System and method for manipulating an automated vehicle

Abstract

The present disclosure provides a system and method for maneuvering an automated vehicle. A method includes receiving one or more vehicle grouping messages; initiating a maneuvering process of the vehicle via transmission of the one or more infrastructure grouping messages; receiving a vehicle-initiated authentication key in response to one or more nodes of the vehicle verifying the infrastructure-initiated authentication key; the verification of the authentication key initiated by the vehicle corresponds to the identity of the vehicle; and generating a virtual bounding box indicating a current location of the vehicle.

Description

Technical Field

[0001] This disclosure relates to manipulating vehicles. More specifically, this disclosure relates to manipulating vehicles in a formation setting. Background Technology

[0002] The statements in this section are provided only as background information in connection with this disclosure and may not constitute prior art.

[0003] Vehicle merging relies on camera sensors within the factory merging infrastructure to locate vehicles from the infrastructure. When using camera sensors, identifying a vehicle at a specific location can be difficult and often inaccurate due to positioning issues. Such difficulties can lead to inaccurate vehicle access and / or merging, which can result in unintended consequences associated with the vehicle, abnormal vehicle behavior, production cycle time delays, incorrect loading / unloading of the wrong vehicle, and / or incorrect vehicle control. These difficulties can also lead to questions regarding functional capabilities and technical requirements. This disclosure addresses these and other problems related to vehicle handling. Summary of the Invention

[0004] This section provides a general overview of this disclosure and is not a full disclosure of its entire scope or all its features.

[0005] This disclosure provides a method comprising: receiving one or more vehicle grouping messages from a vehicle located within a distance-related threshold from an infrastructure system in response to a broadcast manipulation command; initiating a manipulation process of the vehicle via transmitting the one or more infrastructure grouping messages to one or more transmission points, wherein the one or more infrastructure grouping messages include an infrastructure-initiated authentication key associated with the vehicle; receiving a vehicle-initiated authentication key from the one or more transmission points in response to one or more nodes of the vehicle verifying the infrastructure-initiated authentication key, wherein the one or more vehicle grouping messages include the vehicle-initiated authentication key, and wherein a data rate associated with the vehicle grouping messages is higher than a data rate interval associated with the infrastructure grouping messages exchanged with the vehicle during the manipulation process; verifying that the vehicle-initiated authentication key corresponds to the identity of the vehicle; and generating a virtual bounding box indicating the current location of the vehicle in response to verifying that the vehicle-initiated authentication key corresponds to the identity of the vehicle; wherein the one or more vehicle grouping messages are received from the vehicle and include at least a vehicle identification number associated with the vehicle; wherein the infrastructure-initiated authentication key includes a first timestamp, the vehicle identification number, an original equipment manufacturer (OEM) rolling identifier, or a combination thereof; the method further comprising: based on a first timestamp, the vehicle identification number, an original equipment manufacturer (OEM) rolling identifier, or a combination thereof. The method further includes generating a second infrastructure-initiated authentication key using a second timestamp, the vehicle identification number, an original equipment manufacturer (OEM) rolling identifier, or a combination thereof; the method also includes transmitting a transmission point count message, a transmission point identification message, or a combination thereof to the one or more transmission points; wherein a transmission point associated with the location of the vehicle is configured to transmit the infrastructure-initiated authentication key to the one or more nodes of the vehicle, and wherein the transmission point is further configured to receive the vehicle-initiated authentication key from the one or more nodes of the vehicle; the method also includes: successfully identifying the vehicle within a time-related threshold and using the virtual bounding box. The vehicle enters an exit state if the current location or ranging during the manipulation process is determined to be successful; or the vehicle enters the exit state or access state based on one or more communication errors, wherein the one or more communication errors include: failure to successfully identify the vehicle's current location within the time-related threshold; failure to successfully decode the verification of the authentication key initiated by the vehicle; or determination that the ranging during the manipulation process was unsuccessful; wherein the verification of the authentication key initiated by the vehicle further includes: performing concatenation analysis on the authentication key initiated by the vehicle and the authentication key initiated by the infrastructure based on derived confidential key method analysis;Furthermore, the generation of the virtual bounding box is based on a ranging code pattern generated from a confidential key, and the confidential key is decoded using the authentication key initiated by the vehicle and the authentication key initiated by the infrastructure.

[0006] This disclosure provides another method comprising: receiving a broadcast control command at a vehicle in response to being within a distance-related threshold from an infrastructure system; transmitting one or more vehicle grouping messages from the vehicle to the infrastructure system based on the received broadcast control command; verifying the one or more infrastructure grouping messages, wherein the one or more infrastructure grouping messages include an infrastructure-initiated authentication key received from a plurality of transmission points, wherein the transmission points are associated with the location of the vehicle; and transmitting a vehicle-initiated authentication key to the plurality of transmission points in response to verifying the infrastructure-initiated authentication key, wherein the one or more vehicle grouping messages include the vehicle-initiated authentication key. The method further includes a data rate associated with the vehicle grouping message that is higher than the data rate interval associated with the infrastructure grouping message exchanged with the vehicle during the maneuvering process, and wherein the transmission of the vehicle-initiated authentication key causes the infrastructure system to generate a virtual bounding box indicating the current location of the vehicle; wherein the one or more vehicle grouping messages include at least a vehicle identification number associated with the vehicle; wherein the vehicle-initiated authentication key includes a first timestamp, the vehicle identification number, an original equipment manufacturer (OEM) rolling identifier, or a combination thereof; the method further includes generating a second vehicle-initiated authentication key based on a second timestamp, the vehicle identification number, the OEM rolling identifier, or a combination thereof. The method further includes: entering an exit state based on the infrastructure system successfully identifying the vehicle's current location within a time-related threshold and using the virtual bounding box, or determining that ranging during the maneuvering process is successful; or entering the exit state or access state based on one or more communication errors, wherein the one or more communication errors include: the infrastructure system failing to successfully identify the vehicle's current location within the time-related threshold; the infrastructure system failing to successfully decode the verification of the authentication key initiated by the vehicle; the infrastructure system determining that the ranging during the maneuvering process is unsuccessful; or the vehicle failing to successfully communicate with the infrastructure system. The method further includes: decoding the authentication key initiated by the vehicle; the method also includes: transmitting vehicle node count messages, vehicle identification messages, one or more node identifiers, ranging rate code bits, ranging rate synchronization bits, or combinations thereof to the plurality of transmission points via one or more nodes of the vehicle; wherein the verification of the authentication key initiated by the infrastructure further includes: performing concatenation analysis on the authentication key initiated by the vehicle and the authentication key initiated by the infrastructure based on the derived confidential key method analysis; and wherein the generation of the virtual bounding box is based on the ranging code pattern generated from the confidential key, and wherein the confidential key is decoded using the authentication key initiated by the vehicle and the authentication key initiated by the infrastructure.

[0007] This disclosure provides a system comprising: an infrastructure system configured to: in response to a broadcast manipulation command, receive one or more vehicle grouping messages from vehicles located within a distance-related threshold from the infrastructure system; initiate a manipulation process of the vehicles via transmitting the one or more infrastructure grouping messages to a plurality of transmission points, wherein the one or more infrastructure grouping messages include an infrastructure-initiated authentication key associated with the vehicles; receive vehicle-initiated authentication keys from the one or more transmission points, wherein the one or more vehicle grouping messages include the vehicle-initiated authentication keys, and wherein a data rate associated with the vehicle grouping messages is higher than a data rate interval associated with infrastructure messages exchanged with the vehicles during the manipulation process; verify that the vehicle-initiated authentication key corresponds to the identity of the vehicles; and in response to verifying that the vehicle-initiated authentication key corresponds to the identity of the vehicles, generate a virtual bounding box indicating the current position of the vehicles; The vehicle is configured to: receive a broadcast manipulation command in response to being within a distance-related threshold from the infrastructure system; transmit one or more vehicle grouping messages to the infrastructure system based on the received broadcast manipulation command; verify an infrastructure-initiated authentication key received from one of a plurality of transmission points, wherein the transmission point is associated with the vehicle's location; and transmit the vehicle-initiated authentication key to the plurality of transmission points in response to verifying the infrastructure-initiated authentication key; wherein the generation of the virtual bounding box is based on a ranging code pattern generated from a confidential key, and wherein the confidential key is decoded using the vehicle-initiated authentication key and the infrastructure-initiated authentication key; and wherein the vehicle configured to verify the vehicle-initiated authentication key is further configured to: perform concatenation analysis on the vehicle-initiated authentication key and the infrastructure-initiated authentication key based on a derived confidential key method analysis.

