may continue traveling, and a second location of the vehicle corresponding to a second time may be obtained based on, but not limited to, GPS and / or dead reckoning. Similar to determining the validity of the first location, as described above, a second roadside unit (RSU) signal including an indication of the location of the second RSU may be received from the vehicle. The second RSU signal includes an indication of the location of the second RSU. One or more location measurements between the vehicle and the second RSU, determined by one or more sensors of the vehicle, may be obtained. A second RSU-based location of the vehicle corresponding to the second time may be determined based, at least in part, on the one or more location measurements between the vehicle and the second RSU and the location of the second RSU. The second location of the vehicle may be compared to the second RSU-based location of the vehicle to verify the second location, whereupon a second mismatch may occur.

[0050] A minimum risk condition (MRC) maneuver is an action that a user or an automated driving system (ADS) can perform to reduce the risk of a collision that would otherwise occur (e.g., to continue the vehicle's driving state). Method 600 is an example, and other examples may be implemented using other vehicle actions, for example, based on the comparison at stage 606 and the query at stage 610. For example, an MRC action may be initiated after the first mismatch, may be initiated only after multiple mismatches, or may not be initiated at all if there is still a level of confidence in the first location (e.g., based on GPS and / or dead reckoning).

[0051] Other examples and implementations are within the scope of this disclosure and the appended claims. For example, due to the nature of software and computers, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or any combination thereof. Features that implement the functions may also be physically located at various locations, including being distributed so that various parts of the functions are implemented at different physical locations.

[0052] As used herein, the singular forms "a," "an," and "the" include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "comprising" specifies the presence of recited features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0053] Furthermore, as used herein, the use of "or" in a list of items (possibly followed by "at least one of" or "one or more of") indicates a disjunctive list, such that, for example, a list of "at least one of A, B, or C," or a list of "one or more of A, B, or C," or a list of "A or B or C" means A or B or C, or AB (A and B), or AC (A and C), or BC (B and C), or ABC (i.e., A and B and C), or a combination having more than one feature (e.g., AA, AAB, ABBC, etc.). Thus, a statement that an item (e.g., a processor) is configured to perform a function with respect to at least one of A or B, or a statement that an item is configured to perform function A or function B, means that the item may be configured to perform the function with respect to A, or may be configured to perform the function with respect to B, or may be configured to perform the functions with respect to both A and B. For example, the phrase "a processor configured to measure at least one of A or B" or "a processor configured to measure A or B" means that the processor may be configured to measure A (and may or may not be configured to measure B), or may be configured to measure B (and may or may not be configured to measure A), or may be configured to measure A and B (and may be configured to select which one or both A and B to measure). Similarly, a recitation of a component for measuring at least one of A or B includes a component for measuring A (which may or may not be able to measure B), or a component for measuring B (and may or may not be configured to measure A), or a component for measuring A and B (which may be able to select which one or both A and B to measure). As another example, a recitation of an item (e.g., a processor) being configured to perform at least one of function X or function Y means that the item may be configured to perform function X, or may be configured to perform function Y, or may be configured to perform function X and function Y. For example, the phrase "a processor configured to measure at least one of X or Y" means that the processor may be configured to measure X (and may or may not be configured to measure Y), or may be configured to measure Y (and may or may not be configured to measure X), or may be configured to measure X and measure Y (and may be configured to select which or both of X and Y to measure).

[0054] As used herein, unless otherwise stated, a statement that a function or operation is "based on" an item or condition means that the function or operation is based on the stated item or condition, and may be based on one or more items and / or conditions other than the stated item or condition.

[0055] Substantial variations may be made depending on specific requirements. For example, customized hardware may also be used, and / or specific elements may be implemented in hardware, in software executed by a processor (including portable software, such as applets, etc.), or in both. In addition, connections to other computing devices such as network input / output devices may be employed. Unless otherwise indicated, components shown in the figures and / or discussed herein as being connected or communicating with each other (functionally or otherwise) are communicatively coupled. That is, these components may be connected directly or indirectly to enable communication therebetween.