[0008] Further applicability will become apparent from the description provided herein. It should be understood that the descriptions and specific examples are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0009] To facilitate a good understanding of this disclosure, various forms of the disclosure will now be described by way of example with reference to the accompanying drawings, in which: Figure 1 A system for automated vehicle grouping according to one or more embodiments of the present disclosure is shown; Figure 2 One or more embodiments of the present disclosure are shown. Figure 1 The system shown is used to group example vehicles; Figure 3 This is a process flowchart illustrating an example method for accessing an automated vehicle according to one or more embodiments of the present disclosure; Figure 4A and Figure 4B The following illustrates message exchange between an automated vehicle and an infrastructure system according to one or more embodiments of the present disclosure; Figure 5 The calculation and operation of ranging code patterns using message exchange are illustrated according to one or more embodiments of the present disclosure; Figure 6 This is a flowchart illustrating an example method for accessing an automated vehicle according to one or more embodiments of the present disclosure; Figure 7 This is a flowchart illustrating another example method for accessing an automated vehicle according to one or more embodiments of the present disclosure; and Figure 8 This is a block diagram illustrating an example computer system according to one or more embodiments of the present disclosure.

[0010] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way. Detailed Implementation

[0011] The following description is merely exemplary in nature and is not intended to limit this disclosure, its application, or its uses. It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding parts and features.

[0012] One or more examples described herein provide a means for manipulating vehicles based on at least one wireless communication protocol that supports the exchange of infrastructure grouping messages (e.g., IMM) and vehicle grouping messages (e.g., VMM) between automated vehicles (e.g., autonomous vehicles) and infrastructure systems. For example, accurate vehicle identification can reduce or eliminate errors in manipulating selected vehicles due to proper access to the infrastructure management system. As another example, and in manufacturing use cases, efficient manufacturing is provided due to the accelerated (e.g., within seconds) precision ranging process, which provides centimeter-level accuracy and minimizes cycle time impacts during vehicle movement. As yet another example, and in commercial depot grouping settings, correct vehicle grouping is provided, leading to proper loading and / or unloading of vehicles. As yet another example, by relying on this means of manipulating vehicles, accurate automated parking allocation and / or precise movement of vehicles to charging stations and successful vehicle access can be achieved.

[0013] This method of manipulating vehicles offers advantages over existing solutions, such as universal vehicle identification, enabling vehicle identification anywhere within the operational design domain, eliminating the need for marking and / or specific infrastructure. Another advantage is that the access process is independent of vehicle orientation, providing flexibility and / or ease of integration. Yet another advantage is its global applicability, designed to work across all markets and regions, allowing for widespread adoption and compatibility. A further advantage is that it guides low-speed automation industry standards bodies (e.g., SAE, ETSI, ISO, 5GAA, VDA, etc.) in successfully accessing automated vehicles using distance-assisted methods. An additional benefit of this method is reduced false identification during automated vehicle grouping, enhancing overall safety and reliability (e.g., enhanced safety and / or reliability). A further advantage is the use of a combination of IMM and VMM, along with unique vehicle identifiers and / or distance measurement, to prevent man-in-the-middle attacks, preventing simultaneous grouping of multiple vehicles. Another advantage of this vehicle manipulation method is that the vehicle can utilize any combination of one or more nodes for identification and autonomous vehicle grouping during the ranging process, providing redundancy and fault tolerance. Yet another advantage of this vehicle manipulation method is that it reduces unintended impacts associated with the vehicle in the event of performance degradation in infrastructure or vehicle sensing due to environmental issues.

[0014] Now for reference Figure 1 The diagram illustrates a system 100 (e.g., an Automated Vehicle Grouping (AVM) system) for maneuvering one or more automated and / or semi-automated vehicles 102 (e.g., one or more vehicles 102a, 102b) within a grouping environment (e.g., a manufacturing facility or parking lot). System 100 includes an infrastructure system 104. Infrastructure system 104 includes sensor components 106 that communicate with a set of infrastructure sensors 108 (such as, for example, one or more cameras, lidar, radar, and / or ultrasonic devices). The set of infrastructure sensors 108 is configured to monitor the movement of vehicle 102 as it moves through the grouping environment. Infrastructure system 104 also includes a wireless communication component 110 that provides communication between infrastructure system 104 and vehicle 102.

[0015] Additionally, infrastructure system 104 includes infrastructure controller 112. Infrastructure controller 112 is configured to centrally control the operation of each of the vehicles 102. For example, the operation of each of the vehicles 102 includes propulsion, braking, and / or steering of the vehicle 102. It should be understood that infrastructure controller 112 may be located within infrastructure system 104 or externally relative to infrastructure system 104. Infrastructure controller 112 includes AVM software model 114 (e.g., infrastructure-side AVM algorithm), which is configured to facilitate the interaction between infrastructure controller 112 and vehicle controllers (e.g., such as...) associated with each of the vehicles 102. Figure 2 Communication between the vehicle controllers 200 shown. It should be understood that the infrastructure-side AVM algorithm 114 is configured to perform one or more machine learning-based analyses as described in one or more embodiments, such as input operation 302, loop process operation 304, and / or output operation 308, as combined with... Figure 3 Further description.

[0016] The infrastructure-side AVM algorithm 114 is also configured to facilitate communication between the infrastructure controller 112 and one or more anchors 116. For example, each of the one or more anchors 116 may be a transceiver configured to transmit and / or receive any communication-related messages (e.g., instructions, signals, etc.). As an example, the infrastructure controller 112 and one or more anchors 116 are communicatively coupled via a wired connection. As another example, each of the one or more anchors 116 is also communicatively coupled to each other via a wired connection. However, it should be understood that the one or more anchors 116 may be wirelessly coupled to each other and / or wirelessly coupled to the infrastructure controller 112. For example, the one or more anchors 116 may be positioned at any distance from each other throughout the marshalling environment. As another example, the one or more anchors 116 may be embedded within the floor of the marshalling environment. However, it should be understood that the one or more anchors 116 may also be positioned on top of the floor of the marshalling environment (e.g., on the surface of the floor, but not embedded within it). It should also be understood that one or more anchor points 116 may be set in various ways, such as, but not limited to, some of the anchor points 116 being embedded in the floor of the marshalling environment and some of the anchor points 116 being set on top of the floor of the marshalling environment.

[0017] Further reference Figure 2In various forms, vehicle 102 can be powered in various ways (e.g., using electric motors and / or internal combustion engines). It should be understood that vehicle 102 can be any type of vehicle powered by electric motors and / or internal combustion engines, such as cars, trucks, robots, aircraft, and / or boats. Vehicle 102 typically includes a vehicle controller 200, one or more actuators 202, multiple onboard sensors 204, a human-machine interface (HMI) 206, and a vehicle system 208. Vehicle 102 also has a reference point 210, i.e., a designated point within the space defined by the vehicle body, which identifies the position of vehicle 102. For example, reference point 210 is the geometric center point where the respective longitudinal and lateral center axes of vehicle 102 intersect. As another example, reference point 210 is the point where vehicle 102 is located when navigating toward a waypoint.

[0018] In some examples, vehicle controller 200 is configured or programmed to control one or more of the following: vehicle braking, propulsion (e.g., controlling the acceleration of vehicle 102 by controlling one or more of an internal combustion engine, electric motor, hybrid engine, etc.), steering, climate control, interior and / or exterior lights, etc. In other examples, vehicle controller 200 is also configured or programmed to determine whether and when vehicle controller 200 (rather than a human operator) controls such operations associated with vehicle 102. It should be understood that any operation associated with vehicle 102 can be facilitated via automated, semi-automated, or manual modes. For example, an automated mode can facilitate complete control of any operation by vehicle controller 200 without the assistance of a human operator. As another example, a semi-automated mode can facilitate at least partial control of any operation by a human operator in combination with vehicle controller 200. As a further example, a manual mode can facilitate complete control of operation by a human operator without the assistance of vehicle controller 200.