[0056] The systems and devices discussed above are examples. Various configurations may omit, substitute, or add various processes or components as appropriate. For example, features described with respect to certain configurations may be combined in various other configurations. Different aspects and elements of the configurations may be combined in similar ways. Furthermore, technology is constantly evolving, and therefore many of the elements are examples and do not limit the scope of this disclosure or the claims.

[0057] A wireless communication system is a system in which communications between wireless communication devices are transmitted wirelessly, that is, via electromagnetic and / or acoustic waves propagating through airspace rather than through wires or other physical connections. A wireless communication system (also known as a wireless communication system or wireless communication network) may not cause all communications to be transmitted wirelessly, but may be configured so that at least some communications are transmitted wirelessly. Furthermore, the term "wireless communication device" or similar terms does not require that the functionality of the device be used exclusively or even primarily for communication, that communications using the wireless communication device be exclusively or even primarily wireless, or that the device be a mobile device. Rather, it indicates that the device includes wireless communication capabilities (unidirectional or bidirectional), for example, including at least one radio component (each radio component being part of a transmitter, receiver, or transceiver) for wireless communication.

[0058] Specific details are provided in the description herein to provide a thorough understanding of example configurations (including specific implementations). However, the configurations can be practiced without these specific details. For example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail to avoid obscuring the configurations. The description herein provides example configurations and does not limit the scope, applicability, or configurations of the claims. Rather, the previous descriptions of the configurations provide a description for implementing the described techniques. Various changes may be made to the function and arrangement of the elements.

[0059] As used herein, the terms "processor-readable medium," "machine-readable medium," and "computer-readable medium" refer to any medium that participates in providing data that causes a machine to operate in a specific manner. Using a computing platform, various processor-readable media may be involved in providing instructions / code to a processor for execution, and / or may be used to store and / or carry such instructions / code (e.g., as signals). In many implementations, processor-readable media is a physical and / or tangible storage medium. Such media may take many forms, including, but not limited to, non-volatile media and volatile media. Non-volatile media includes, for example, optical and / or magnetic disks. Volatile media includes, but is not limited to, dynamic memory.

[0060] After describing several example configurations, various modifications, alternative configurations, and equivalents can be used. For example, the above elements can be components of a larger system, wherein other rules can take precedence over the application of the present disclosure or otherwise modify the application of the present disclosure. In addition, several operations can be taken before, during, or after considering the above elements. Accordingly, the above description does not limit the scope of the claims.

[0061] Specific implementation examples are described in the following numbered clauses:

[0062] Clause 1. A method for determining the validity of a location of a vehicle, the method comprising: obtaining a first location of the vehicle corresponding to a first time; receiving a first RSU signal from a first roadside unit (RSU) at the vehicle including an indication of the location of the first RSU; obtaining one or more location measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; determining a first RSU-based location of the vehicle corresponding to the first time based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU; and comparing the first location of the vehicle with the first RSU-based location of the vehicle.

[0063] Clause 2. The method of clause 1, further comprising using the first location of the vehicle based on the first RSU-based location of the vehicle being within an acceptable error tolerance of the first location.

[0064] Clause 3. A method according to clause 2, wherein the first location is based on one or more satellite positioning system measurements and / or one or more inertial sensor measurements, and wherein the first location using the vehicle is also based on having at least a threshold confidence in the first location.

[0065] Clause 4. The method according to clause 1, further comprising: performing a minimum risk condition (MRC) maneuver, or alerting the driver of the vehicle, or having the driver of the vehicle take over the vehicle, or any combination of two or more thereof, based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location.

[0066] Clause 5. The method of clause 1, further comprising replacing the first location of the vehicle with the first RSU-based location of the vehicle based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location.

[0067] Clause 6. The method according to clause 5, further comprising: obtaining a second location of the vehicle corresponding to a second time; receiving a second RSU signal including an indication of the location of the second RSU from a second RSU at the vehicle; obtaining one or more location measurements between the vehicle and the second RSU based on one or more sensors of the vehicle; determining a second RSU-based location of the vehicle corresponding to the second time based at least in part on the one or more location measurements of the vehicle relative to the second RSU and the location of the second RSU; comparing the second location of the vehicle with the second RSU-based location of the vehicle to verify the second location; and any of the following: using the second location of the vehicle based on the second RSU-based location of the vehicle being within an acceptable error tolerance of the second location, or performing a minimum risk condition (MRC) maneuver, or alerting the driver, or having the driver take over the vehicle, or any combination of two or more thereof based on the second RSU-based location of the vehicle being outside the error of the tolerance of the second location.