[0019] Vehicle controller 200 includes one or more processors (not shown), or can be communicatively coupled to one or more processors (e.g., via a vehicle communication bus). For example, the one or more processors may be controllers included in vehicle 102, used to monitor and / or control various vehicle controllers, such as powertrain controllers, brake controllers, steering controllers, etc. Vehicle controller 200 is typically arranged for various communications over a vehicle communication network (not shown) (which may include buses in vehicle 102, such as Controller Area Network (CAN)) and / or other wired and / or wireless mechanisms.

[0020] Vehicle controller 200 transmits messages to and / or receives messages from various devices (e.g., one or more actuators 202, HMI 206, etc.) in vehicle 102 via a vehicle network. Alternatively or additionally, where vehicle controller 200 includes multiple device generators, a vehicle communication network is used for communication between the device generators of vehicle controller 200, as represented herein. Furthermore, as discussed below, various other controllers and / or sensors provide data to vehicle controller 200 via the vehicle communication network.

[0021] Additionally, via the vehicle-side AVM algorithm 212, the vehicle controller 200 is configured to communicate with infrastructure communication networks via the vehicle, such as with the infrastructure system controller 112 and / or one or more anchor points 116. It should be understood that the vehicle-side AVM algorithm 212 is configured to perform one or more machine learning-based analyses, such as input operation 302, loop process operation 304, and / or output operation 308, as further described herein. As an example, any of input operation 302, loop process operation 304, and / or output operation 308 may use one or more machine learning-based techniques with the vehicle-side AVM algorithm 212 or include said one or more machine learning-based techniques as part of the vehicle-side AVM algorithm. For example, the vehicle-side AVM algorithm 212 may employ a deep neural network (or other artificial neural network) to process the data used to perform any of input operation 302, loop process operation 304, and / or output operation 308.

[0022] The vehicle controller 200 is also configured via the vehicle-side AVM algorithm 212 to communicate with other traffic objects (e.g., vehicles, infrastructure, etc.) through a wireless vehicle communication interface, such as via a vehicle-to-vehicle communication network. The vehicle communication network refers to one or more mechanisms by which the vehicle controller 200 of vehicle 102 communicates with other traffic objects. As an example, the vehicle communication network can be one or more wireless communication mechanisms, including any desired combination of wireless (e.g., cellular, wireless, satellite, microwave, and / or radio frequency) communication mechanisms, and any desired network topology (or multiple topologies utilizing multiple communication mechanisms). Examples of vehicle communication networks include cellular, Bluetooth®, IEEE 802.11, Dedicated Short Range Communication (DSRC), and / or Wide Area Network (WAN) (including the Internet) providing data communication services.

[0023] Vehicle actuators 202 are implemented via circuits, chips, or other electronic and / or mechanical components that can actuate various vehicle subsystems according to appropriate control signals. Actuators 202 can be used to control the braking, acceleration, and / or steering of vehicle 102. Vehicle controller 200 can be programmed to activate vehicle actuators 202 (including propulsion, steering, and / or braking actuators) based on planned acceleration or deceleration of vehicle 102.

[0024] The multiple vehicle-mounted sensors 204 include various means for providing data to the vehicle controller 200. For example, the multiple vehicle-mounted sensors 204 may include object detection sensors (e.g., lidar sensors) disposed on or in the vehicle 102, which provide the relative position, size, and / or shape of one or more objects (such as attached vehicles, bicycles, robots, drones, etc.) traveling beside, in front of, and / or behind the vehicle 102. As another example, one or more of the multiple vehicle-mounted sensors 204 may be radar sensors fixed to one or more bumpers of the vehicle 102, which can provide the position of an object relative to each of the objects in the vehicle 102.

[0025] Multiple onboard sensors 204 may include camera sensors that provide images from the area surrounding vehicle 102, such as providing front, side, and rear views. As another example, vehicle controller 200 may be programmed to receive sensor data from camera sensors and implement image processing techniques to detect roads, infrastructure elements, etc. Vehicle controller 200 may be further programmed to determine the current vehicle position based on location coordinates (e.g., GPS coordinates) received from a GPS sensor (not shown) indicating the position of vehicle 102.

[0026] HMI 206 is configured to receive information from a human operator during operation of vehicle 102. Additionally, HMI 206 is configured to present information to a human operator, such as an occupant of vehicle 102. In some variations, vehicle controller 200 is programmed to receive destination data (e.g., location coordinates) from HMI 206.

[0027] Vehicle system 208 is configured to control each of the subsystems within vehicle 102 and facilitate requests across each of the aforementioned components (e.g., vehicle controller 200, one or more actuators 202, multiple on-board sensors 204, and / or HMI 206). Thus, vehicle 102 can be autonomously guided to waypoints using at least multiple on-board sensors 204. Route selection can be performed using vehicle position, distance traveled, queuing for vehicle grouping, etc.

[0028] Figure 3A process flow is depicted illustrating an example process 300 (e.g., a maneuvering process) for manipulating an automated vehicle (e.g., vehicle 102). In one or more embodiments, process 300 typically includes three main operations: an input operation 302, a loop process operation 304, and an output operation 308 (output operation 308 refers to both the first output operation 308a and the second output operation operation 308b in the illustrated example).

[0029] First, from the perspective of infrastructure system 104, infrastructure-side AVM algorithm 114 is configured to initiate a vehicle identification process using a wireless communication protocol (e.g., Bluetooth® protocol, cellular protocol, Wi-Fi protocol, Near Field Communication (NFC) protocol, Ultra Wideband (UWB) protocol, etc.). For example, the vehicle identification process enables infrastructure-side AVM algorithm 114 to determine the physical location of vehicle 102 and establish a distance measurement to vehicle 102 communicating with infrastructure-side AVM algorithm 114 via unicast or broadcast means.

[0030] Input operation 302 is initiated by vehicle-side AVM algorithm 212, which causes vehicle 102 to wirelessly transmit one or more Vehicle Grouping Messages (VMMs) to infrastructure system 104. For example, a VMM may include a Vehicle Identification Number (VIN), a current state stream of an identification command response, the state of the operating mode of vehicle 102, or a combination thereof. In response to receiving one or more VMMs, infrastructure-side AVM algorithm 114 may initiate the wireless transmission of one or more Infrastructure Grouping Messages (IMMs) to vehicle 102. For example, infrastructure-side AVM algorithm 114 may cause infrastructure system 104 to wirelessly transmit one or more IMMs to vehicle 102 based on operator confirmation (e.g., human operator, mainframe controller, machine learning-based control system, etc.) of at least vehicle 102's VIN and / or to initiate IMM transmission of vehicle 102.

[0031] Loop process operation 304 is initiated by infrastructure-side AVM algorithm 114, which causes infrastructure system 104 (e.g., via one or more IMMs) to wirelessly transmit an infrastructure-initiated public security key to each of one or more anchors 116. For example, infrastructure-side AVM algorithm 114 can cause infrastructure system 104 (e.g., via one or more IMMs) to wirelessly transmit anchor counts and / or anchor identifiers, as well as the infrastructure-initiated public security key, to each of one or more anchors 116. However, it should be understood that infrastructure-side AVM algorithm 114 can cause infrastructure system 104 to wirelessly transmit anchor counts, anchor identifiers, and / or the infrastructure-initiated public security key to any number of anchors or any specific anchor in one or more anchors 116. It should also be understood that infrastructure system 104 can transmit anchor counts, anchor identifiers, and / or the infrastructure-initiated public security key to one or more anchors 116 via wired means.

[0032] Once the infrastructure system 104 has begun maneuvering vehicle 102, the system operator can indicate (e.g., identify) at least one of one or more anchor points 116 as being located within the range of vehicle 102's position when the cyclic process operation 304 has been initiated. However, it should be understood that the system operator can indicate at least one of the one or more anchor points 116 to be located within the range of vehicle 102's position at any time and with any time-related frequency during the grouping of vehicle 102. As an example, and based on the system operator's indication of the position of at least one of the one or more anchor points 116 relative to vehicle 102, the identified anchor point among the one or more anchor points 116 is configured to wirelessly transmit at least the infrastructure-initiated public security key (e.g., as...) to one or more nodes 118 of vehicle 102. Figure 1 (As shown). For example, one or more nodes 118 may correspond to or represent onboard sensor 204. The loop process operation 304 also involves the wireless transmission of ranging commands (e.g., via one or more IMMs) from infrastructure system 104 to one or more anchor points 116. For example, infrastructure-side AVM algorithm 114 may cause infrastructure system 104 to wirelessly transmit ranging commands to one or more anchor points 116. As another example, the ranging command may include data elements associated with the manipulation of vehicle 102, said data elements relating to generating new codes, preparing for ranging, ranging, successfully identifying vehicle 102, or a combination thereof.

[0033] The identified anchors in one or more anchors 116 are further configured to wirelessly transmit ranging commands to one or more nodes 118 of vehicle 102. Upon receiving the infrastructure-initiated public security key and ranging command, vehicle-side AVM algorithm 212 can verify the infrastructure-initiated authentication key. As another example, the verification of the infrastructure-initiated authentication key can be processed via a hash method or any other cryptographically related method. When verifying the infrastructure-initiated public security key, vehicle-side AVM algorithm 212 can cause one or more nodes 118 (e.g., via one or more VMMs) to wirelessly transmit the vehicle-initiated public security key to infrastructure system 104 via one or more anchors 116. However, it should be understood that one or more nodes 118 can wirelessly transmit the vehicle-initiated public security key directly to infrastructure system 104. For example, the vehicle-initiated public security key can be wirelessly transmitted at a higher data rate than the data rate interval associated with one or more IMMs.

[0034] The vehicle-side AVM algorithm 212 can also cause vehicle 102 (e.g., via one or more VMMs) to wirelessly transmit ranging command responses to infrastructure system 104 via one or more anchor points 116. However, it should be understood that vehicle-side algorithm 212 can also cause vehicle 102 to wirelessly transmit ranging command responses directly to infrastructure system 104. As an example, a ranging command response for successfully identifying vehicle 102 may include data elements relating to vehicle code pattern recognition in progress, vehicle ready, vehicle ranging in progress, vehicle ranging completed, successful vehicle authorization identification response, or a combination thereof.

[0035] In instances where vehicle 102 is successfully identified, the infrastructure-side AVM algorithm 114 can create a bounding box 120 associated with vehicle 102 (e.g., as shown in the image). Figure 1 One or more bounding boxes 120a, 120b are shown. As an example, bounding box 120 (e.g., virtual vehicle layout) defines vehicle 102 within a matrix grid. As another example, and with respect to infrastructure system 104 accessing more than one vehicle 102, bounding boxes 120a, 120b define each vehicle 102a, 102b, respectively. As yet another example, the creation (e.g., generation) of bounding box 120 is based on ranging positions derived from message exchanges (e.g., IMM-VMM exchanges) between one or more nodes 118 and one or more anchor points 116 during manipulation process 300.

[0036] However, in instances where vehicle 102 is not successfully identified, the ranging command response wirelessly transmitted from vehicle 102 to infrastructure system 104 may include data elements relating to vehicle code pattern recognition failure, vehicle undefined, vehicle ranging failure, or a combination thereof. Infrastructure-side AVM algorithm 114 will restart loop process operation 304, such that in instances where vehicle 102 is not successfully identified, a new ranging command is wirelessly transmitted. For example, the newly transmitted ranging command may include data specifically related to generating a new code. As another example, in one or more embodiments, if infrastructure-side AVM algorithm 114 fails to successfully identify the ranging location of vehicle 102 within a certain time period, a failure to identify vehicle 102 can be determined. Thus, because vehicle 102 was not identified within a specific time period, vehicle 102 and / or ranging of said vehicle was not correctly identified during operation process 300. As yet another example, the time period can be any predetermined range and can represent a timeout threshold that can be defined by any time constraint. As another example, in one or more embodiments, if the infrastructure-side AVM algorithm 114 fails to decode the received vehicle-initiated public safety key, it can be determined that the vehicle 102 has not been successfully identified. As an additional example, unsuccessful decoding of the received vehicle-initiated public safety key may prevent the infrastructure-side AVM algorithm 114 from processing calculations related to the distance measurement positions of the vehicles at various points in the grouping and / or maneuvering of the vehicles 102.

[0037] As vehicle 102 travels through (e.g., traverses) a grouping environment, and as another aspect of the loop process operation 304, vehicle 102 and infrastructure system 104 cooperate to maintain a communication link, allowing vehicle 102 to be manipulated and / or grouped through the manufacturing environment. In one or more embodiments, in instances where vehicle-initiated public security keys are wirelessly transmitted, one or more anchor points 116 may be configured to share at least the vehicle-initiated public security key with each other (e.g., each of the one or more anchor points 116). For example, receiving the vehicle-initiated public security key at each of the one or more anchor points 116 can provide a precise indication of the location of vehicle 102, which can help create a virtual vehicle bounding box 120 (e.g., via a wireless communication protocol such as UWB).

[0038] In one or more additional embodiments, the vehicle-side AVM algorithm 212 can cause vehicle 102 to wirelessly transmit the dynamic data rate of the vehicle's corresponding ranging to infrastructure system 104 by wirelessly transmitting data elements related to nodesCount and nodesIdentifiers, rangingRateCodeBit, rangingRateSyncBit, or combinations thereof. For example, the dynamic data rate wirelessly transmitted by vehicle 102 can provide accurate ranging identification behavior. In one or more further embodiments, the vehicle-initiated public security key can be randomly generated by the vehicle-side AVM algorithm 212 using at least a timestamp, a VIN associated with vehicle 102, an original equipment manufacturer (e.g., OEM) rolling identifier, or a combination thereof. For example, the vehicle-initiated public security key can be randomly generated at any time-related frequency, regardless of whether vehicle 102 is being actively grouped by infrastructure system 104. As another example, the OEM rolling identifier can be negotiated between the backend associated with infrastructure system 104 and the backend associated with vehicle 102. As yet another example, the OEM rolling identifier can be negotiated prior to the operation of vehicle 102 and can be processed using a wireless communication protocol supported by the exchange of one or more VMMs.

[0039] In one or more other embodiments, the infrastructure-initiated public security key may be randomly generated by the infrastructure-side AVM algorithm 114 using at least a timestamp, a VIN associated with vehicle 102, an OEM rolling identifier, or a combination thereof. For example, the infrastructure-initiated public security key may be generated at any time, regardless of whether vehicle 102 is being actively manipulated and / or grouped by infrastructure system 104. As another example, the OEM rolling identifier may be negotiated between the backend associated with infrastructure system 104 and the backend associated with vehicle 102. As yet another example, the OEM rolling identifier may be negotiated prior to the operation of vehicle 102 and may be processed using a wireless communication protocol supported by the exchange of one or more IMMs.

[0040] At operation 306, it is determined whether one or more communication errors exist. For example, in an instance where vehicle 102 was not successfully identified as described herein, one or more communication errors may exist. At the first output operation 308a, the infrastructure-side AVM algorithm 114 may (e.g., via one or more IMMs to vehicle 102) indicate that the manipulation procedure 300 was not successfully initiated within an acceptable timeframe. For example, the indication that the manipulation procedure 300 was not successfully initiated may include data elements related to at least stateFlowIdentificationCommand, driveCommandAction, the identity of vehicle 102 (e.g., the VIN of vehicle 102), or a combination thereof. As another example, in cases where more than one vehicle is being manipulated and / or grouped, the data element associated with the indication that the manipulation procedure 300 was not successfully initiated may be associated with or correspond to vehicle 102. In response to receiving the data element associated with the indication that the manipulation procedure 300 was not successfully initiated, vehicle 102 may be transitioned to an exit state (e.g., a terminated state) or an access state (e.g., at operation 310).

[0041] As another example, and also at the first output operation 308a, the vehicle-side AVM algorithm 212 may (e.g., via one or more VMMs to the infrastructure system 104) indicate that the maneuvering process 300 was not successfully initiated and that vehicle 102 is not ready for automated vehicle grouping operations. For example, the indication that the maneuvering process 300 was not successfully initiated may include data elements related to at least stateFlowIdentificationCommandResponse, the identity of vehicle 102, the operating mode state of vehicleState, or a combination thereof. As another example, where more than one vehicle is being maneuvered and / or grouped, the data elements associated with the indication that the maneuvering process 300 was not successfully initiated may correspond one-to-one with vehicle 102. Once vehicle 102 has entered an access state or an exit state at operation 310, the maneuvering process 300 may resume to input operation 302, and the maneuvering process 300 may restart.