[0068] Clause 7. The method of clause 1, wherein obtaining the first location comprises obtaining the first location from a satellite positioning system of the vehicle, or obtaining the first location based on one or more inertial measurement unit (IMU) sensor measurements, or a combination of two or more thereof.

[0069] Clause 8. The method according to clause 1, wherein the RSU signal further includes an identification number, the method further comprising: determining whether the identification number is registered in a map; and reporting the RSU identification number to a server based on the identification number not existing in the map.

[0070] Clause 9. The method of clause 1, wherein the one or more sensors comprise a lidar device, a camera device, a radar device, or any combination of two or more thereof.

[0071] Clause 10. The method of clause 1, wherein obtaining the location measurement of the vehicle relative to the first RSU comprises using radio positioning based on the presence of a non-line-of-sight condition between the vehicle and the first RSU.

[0072] Clause 11. A system for determining the validity of a location of a vehicle, the system comprising: a memory; at least one processor, the at least one processor being communicatively coupled to the memory and configured to: obtain a first location of the vehicle corresponding to a first time; receive a first RSU signal including an indication of the location of the first RSU from a first roadside unit (RSU) at the vehicle; obtain one or more location measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; determine a first RSU-based location of the vehicle corresponding to the first time based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU; and compare the first location of the vehicle with the first RSU-based location of the vehicle.

[0073] Clause 12. The system of clause 11, wherein the at least one processor is further configured to use the first location of the vehicle based on the first RSU-based location of the vehicle being within an acceptable error tolerance of the first location.

[0074] Clause 13. A system according to clause 12, wherein the first location is based on one or more satellite positioning system measurements and / or one or more inertial sensor measurements, and wherein the at least one processor is further configured to: use the first location of the vehicle based on having at least a threshold confidence level in the first location.

[0075] Clause 14. A system according to clause 11, wherein the at least one processor is further configured to: based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location, perform a minimum risk condition (MRC) maneuver, or alert the driver of the vehicle, or have the driver of the vehicle take over the vehicle, or any combination of two or more thereof.

[0076] Clause 15. The system of clause 11, wherein the at least one processor is further configured to replace the first location of the vehicle with the first RSU-based location of the vehicle based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location.

[0077] Clause 16. The system of clause 15, wherein the at least one processor is further configured to: obtain a second location of the vehicle corresponding to a second time; receive a second RSU signal including an indication of the location of the second RSU from a second RSU at the vehicle; obtain one or more location measurements of the vehicle relative to the second RSU based on one or more sensors of the vehicle; determine a second RSU-based location of the vehicle corresponding to the second time based at least in part on the one or more location measurements of the vehicle relative to the second RSU and the location of the second RSU; compare the second location of the vehicle with the second RSU-based location of the vehicle to verify the second location; and any of the following: use the second location of the vehicle based on the second RSU-based location of the vehicle being within an acceptable error tolerance of the second location, or perform a minimum risk condition (MRC) maneuver, or alert the driver, or have the driver take over the vehicle, or any combination of two or more thereof based on the second RSU-based location of the vehicle being outside the error of the tolerance of the second location.

[0078] Clause 17. The system of clause 11, wherein the at least one processor is further configured to obtain the first location by: obtaining the first location from a satellite positioning system of the vehicle, or obtaining the first location based on one or more inertial measurement unit (IMU) sensor measurements, or a combination of two or more thereof.

[0079] Clause 18. A system according to clause 11, wherein the RSU signal includes an identification number, and wherein the at least one processor is further configured to: determine whether the identification number is registered in a map; and report the RSU identification number to a server based on the absence of the identification number in the map.