[0042] However, in the absence of one or more communication errors (e.g., as determined at operation 306), a second output operation 308b is initiated, as described herein. At the second output operation 308b, the infrastructure-side AVM algorithm 114 may (e.g., via one or more IMMs to vehicle 102) indicate that the manipulation procedure 300 has been successfully initiated. For example, the indication that the manipulation procedure 300 has been successfully initiated may include data elements associated with at least stateFlowIdentificationCommand, the identity of vehicle 102, driveCommandAction, or a combination thereof. As another example, where more than one vehicle is being manipulated and / or grouped, the data elements associated with the indication that the manipulation procedure 300 has been successfully initiated may be associated with or correspond to vehicle 102.

[0043] As another example, and also at the second output operation 308b, the vehicle-side AVM algorithm 212 may (e.g., via one or more VMMs to the infrastructure system 104) indicate that the maneuvering procedure 300 has been successfully initiated. For example, the indication that the maneuvering procedure 300 has been successfully initiated may include data elements related to at least stateFlowIdentificationCommandResponse, the vehicle's identity, the vehicleState's operating mode state, or a combination thereof. As another example, where more than one vehicle is being maneuvered and / or grouped, the data elements associated with the indication that the maneuvering procedure 300 has been successfully initiated may be associated with or correspond to vehicle 102. Once the indication of successful initiation of the maneuvering procedure 300 is transmitted / received, vehicle 102 may enter an exit state at operation 312, at which point the maneuvering procedure 300 is completed at operation 314.

[0044] In one or more embodiments, both infrastructure-side AVM algorithm 114 and vehicle-side AVM algorithm 212 are configured to perform concatenation analysis on vehicle-initiated public security keys and infrastructure-initiated public security keys using derived confidential key method analysis. In one or more additional embodiments, vehicle-side AVM algorithm 212 may cause vehicle 102 to exchange a recomputable public security key (e.g., a concatenated version of the vehicle-initiated public security key and the infrastructure-initiated public security key), a derived confidential key, and / or a unique vehicle identifier to one or more anchors 116 (e.g., via one or more nodes 118). For example, the exchange of the recomputable public security key, the derived confidential key, and / or the unique vehicle identifier to one or more anchors 116 can be transmitted and / or received using data elements related to anchorCount, nodesCount, or combinations thereof. In one or more further embodiments, a ranging code pattern is generated from a SharedvIDSecretKey data element decoded using the vehicle-initiated public security key and the infrastructure-initiated public security key and exchanged via one or more IMMs and / or multiple VMMs.

[0045] refer to Figure 4A and Figure 4B At position 400, an example exchange between one or more VMMs and one or more IMMs is displayed. Example details of the data elements associated with the one or more IMMs included as part of the manipulation process 300 may include (e.g., such as...) Figure 4A (As shown) but not limited to the following: • msgIssuleRevision == "The expected current version of the IMM message" Note: vehiclecontainerblob is an array. • inm.VehicleContainerBlob.vehiclecontainerCountsum == "checksum-value" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.immDataRate == "100-ms, that is, 10" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.rollingCounterFromIMMTransmitted == "RC value" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.rollingCounterOfVMMReceived == "RC value" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.year == "current year" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.month === "current month" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.day == "current date" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.hour == "current hour" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.minute == "current minute" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.second == "current seconds and milliseconds" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTimeConfidence == "Timestamp confidence from AVM CS" • imm.VehicleContainerBlob.vehicleContainerData.identityManagement.vehicleID == "Vehicle ID matching the CMVS vehicle ID" • imm.VehicleContainerBlob.vehicleContainerData.stateFlowIdentificationCommand == "3, i.e., manipulation / automation" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.expirationTime.year == "expiration year" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.expirationTime.month == "Expiration Month" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.expirationTime.day == "Expiration Date" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.expirationTime.hour == "expiration hour" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.expirationTime.minute == "expiration minutes" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.expirationTime.second == "expiration seconds and milliseconds" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.expirationTimeConfidence == "Timestamp confidence from AVM CS" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.velocityMax == "The maximum speed allowed for the vehicle at a given time interval". • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.curvatureMin == "Minimum curvature of the vehicle steering system at a given time interval" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.curvatureMax == "Maximum curvature of the vehicle steering system at a given time interval" • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.driveCommandAction == "6, that is, drive" • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.terminateReason == "0 / 1 / 2 / 3 / 4" / / Conditional - Forced • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.gearRequest == "0 / 1 / 2 / 3, i.e., neutral / park / drive / reverse". • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.directionIndicatorRequest == "4, that is, both" • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.parkingBrakeRequest == "0 / 1" / / Conditional - Forced • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.emergencyStopRequest == "0 / 1 / 2" / / Conditional - Forced • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.processControlRequest == "0 / 1 / 2 / 3" / / Condition - mandatory • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.hornRequest == "0 / 1 / 2 / 3" / / Conditional - Forced • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.brakeLights = "Blink" / / Conditional - Forced • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.headLights = "Constant On Driving Lights" / / Condition-Force • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.controlTimeInterval == "2 represents 20 milliseconds or 5 represents 50 milliseconds" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.year == "the current year of the first element of the control trajectory vector" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.month == "the current month of the first element of the control trajectory vector" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.day == "the current date of the first element of the control trajectory vector" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.hour == "the current hour of the first element of the control trajectory vector" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.minute == "the current minute of the first element of the control trajectory vector" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.second == "the current seconds and milliseconds of the first element of the control trajectory vector". • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReferenceConfidence == "AVM CS timestamp confidence" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.distanceToStop == "Value indicates the unsigned maximum distance the vehicle can travel before coming to a stop at the control point". • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.controlTrajectory.curvature == "value indicates vehicle steering" / / curvature control point sequence • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.controlTrajectory.controlParameter.controlVelocity == "Value indicates the vehicle is traveling at the target speed" / / Speed ​​control point sequence • imm.VehicleContainerBlob.vehicleContainerData.vehicleIdentificationCommand->ranging = {anchorsCount&identifiers, rangingCommand = Prepare for ranging, ranging, success / return to generate new code} Example details of the data elements associated with one or more VMMs included as part of the manipulation process 300 may include (e.g., such as...) Figure 4B (As shown) but not limited to the following: • msgIssuleRevision == "Current version of VMM message" • vmmChecksum == "Checksum value" • vmm.vmmDataManagement.vmmDataRate == "10, i.e., 100 milliseconds" • vmm.vmmDataManagement.rollingCounterFromVMMTransmitted == "RC value" • vmm.vmmDataManagement.rollingCounterOfIMMReceived == "RC value" • vmm.vmmDataManagement.vehicleMessageGenerationTime.year == "current vmm year" • vmm.vmmDataManagement.vehicleMessageGenerationTime.month == "current vmm month" • vmm.vmmDataManagement.vehicleMessageGenerationTime.day == "current vmm date" • vmm.vmmDataManagement.vehicleMessageGenerationTime.hour == "current vmm hour" • vmm.vmmDataManagement.vehicleMessageGenerationTime.minute == "current vmm minute" • vmm.vmmDataManagement.vehicleMessageGenerationTime.second == "current vmm seconds and milliseconds" • vmm.vmmDataManagement.vehicleMessageGenerationTimeConfidence == "timestamp confidence vmm" • vmm.stateFlowIdentificationCommandResponse == "3, i.e., manipulation / automation" • vmm.identityManagement.vehicleID == "Vehicle ID matching the CMVS vehicle ID" • vmm.vehicleControlInterfacePreference == "2, i.e., trajectory-control-speed". • vmm.vehicleState.vehicleStateGenerationTime.year == "Current vehicle state year" • vmm.vehicleState.vehicleStateGenerationTime.month == "Current vehicle status month" • vmm.vehicleState.vehicleStateGenerationTime.day == "Current vehicle status date" • vmm.vehicleState.vehicleStateGenerationTime.hour == "Current vehicle state in hours" • vmm.vehicleState.vehicleStateGenerationTime.minute == "Current vehicle state in minutes" • vmm.vehicleState.vehicleStateGenerationTime.second == "Current vehicle state in seconds and milliseconds" • vmm.vehicleState.vehicleStateGenerationTimeConfidence == "Vehicle state timestamp confidence level" • vmm.vehicleState.operationMode == "6, i.e., driving" • vmm.vehicleState.gearState == "0 / 1 / 2 / 3, i.e., neutral / park / drive / reverse". • vmm.vehicleState.directionIndicatorState == "4, i.e., both". • vmm.vehicleState.currentVlocity == "the current velocity of the AV" • vmm.vehicleState.currentCurvature == "current curvature of the AV" • vmm.vehicleState.secureStandstill == "0, i.e., the AV is in a secure standstill state". • vmm.vehicleIdentificationCommandResponse = {rangingCommandResponse= "Vehicle ready", "Vehicle ranging in progress", "Vehicle ranging complete / Vehicle ranging failed", nodesCount&identifier, rangingRateCodeBit, rangingRateSyncBit} It should be understood that data elements of any type, kind, format, quantity, etc., may be used, depending on the specific operation or application. It should also be understood that the labels and / or names of data elements are provided as examples only.