[0080] Clause 19. The system of clause 11, wherein the one or more sensors comprise a lidar device, a camera device, a radar device, or any combination of two or more thereof.

[0081] Clause 20. The system of clause 11, wherein the at least one processor configured to obtain the first location by obtaining one or more location measurements of the vehicle relative to the first RSU comprises using radio positioning based on the presence of a non-line-of-sight condition between the vehicle and the first RSU.

[0082] Clause 21. A system for determining the validity of a location of a vehicle, the system comprising: means for obtaining a first location of the vehicle corresponding to a first time; means for receiving a first RSU signal including an indication of the location of the first RSU from a first roadside unit (RSU) at the vehicle; means for obtaining one or more location measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; means for determining a first RSU-based location of the vehicle corresponding to the first time based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU; and means for comparing the first location of the vehicle with the first RSU-based location of the vehicle.

[0083] Clause 22. The system of clause 21, further comprising means for utilizing the first location of the vehicle based on the first RSU-based location of the vehicle being within an acceptable error tolerance of the first location.

[0084] Clause 23. A system according to clause 22, wherein the first location is based on one or more satellite positioning system measurements and / or one or more inertial sensor measurements, and wherein the components for using the first location of the vehicle are also based on having at least a threshold confidence in the first location.

[0085] Clause 24. The system of clause 21, further comprising: a component for performing a minimum risk condition (MRC) maneuver based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location, or a component for alerting the driver of the vehicle, or a component for taking over the vehicle by the driver of the vehicle, or any combination of two or more thereof.

[0086] Clause 25. The system of clause 21, further comprising: means for replacing the first location of the vehicle with the first RSU-based location of the vehicle based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location.

[0087] Clause 26. The system of clause 25, further comprising: means for obtaining a second location of the vehicle corresponding to a second time; means for receiving, at the vehicle, from a second roadside unit (RSU) a second RSU signal including an indication of the location of the second RSU; means for obtaining, based on one or more sensors of the vehicle, one or more location measurements of the vehicle relative to the second RSU; and means for determining, at least in part, the second RSU-based location of the vehicle corresponding to the second time based on the one or more location measurements of the vehicle relative to the second RSU and the location of the second RSU. a component for comparing the second location of the vehicle with the second RSU-based location of the vehicle to verify the second location; and any of the following: a component for using the second location of the vehicle based on the second RSU-based location of the vehicle being within an acceptable error tolerance of the second location, or a component for performing a minimum risk condition (MRC) maneuver, or alerting the driver, or taking over the vehicle by the driver, or any combination of two or more thereof based on the second RSU-based location of the vehicle being outside an acceptable error tolerance of the second location.

[0088] Clause 27. The system of Clause 21, wherein the means for obtaining the first location comprises a satellite positioning system of the vehicle, or one or more inertial measurement unit (IMU) sensor measurements, or a combination of two or more thereof.

[0089] Clause 28. A system according to Clause 21, wherein the RSU signal also includes an identification number, and the system further includes: a component for determining whether the identification number is registered in a map; and a component for reporting the RSU identification number to a server based on the absence of the identification number in the map.

[0090] Clause 29. The system of clause 29, wherein the one or more sensors comprise a lidar device, a camera device, a radar device, or any combination of two or more thereof.

[0091] Clause 30. The system of clause 21, wherein the means for obtaining the one or more location measurements of the vehicle relative to the first RSU comprises means for using radio positioning based on the presence of a non-line-of-sight condition between the vehicle and the first RSU.

[0092] Clause 31. A non-transitory processor-readable storage medium comprising processor-readable instructions configured to cause one or more processors to determine the validity of a location of a vehicle, the non-transitory processor-readable storage medium comprising: code for obtaining a first location of the vehicle corresponding to a first time; code for receiving a first RSU signal including an indication of the location of the first RSU from a first roadside unit (RSU) at the vehicle; code for obtaining one or more location measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; code for determining a first RSU-based location of the vehicle corresponding to the first time based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU; and code for comparing the first location of the vehicle with the first RSU-based location of the vehicle.