[0046] Figure 5The calculation and operation 500 of the ranging pattern as described herein are illustrated. For example, the calculation of the infrastructure-initiated public security key includes the operation of the private security key; the transmission of data elements related to anchorCount and / or anchorIdentifiers (e.g., via one or more IMMs); ​​and the transmission of data elements related to vIDCSPublicKey, anchorsCount, anchorsIdentifiers, and / or rangingCommand. As another example, the operation of the light code pattern based on the data elements related to vIDCSPublicKey and / or anchorCount includes the operation of vIDCSPublicKey and the operation of the SharedvIDSecret key associated with vehicle 102. As yet another example, the operation of SharedvIDSecretKey includes the operation of SharedvIDCSecretKey and the verification of the calculated SharedvIDCSSecretKey. As another example, the operation of vIDAVPublicKey includes the operation of vehicleIDPublicKey and the transmission of data elements (e.g., via one or more VMMs) related to rangingCommandResponse, vIDAVPublicKey, SharedvIDAVSecretKey, nodesCount, nodesIdentifiers, rangingRateCodeBit, and / or rangingRateSyncBit. It should be understood that during the calculation and operation of the ranging mode, the infrastructure-side AVM algorithm 114 is configured to perform ranging on the position of vehicle 102 using one or more anchors 116 and one or more nodes 118 based on the exchange of publicKey and SecretKey.

[0047] Figure 6 This is a flowchart illustrating an exemplary method 600 for manipulating a vehicle (e.g., vehicle 102). At operation 602, one or more vehicle grouping messages (e.g., one or more VMMs) are received. For example, one or more VMMs are received in response to a broadcast manipulation command (e.g., one or more IMMs). As another example, an infrastructure system (e.g., infrastructure system 104) broadcasts a manipulation command. As another example, one or more VMMs are received from vehicles located within a distance-related threshold from the infrastructure system. As yet another example, the distance-related threshold can be any predefined distance acceptable based on one or more technical capabilities of the infrastructure system and / or the vehicle. For example, one or more VMMs include at least a vehicle identification number (e.g., VIN) associated with the vehicle.

[0048] At operation 604, the vehicle control process is initiated. For example, the vehicle control process is initiated via the transmission of one or more IMMs. As another example, one or more IMMs are transmitted to one or more transmission points (e.g., one or more anchor points 116). As yet another example, the one or more IMMs include an infrastructure-initiated authentication key associated with the vehicle (e.g., an infrastructure-initiated public security key). As yet another example, the infrastructure-initiated authentication key includes a first timestamp, a vehicle identification number, an original equipment manufacturer (OEM) rolling identifier, or a combination thereof.

[0049] At operation 606, a vehicle-initiated authentication key (e.g., a vehicle-initiated public safety key) is received. For example, the vehicle-initiated authentication key is received from one or more transmission points. As another example, the vehicle-initiated authentication key is received in response to one or more nodes of the vehicle (e.g., one or more nodes 118) verifying an infrastructure-initiated authentication key. As an additional example, one or more VMMs include the vehicle-initiated authentication key. As another example, the data rate associated with the VMM is higher than the data rate interval associated with the IMM exchanged with the vehicle during the operation. For example, one or more transmission points are configured to transmit the infrastructure-initiated authentication key to one or more nodes of the vehicle. As yet another example, one or more transmission points are associated with the location of the vehicle. As yet another example, one or more transmission points are further configured to receive the vehicle-initiated authentication key from one or more nodes of the vehicle.

[0050] At operation 608, the vehicle-initiated authentication key corresponding to the vehicle's identity is verified. For example, verification of the vehicle-initiated authentication key includes performing concatenation analysis on the vehicle-initiated authentication key and / or the infrastructure-initiated authentication key. As another example, the concatenation analysis is performed based on a derived confidential key method analysis.

[0051] At operation 610, a virtual bounding box (e.g., bounding box 120) indicating the vehicle's current location is generated. For example, the virtual bounding box is generated in response to verifying that an authentication key initiated by the vehicle corresponds to the vehicle's identity. As another example, the virtual bounding box is generated based on a ranging code pattern generated from a confidential key. As yet another example, the confidential key is decoded using the authentication key initiated by the vehicle and / or the authentication key initiated by the infrastructure.

[0052] In one or more embodiments, an authentication key initiated by a second infrastructure is generated. For example, the authentication key initiated by the second infrastructure is generated based on a second timestamp, a vehicle identification number, an original equipment manufacturer (OEM) rolling identifier, or a combination thereof. In one or more additional embodiments, a transport point count message and / or a transport point identification message are transmitted to one or more transport points.

[0053] In one or more additional embodiments, the vehicle is caused to enter an exit state (e.g., a terminated state). For example, the vehicle enters an exit state based on successfully identifying the vehicle's current position within a time-related threshold and / or using a virtual bounding box and / or determining that ranging during the maneuver was successful. Alternatively, the vehicle enters an exit state or an access state based on one or more communication errors. For example, one or more communication errors may include failing to successfully identify the vehicle's current position within a time-related threshold, failing to successfully decode the authentication key initiated by the vehicle, and / or determining that ranging during the maneuver was unsuccessful.

[0054] Figure 7 This is a flowchart illustrating an example method 700 for manipulating a vehicle (e.g., vehicle 102). At operation 702, a broadcast manipulation command (e.g., one or more IMMs) is received at the vehicle. For example, the broadcast manipulation command is received in response to the vehicle being within a distance-related threshold from an infrastructure system (e.g., infrastructure system 104). As another example, the distance-related threshold can be any predefined distance acceptable based on one or more technical capabilities of the infrastructure system and / or the vehicle.

[0055] At operation 704, one or more vehicle grouping messages (e.g., one or more VMMs) are transmitted from the vehicles to the infrastructure system. For example, one or more VMMs may be transmitted based on a received broadcast maneuver command. As another example, the one or more VMMs may include at least the vehicle identification number associated with the vehicle.

[0056] At operation 706, one or more IMMs are verified. For example, one or more IMMs include infrastructure-initiated authentication keys (e.g., infrastructure-initiated public security keys) received from multiple transport points (e.g., one or more anchor points 116). As an example, the transport points are associated with the vehicle's location. As another example, verification of the infrastructure-initiated authentication key includes performing concatenation analysis on the vehicle-initiated authentication key and / or the infrastructure-initiated authentication key. As yet another example, the concatenation analysis is performed based on a derived confidential key method analysis.

[0057] At operation 708, a vehicle-initiated authentication key (e.g., a vehicle-initiated public safety key) is transmitted to multiple transmission points. For example, the vehicle-initiated authentication key is transmitted in response to verifying an infrastructure-initiated authentication key. As another example, one or more VMMs include the vehicle-initiated authentication key. As yet another example, the data rate associated with the VMM is higher than the data rate interval associated with the IMM exchanged with the vehicle during the operation. As yet another example, the transmission of the vehicle-initiated authentication key causes the infrastructure system to generate a virtual bounding box (e.g., bounding box 120). As an additional example, the virtual bounding box indicates the vehicle's current location. As yet another example, the vehicle-initiated authentication key may include a first timestamp, a vehicle identification number, an original equipment manufacturer (OEM) rolling identifier, or a combination thereof. For example, the generation of the virtual bounding box is based on a ranging code pattern generated from a confidential key. As yet another example, the confidential key is decoded using the vehicle-initiated authentication key and / or the infrastructure-initiated authentication key.