[0093] Clause 32. A non-transitory processor-readable storage medium according to clause 31, wherein the non-transitory processor-readable storage medium further comprises: code for using the first location of the vehicle based on the first RSU-based location of the vehicle being within an acceptable error tolerance of the first location.

[0094] Clause 33. A non-transitory processor-readable storage medium according to clause 32, wherein the first location is based on one or more satellite positioning system measurements and / or one or more inertial sensor measurements, and wherein the program code for using the first location of the vehicle is also based on having at least a threshold confidence in the first location.

[0095] Clause 34. A non-transitory processor-readable storage medium according to clause 31, wherein the non-transitory processor-readable storage medium further comprises: code for performing a minimum risk condition (MRC) maneuver, or alerting a driver of the vehicle, or taking over the vehicle by the driver of the vehicle, or any combination of two or more thereof, based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location.

[0096] Clause 35. A non-transitory processor-readable storage medium according to clause 31, wherein the non-transitory processor-readable storage medium further comprises: code for replacing the first location of the vehicle with the first RSU-based location of the vehicle based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location.

[0097] Clause 36. The non-transitory processor-readable storage medium of clause 35, further comprising: code for obtaining a second location of the vehicle corresponding to a second time; code for receiving a second RSU signal including an indication of the location of the second RSU from a second roadside unit (RSU) at the vehicle; code for obtaining one or more location measurements of the vehicle relative to the second RSU based on one or more sensors of the vehicle; and code for determining the vehicle's location based at least in part on the one or more location measurements of the vehicle relative to the second RSU and the location of the second RSU. a second RSU-based location corresponding to the second time; code for comparing the second location of the vehicle to the second RSU-based location of the vehicle to verify the second location; and any of the following: code for using the second location of the vehicle based on the second RSU-based location of the vehicle being within an acceptable error tolerance of the second location, or code for performing a minimum risk condition (MRC) maneuver, alerting the driver, taking over the vehicle by the driver, or a combination thereof based on the second RSU-based location of the vehicle being outside the error or tolerance of the second location.

[0098] Clause 37. A non-transitory processor-readable storage medium as described in clause 31, wherein the code for obtaining the first location comprises: code for obtaining the first location from a satellite positioning system of the vehicle, or code for obtaining the first location based on one or more inertial measurement unit (IMU) sensor measurements, or a combination of two or more thereof.

[0099] Clause 38. A non-transitory processor-readable storage medium according to Clause 31, wherein the RSU signal also includes an identification number, and the storage medium further includes: a code for determining whether the identification number is registered in a map; and a code for reporting the RSU identification number to a server based on the absence of the identification number in the map.

[0100] Clause 39. The non-transitory processor-readable storage medium of clause 31, wherein the one or more sensors comprise a lidar device, or a camera device, or a radar device, or any combination of two or more thereof.

[0101] Clause 40. A non-transitory processor-readable storage medium as described in clause 31, wherein the code for obtaining the one or more location measurements of the vehicle relative to the first RSU includes: code using radio positioning based on the existence of a non-line-of-sight condition between the vehicle and the first RSU.

Claims

1. A method for determining the validity of a location of a vehicle, the method comprising: obtaining a first location of the vehicle corresponding to a first time; receiving, at the vehicle, from a first roadside unit (RSU), a first RSU signal including an indication of a location of the first RSU; obtaining one or more position measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; determining a first RSU-based location of the vehicle corresponding to the first time based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU; as well as The first location of the vehicle is compared to the first RSU-based location of the vehicle.

2. The method according to claim 1, further comprising: The first location of the vehicle is used based on the first RSU-based location of the vehicle being within an acceptable error tolerance of the first location.

3. The method of claim 2, wherein the first location is based on one or more satellite positioning system measurements and / or one or more inertial sensor measurements, and wherein the first location using the vehicle is further based on having at least a threshold confidence in the first location.

4. The method according to claim 1, further comprising: Based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location, performing a minimum risk condition (MRC) maneuver, or alerting a driver of the vehicle, or taking control of the vehicle by the driver of the vehicle, or any combination of two or more thereof.

5. The method according to claim 1, further comprising: The first location of the vehicle is replaced with the first RSU-based location of the vehicle based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location.