[0058] In one or more embodiments, a second vehicle-initiated authentication key is generated. For example, the second vehicle-initiated authentication key is generated based on a second timestamp, a vehicle identification number, an original equipment manufacturer (OEM) rolling identifier, or a combination thereof. In one or more other embodiments, vehicle node count messages, vehicle identification messages, one or more node identifiers, ranging code bits, and / or ranging rate synchronization bits are transmitted to multiple transmission points via one or more nodes of the vehicle (e.g., one or more nodes 118).

[0059] In one or more additional embodiments, the system enters an exit state (e.g., a termination state) based on the infrastructure system successfully identifying the vehicle's current location within a time-related threshold and / or using a virtual bounding box and / or determining that ranging during the maneuver was successful. Alternatively, the system enters an exit state or an access state based on one or more communication errors. For example, one or more communication errors may include the infrastructure system failing to successfully identify the vehicle's current location within a time-related threshold, the infrastructure system failing to successfully decode the authentication key initiated by the vehicle, the infrastructure system determining that ranging during the maneuver was unsuccessful, and / or the vehicle failing to successfully decode the authentication key initiated by the infrastructure system.

[0060] Figure 8An operating environment facilitating the execution of one or more systems and methods described herein is illustrated. More specifically, the systems and methods described herein may be implemented using computing device 802. For example, computing device 802 may be a personal computer, desktop computer, laptop computer, tablet computer, handheld computer, server, workstation, mainframe, wearable computer, supercomputer, or a combination thereof. However, it should be understood that the foregoing examples of computing device 802 are not exhaustive, and computing device 802 may be any type of processing or computing device. Computing device 802 typically includes a processor 804, a display adapter 806, one or more input / output ports 808, one or more input / output components 810, a network adapter 812, a power supply 814, and memory 816. However, it should be understood that computing device 802 may include any of the listed components, and is not required to include any of them.

[0061] Processor 804 is configured to provide instructions to computing device 802, enabling computing device 802 to perform one or more tasks, including implementing software programs to perform one or more operations as described in more detail herein. It should also be understood that computing device 802 may include any number of processors 804. Display adapter 806 may be a graphics card or video board that provides computing device 802 with the ability to display content on display device 818. For example, display device 818 may be any screen, monitor, and / or light-emitting component associated with any of a personal computer, desktop computer, laptop computer, tablet computer, handheld computer, server, workstation, host, wearable computer, supercomputer, or a combination thereof. However, it should be understood that the foregoing examples of display device 818 are not exhaustive, and display device 818 may be any type of device capable of providing visual display.

[0062] Input / output port 808 provides multiple interfaces (e.g., jacks) for one or more cables to connect to computing device 802. It should be understood that any number of input / output ports 808 may be present on computing device 802. For example, input / output port 808 provides computing device 802 with a means to receive signals and / or data from external devices connected to computing device 802 via one or more cables. As another example, input / output port 808 provides computing device 802 with a means to transmit signals and / or data to external devices connected to computing device 802 via one or more cables. Input / output component 810 may include one or more components supporting input / output port 808, such as, but not limited to, switches, buttons, pressure pads, float switches, keyboards, radio receivers, or combinations thereof.

[0063] Network adapter 812 can be any type of network interface controller configured to provide means for communicating with another computing device (such as remote computing device 822) via network 820. For example, remote computing device 822 can be a user device such as a cellular phone, smartphone, tablet computer, laptop computer, or a combination thereof. Power supply 814 is configured to convert alternating high-voltage current (e.g., AC) into direct current (e.g., DC) to provide power to other components of computing device 802 (e.g., processor 804, display adapter 806, one or more input / output ports 808, one or more input / output components 810, network adapter 812, and memory 816).

[0064] Additionally, memory 816 may be a mass storage device and / or system memory, such as a hard disk drive, memory card, solid-state drive, random access memory (RAM), or a combination thereof. Memory 816 is configured to provide storage for instructions and data associated with the operation of computing device 802. Memory 816 may typically include operating system 824, ranging software 826, and ranging data 828. For example, operating system 824 is configured to manage and / or process any of the data and / or instructions associated with ranging software 826 and / or ranging data 828, as described in more detail herein.

[0065] Furthermore, a system bus 830 is also included within the computing device 802, configured to couple each of the various components of the computing device 802 (e.g., processor 804, display adapter 806, one or more input / output ports 808, one or more input / output components 810, network adapter 812, power supply 814, and memory 816). It should also be understood that the functions associated with each component of the computing device 802 and with each component of the computing device 802 can be implemented within a remote computing device 822. Although Figure 8The operating environment shown herein depicts a specific configuration associated with at least computing device 802, network 820, and remote computing device 822; however, it should be understood that the operating environment can be configured in any manner.

[0066] Therefore, one or more examples of this disclosure provide a means for manipulating a vehicle based on at least one wireless communication protocol that supports the exchange of infrastructure grouping messages and vehicle grouping messages between an automated vehicle and an infrastructure system, each of the automated vehicle and the infrastructure system implementing machine learning-based analysis of such communication exchanges.

[0067] Unless otherwise expressly indicated herein, all numerical values ​​indicating mechanical / thermal properties, percentage of composition, dimensions and / or tolerances or other characteristics should be understood as being modified by the words “about” or “approximately” when describing the scope of this disclosure. Such modification is desired for various reasons, including: industrial practice; material, manufacturing and assembly tolerances; and testing capabilities.

[0068] As used herein, the phrases A, B, and C at least one should be interpreted as representing logic (A or B or C) using the non-exclusive logic "or", and should not be interpreted as representing "at least one of A, at least one of B, and at least one of C".

[0069] In this application, the terms “controller” and / or “module” may refer to, be part of, or include the following: application-specific integrated circuit (ASIC); digital, analog, or mixed analog / digital discrete circuit; digital, analog, or mixed analog / digital integrated circuit; composable logic circuit; field-programmable gate array (FPGA); processor circuitry (shared, dedicated, or grouped) that executes code; memory circuitry (shared, dedicated, or grouped) that stores code executed by the processor circuitry; other suitable hardware components that provide the described functionality; or combinations of some or all of the foregoing, such as in a system-on-a-chip.

[0070] The term memory is a subset of the term computer-readable medium. As used herein, the term computer-readable medium does not cover transient electrical or electromagnetic signals propagated through a medium (such as on a carrier wave); therefore, the term computer-readable medium can be considered tangible and non-transient. Non-limiting examples of non-transient tangible computer-readable media include non-volatile memory circuits (such as flash memory circuits, erasable programmable read-only memory circuits, or mask read-only circuits), volatile memory circuits (such as static random access memory circuits or dynamic random access memory circuits), magnetic storage media (such as analog magnetic tape or digital magnetic tape or hard disk drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs).

[0071] The apparatus and methods described in this application can be implemented, in part or in whole, by a dedicated computer created by configuring a general-purpose computer to perform one or more specific functions embodied in a computer program. Function blocks, flowchart components, and other elements described above serve as software specifications that can be translated into computer programs through the routine work of a technician or programmer.

[0072] The description in this disclosure is merely exemplary in nature, and therefore, variations without departing from the spirit and scope of this disclosure are intended to be made within its scope. Such variations should not be considered as departing from the spirit and scope of this disclosure.

[0073] According to the present invention, a method includes: receiving a broadcast manipulation command at a vehicle in response to being within a distance-related threshold of an infrastructure system; transmitting one or more vehicle grouping messages from the vehicle to the infrastructure system based on the received broadcast manipulation command; verifying the one or more infrastructure grouping messages, wherein the one or more infrastructure grouping messages include an infrastructure-initiated authentication key received from a plurality of transmission points, wherein the transmission points are associated with the location of the vehicle; and transmitting a vehicle-initiated authentication key to the plurality of transmission points in response to verifying the infrastructure-initiated authentication key, wherein the one or more vehicle grouping messages include the vehicle-initiated authentication key, and wherein the data rate associated with the vehicle grouping messages is higher than the data rate interval associated with the infrastructure grouping messages exchanged with the vehicle during the manipulation process, and wherein the transmission of the vehicle-initiated authentication key causes the infrastructure system to generate a virtual bounding box indicating the current location of the vehicle.