6. The method according to claim 5, further comprising: obtaining a second location of the vehicle corresponding to a second time; receiving, at the vehicle, from a second RSU, a second RSU signal including an indication of a location of the second RSU; obtaining one or more location measurements between the vehicle and the second RSU based on one or more sensors of the vehicle; determining a second RSU-based location of the vehicle corresponding to the second time based at least in part on the one or more location measurements of the vehicle relative to the second RSU and the location of the second RSU; comparing the second location of the vehicle to the second RSU-based location of the vehicle to verify the second location; as well as Any of the following: utilizing the second location of the vehicle based on the second RSU-based location of the vehicle being within an acceptable error tolerance of the second location, or Based on the second RSU-based location of the vehicle being outside an error tolerance of the second location, performing a minimum risk condition (MRC) maneuver, or alerting the driver, or taking over the vehicle by the driver, or any combination of two or more thereof.

7. The method of claim 1 , wherein obtaining the first location comprises: The first location is obtained from a satellite positioning system of the vehicle, or is obtained based on one or more inertial measurement unit (IMU) sensor measurements, or a combination of two or more thereof.

8. The method according to claim 1, wherein the RSU signal further includes an identification number, the method further comprising: determining whether the identification number is registered in a map; as well as The RSU identification number is reported to a server based on the identification number not being present in the map.

9. The method of claim 1, wherein the one or more sensors comprise a lidar device, a camera device, a radar device, or any combination of two or more thereof.

10. The method of claim 1 , wherein obtaining the location measurement of the vehicle relative to the first RSU comprises: Radio positioning is used based on the existence of a non-line-of-sight condition between the vehicle and the first RSU.

11. A system for determining the validity of a location of a vehicle, the system comprising: Memory; at least one processor communicatively coupled to the memory and configured to: obtaining a first location of the vehicle corresponding to a first time; receiving, at the vehicle, from a first roadside unit (RSU), a first RSU signal including an indication of a location of the first RSU; obtaining one or more position measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; determining a first RSU-based location of the vehicle corresponding to the first time based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU; as well as The first location of the vehicle is compared to the first RSU-based location of the vehicle. 12 . The system of claim 11 , wherein the at least one processor is further configured to use the first location of the vehicle based on the first RSU-based location of the vehicle being within an acceptable error tolerance of the first location.

13. The system of claim 12, wherein the first location is based on one or more satellite positioning system measurements and / or one or more inertial sensor measurements, and wherein the at least one processor is further configured to use the first location of the vehicle based on having at least a threshold confidence level in the first location.

14. The system of claim 11, wherein the at least one processor is further configured to: Based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location, performing a minimum risk condition (MRC) maneuver, or alerting a driver of the vehicle, or taking control of the vehicle by the driver of the vehicle, or any combination of two or more thereof.

15. The system of claim 11, wherein the at least one processor is further configured to: The first location of the vehicle is replaced with the first RSU-based location of the vehicle based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location.

16. The system of claim 15, wherein the at least one processor is further configured to: obtaining a second location of the vehicle corresponding to a second time; receiving, at the vehicle, from a second RSU, a second RSU signal including an indication of a location of the second RSU; obtaining one or more position measurements of the vehicle relative to the second RSU based on one or more sensors of the vehicle; determining a second RSU-based location of the vehicle corresponding to the second time based at least in part on the one or more location measurements of the vehicle relative to the second RSU and the location of the second RSU; comparing the second location of the vehicle to the second RSU-based location of the vehicle to verify the second location; as well as Any of the following: utilizing the second location of the vehicle based on the second RSU-based location of the vehicle being within an acceptable error tolerance of the second location, or Based on the second RSU-based location of the vehicle being outside an error tolerance of the second location, performing a minimum risk condition (MRC) maneuver, or alerting the driver, or taking over the vehicle by the driver, or any combination of two or more thereof.

17. The system of claim 11, wherein the at least one processor is further configured to obtain the first location by obtaining the first location from a satellite positioning system of the vehicle, or obtaining the first location based on one or more inertial measurement unit (IMU) sensor measurements, or a combination of two or more thereof.

18. The system of claim 11, wherein the RSU signal comprises an identification number, and wherein the at least one processor is further configured to: determining whether the identification number is registered in a map; The RSU identification number is reported to a server based on the identification number not being present in the map.

19. The system of claim 11, wherein the one or more sensors comprise a lidar device, a camera device, a radar device, or any combination of two or more thereof.

20. The system of claim 11, wherein the at least one processor configured to obtain the first location by obtaining one or more location measurements of the vehicle relative to the first RSU comprises: Radio positioning is used based on the existence of a non-line-of-sight condition between the vehicle and the first RSU.

21. A system for determining the validity of a location of a vehicle, the system comprising: means for obtaining a first location of the vehicle corresponding to a first time; means for receiving, at the vehicle, from a first roadside unit (RSU), a first RSU signal including an indication of a location of the first RSU; means for obtaining one or more location measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; means for determining a first RSU-based location of the vehicle corresponding to the first time based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU; and Means for comparing the first location of the vehicle to the first RSU-based location of the vehicle.

22. The system of claim 21, further comprising: A component for utilizing the first location of the vehicle based on the first RSU-based location of the vehicle being within an acceptable error tolerance of the first location.

23. The system of claim 22, wherein the first location is based on one or more satellite positioning system measurements and / or one or more inertial sensor measurements, and wherein the component for using the first location of the vehicle is further based on having at least a threshold confidence in the first location.

24. The system of claim 21, further comprising: components for performing a minimum risk condition (MRC) maneuver based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location, or components for alerting a driver of the vehicle, or components for taking over the vehicle by the driver of the vehicle, or any combination of two or more thereof.

25. The system of claim 21 , further comprising: For replacing a component at the first location of the vehicle with the first RSU-based location of the vehicle based on the first RSU-based location of the vehicle being outside an acceptable error tolerance of the first location.

26. The system of claim 25, further comprising: means for obtaining a second location of the vehicle corresponding to a second time; means for receiving, at the vehicle, from a second roadside unit (RSU), a second RSU signal including an indication of a location of the second RSU; means for obtaining one or more position measurements of the vehicle relative to the second RSU based on one or more sensors of the vehicle; means for determining a second RSU-based location of the vehicle corresponding to the second time based at least in part on the one or more location measurements of the vehicle relative to the second RSU and the location of the second RSU; for comparing the second location of the vehicle with the second RSU-based location of the vehicle to verify components at the second location; and Any of the following: a component for using the second location of the vehicle based on the second RSU-based location of the vehicle being within an acceptable error tolerance of the second location, or Means for performing a minimum risk condition (MRC) maneuver, or alerting the driver, or taking over the vehicle by the driver, or any combination of two or more thereof based on the second RSU-based location of the vehicle being outside an acceptable error tolerance of the second location.

27. The system of claim 21, wherein the means for obtaining the first location comprises a satellite positioning system of the vehicle, or one or more inertial measurement unit (IMU) sensor measurements, or a combination of two or more thereof.

28. The system according to claim 21, wherein the RSU signal further includes an identification number, the system further comprising: means for determining whether the identification number is registered in a map; means for reporting the RSU identification number to a server based on the identification number not being present in the map.

29. The system of claim 21, wherein the one or more sensors comprise a lidar device, a camera device, a radar device, or any combination of two or more thereof.

30. A non-transitory processor-readable storage medium comprising processor-readable instructions configured to cause one or more processors to determine the validity of a location of a vehicle, the non-transitory processor-readable storage medium comprising: a code for obtaining a first location of the vehicle corresponding to a first time; code for receiving, at the vehicle, from a first roadside unit (RSU), a first RSU signal including an indication of a location of the first RSU; code for obtaining one or more location measurements of the vehicle relative to the first RSU based on one or more sensors of the vehicle; code for determining a first RSU-based location of the vehicle corresponding to the first time based at least in part on the one or more location measurements of the vehicle relative to the first RSU and the location of the first RSU; and Code for comparing the first location of the vehicle to the first RSU-based location of the vehicle.

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