[0074] In one aspect of the invention, the one or more vehicle grouping messages include at least a vehicle identification number associated with the vehicle.

[0075] In one aspect of the invention, the vehicle-initiated authentication key includes a first timestamp, the vehicle identification number, an original equipment manufacturer (OEM) rolling identifier, or a combination thereof.

[0076] In one aspect of the invention, the method includes: generating a second vehicle-initiated authentication key based on a second timestamp, the vehicle identification number, an original equipment manufacturer rolling identifier, or a combination thereof.

[0077] In one aspect of the invention, the method includes: entering an exit state based on the infrastructure system successfully identifying the current position of the vehicle within a time-related threshold and using the virtual bounding box, or determining that ranging during the maneuvering process was successful; or entering the exit state or access state based on one or more communication errors, wherein the one or more communication errors include: the infrastructure system failing to successfully identify the current position of the vehicle within the time-related threshold; the infrastructure system failing to successfully decode the verification of the authentication key initiated by the vehicle; the infrastructure system determining that the ranging during the maneuvering process was unsuccessful; or the vehicle failing to successfully decode the verification of the authentication key initiated by the infrastructure.

[0078] In one aspect of the invention, the method includes transmitting a vehicle node count message, a vehicle identification message, one or more node identifiers, a ranging rate code bit, a ranging rate synchronization bit, or a combination thereof to the plurality of transmission points via one or more nodes of the vehicle.

[0079] In one aspect of the invention, the verification of the authentication key initiated by the infrastructure further includes: performing concatenation analysis on the authentication key initiated by the vehicle and the authentication key initiated by the infrastructure based on derived confidential key method analysis.

[0080] In one aspect of the invention, the generation of the virtual bounding box is based on a ranging code pattern generated from a confidential key, wherein the confidential key is decoded using an authentication key initiated by the vehicle and an authentication key initiated by the infrastructure.

Claims

1. A method comprising: In response to broadcast control commands, receive one or more vehicle grouping messages from vehicles located within a distance-related threshold from the infrastructure system; The vehicle manipulation process is initiated by transmitting one or more infrastructure grouping messages to one or more transmission points, wherein the one or more infrastructure grouping messages include an authentication key initiated by the infrastructure associated with the vehicle; In response to one or more nodes of the vehicle verifying an authentication key initiated by the infrastructure, a vehicle-initiated authentication key is received from one or more transmission points, wherein the one or more vehicle grouping messages include the vehicle-initiated authentication key, and wherein the data rate associated with the vehicle grouping message is higher than the data rate interval associated with the infrastructure grouping messages exchanged with the vehicle during the operation process. Verify that the authentication key initiated by the vehicle corresponds to the identity of the vehicle; as well as In response to verifying that the authentication key initiated by the vehicle corresponds to the identity of the vehicle, a virtual bounding box indicating the current location of the vehicle is generated.

2. The method of claim 1, wherein the one or more vehicle grouping messages are received from the vehicle and include at least a vehicle identification number associated with the vehicle.

3. The method of claim 2, wherein the authentication key initiated by the infrastructure includes a first timestamp, the vehicle identification number, the original equipment manufacturer rolling identifier, or a combination thereof.

4. The method of claim 2, further comprising: A second infrastructure-initiated authentication key is generated based on the second timestamp, the vehicle identification number, the original equipment manufacturer rolling identifier, or a combination thereof.

5. The method of claim 1, further comprising: Transmit a transmission point count message, a transmission point identification message, or a combination thereof to the one or more transmission points.

6. The method of claim 1, wherein the transmission point associated with the location of the vehicle among the one or more transmission points is configured to transmit the infrastructure-initiated authentication key to the one or more nodes of the vehicle, and wherein the transmission point is further configured to receive the vehicle-initiated authentication key from the one or more nodes of the vehicle.

7. The method of claim 1, further comprising: Based on the successful identification of the vehicle's current position within the time-related threshold and the successful determination of the distance measurement during the maneuvering process using the virtual bounding box, the vehicle enters an exit state. or The vehicle enters the exit state or access state due to one or more communication errors, wherein the one or more communication errors include: The current location of the vehicle was not successfully identified within the time-related threshold. The verification of the authentication key initiated by the vehicle was not successfully decoded; or It was determined that the ranging during the manipulation process was unsuccessful.

8. The method of claim 1, wherein the verification of the authentication key initiated by the vehicle further comprises: The method of derived confidential key analysis is used to perform concatenation analysis on the authentication key initiated by the vehicle and the authentication key initiated by the infrastructure.

9. The method of claim 1, wherein the generation of the virtual bounding box is based on a ranging code pattern generated from a confidential key, and wherein the confidential key is decoded using an authentication key initiated by the vehicle and an authentication key initiated by the infrastructure.

10. A system comprising: Infrastructure system, the infrastructure system being configured as follows: In response to broadcast control commands, one or more vehicle grouping messages are received from vehicles located within a distance-related threshold from the infrastructure system. The vehicle manipulation process is initiated by transmitting one or more infrastructure grouping messages to multiple transmission points, wherein the one or more infrastructure grouping messages include an authentication key initiated by the infrastructure associated with the vehicle. Receive vehicle-initiated authentication keys from the one or more transmission points, wherein the one or more vehicle grouping messages include the vehicle-initiated authentication keys, and wherein the data rate associated with the vehicle grouping messages is higher than the data rate interval associated with the infrastructure messages exchanged with the vehicles during the manipulation process. Verify that the authentication key initiated by the vehicle corresponds to the identity of the vehicle, and In response to verifying that the authentication key initiated by the vehicle corresponds to the identity of the vehicle, a virtual bounding box indicating the current location of the vehicle is generated; as well as The vehicle is configured to: In response to being within the distance-related threshold of the infrastructure system, the broadcast manipulation command is received. Based on the received broadcast control command, the one or more vehicle grouping messages are transmitted to the infrastructure system. Verify the authentication key initiated by the infrastructure received from one of the plurality of transmission points, wherein the transmission point is associated with the location of the vehicle, and In response to verifying the authentication key initiated by the infrastructure, the authentication key initiated by the vehicle is transmitted to the plurality of transmission points.

11. The system of claim 10, wherein the generation of the virtual bounding box is based on a ranging code pattern generated from a confidential key, and wherein the confidential key is decoded using an authentication key initiated by the vehicle and an authentication key initiated by the infrastructure.

12. The system of claim 10, wherein the vehicle configured to verify the authentication key initiated by the vehicle is further configured to: The method of derived confidential key analysis is used to perform concatenation analysis on the authentication key initiated by the vehicle and the authentication key initiated by the infrastructure.

13. The system of claim 10, wherein the system is further configured to: Based on the fact that the infrastructure system has successfully identified the vehicle's current position or determined the distance measurement during the maneuvering process within the time-related threshold and using the virtual bounding box, the system enters the exit state. or The exit state or access state is entered based on one or more communication errors, wherein the one or more communication errors include: The infrastructure system failed to identify the vehicle's current location within the time-related threshold. The infrastructure system failed to decode the authentication key initiated by the vehicle. The infrastructure system determines that the ranging during the manipulation process was unsuccessful; or The vehicle failed to decode the authentication key initiated by the infrastructure.

14. The system of claim 10, wherein the transmission point associated with the location of the vehicle among the one or more transmission points is configured to transmit the infrastructure-initiated authentication key to one or more nodes of the vehicle, and wherein the transmission point is further configured to receive the vehicle-initiated authentication key from the one or more nodes of the vehicle.

15. The system of claim 10, wherein the system is further configured to: Vehicle node count messages, vehicle identification messages, one or more node identifiers, ranging rate code bits, ranging rate synchronization bits, or combinations thereof are transmitted from one or more nodes of the vehicle to the plurality of transmission points.

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