Accuracy system for connected vehicles

Abstract

Method for a reference vehicle (123) with an advanced driver assistance system (ADAS system) (180), wherein the method comprises: Receiving dedicated short-range communication data (DSRC data) (195) describing information about a first remote vehicle (124), wherein the DSRC data (195) describe a sensor measurement recorded by the first remote vehicle (124); Determine that the DSRC data (195) are inconsistent with local sensor data (191) measured by the reference vehicle (123); Requesting remote accuracy data (193) from a set of remote vehicles (126), wherein the remote accuracy data (193) describe an accuracy of the sensor measurement of the first remote vehicle (124) determined by the set of remote vehicles (126); Determining reference accuracy data (190) for the first remote vehicle (124) based on the remote accuracy data (193) received from the set of remote vehicles (126), wherein the reference accuracy data (190) describe an accuracy level for the first remote vehicle (124) determined by the reference vehicle (123); and Determine whether the DSRC data (195) is entered into the ADAS system (180) based on the accuracy level described by the reference accuracy data (190), so that inaccurate information is not entered into the ADAS system (180) and the performance of the ADAS system (180) is improved.

Description

BACKGROUND

[0001] This specification relates to an accuracy system for connected vehicles. Some embodiments described herein relate to an accuracy system for determining the accuracy of a sensor measurement recorded by one or more sensors of a connected vehicle.

[0002] Vehicle control systems are becoming increasingly popular. One example of a vehicle control system is an advanced driver assistance system (ADAS system in the singular, ADAS systems in the plural).

[0003] The proper functioning of ADAS systems depends on the availability of highly accurate sensor data. The more accurate the sensor data, the more precisely the ADAS system functions in relation to the design engineer's intent for the vehicle or the ADAS system. Conversely, the less accurate the sensor data, the less accurately the ADAS system functions in relation to the design engineer's intent. Therefore, there is a need to provide ADAS systems with the most accurate sensor data available.

[0004] German patent application DE 10 2015 216 494 A1 discloses a method and a device for detecting at least one sensor malfunction of at least one first sensor of at least one first vehicle, wherein at least one first signal is determined from the at least one first sensor of the at least one first vehicle and this at least one first signal is compared with at least one comparison parameter according to predefined comparison criteria, wherein at least one further second signal is determined from at least one second sensor of at least one further second vehicle and, depending on the comparison, the at least one sensor malfunction in the at least one first vehicle is detected.

[0005] Document US 2008 189 009 A1 discloses a method for monitoring the operation of a sensor system for a motor vehicle equipped with vehicle-to-vehicle communication capability. The method includes comparing analog signals transmitted by a large number of vehicles in close proximity. SUMMARY

[0006] Exemplary implementations are described that include a system, method and computer program product for determining the accuracy of a sensor measurement recorded by one or more sensors of a networked vehicle.

[0007] In some embodiments, there may be two sources of sensor data. The first source of sensor data is a local sensor on the reference vehicle. Sensor data provided via this first source is referred to below as "local sensor data." The second source of sensor data comprises sensors on other vehicles located remotely from the reference vehicle. These remote vehicles may wirelessly transmit their sensor data to the reference vehicle via a dedicated short-range communication (DSRC) method or any other wireless communication method. Sensor data provided via this second source is referred to below as "remote sensor data" or "remote sensor data." The remote sensor data may be contained within a DSRC message and therefore referred to as DSRC data. See, for example, Fig. 4A and Fig. 4B. In some situations, the local sensor data is more accurate than the remote sensor data. In other situations, the remote sensor data may be more accurate than the local sensor data.

[0008] In some embodiments, the reference vehicle and one or more of the remote vehicles may be DSRC-equipped vehicles. A DSRC-equipped vehicle may comprise a vehicle that includes one or more of the following: a DSRC transceiver and any software or hardware necessary to encode and transmit a DSRC message; a DSRC receiver and any software or hardware necessary to receive and decode a DSRC message; and a DSRC-compliant global positioning system (a “DSRC-compliant GPS unit”).

[0009] A DSRC-compliant GPS unit can provide vehicle positioning data that describes a vehicle's location with lane-level accuracy. Lane-level accuracy means that a vehicle's location is described so precisely that the vehicle's lane can be accurately determined when driving in open terrain (for example, plus or minus 1.5 meters from the vehicle's actual position). A conventional GPS system is not capable of determining a vehicle's location with lane-level accuracy. For example, a typical lane on a road is approximately three meters wide. However, conventional GPS systems can only achieve an accuracy of plus or minus 10 meters relative to the vehicle's actual position.

[0010] A DSRC-compliant GPS unit can include hardware that communicates wirelessly with a GPS satellite to retrieve vehicle position data that describes a vehicle's location with a precision that conforms to the DSRC standard. The DSRC standard requires that the vehicle position data be precise enough to determine whether two vehicles are in the same lane. A DSRC-compliant GPS unit can be operational to identify, monitor, and track its two-dimensional position within 1.5 meters of its actual position 68% of the time in open-air conditions.Since road lanes are typically at least three meters wide, the accuracy system described herein, whenever the two-dimensional error of the vehicle position data is less than 1.5 meters, can analyze the vehicle position data provided by the DSRC-compliant GPS unit and determine which lane the vehicle is traveling in, based on the relative positions of vehicles on the road. In this way, the DSRC-compliant GPS unit can advantageously provide vehicle position data with lane-level accuracy, enabling the accuracy system to supply the reference vehicle's ADAS system with more accurate vehicle position data, thereby improving the functionality of the ADAS system.

[0011] In some embodiments, devices other than vehicles can be equipped with DSRC. These DSRC-equipped devices can be used to relay remote sensor data to the reference vehicle via a DSRC message. For example, a road-side unit (RSU) or any other communication device can be equipped with DSRC if it includes one or more of the following: a DSRC transceiver and any software or hardware necessary to encode and transmit a DSRC message; and a DSRC receiver and any software or hardware necessary to receive and decode a DSRC message.

[0012] The embodiments described herein can use remote sensor data that is wirelessly transmitted to the vehicle via a wireless message, such as a DSRC message or a basic safety message (BSM). The remote sensor data is contained within the DSRC data included in the DSRC message or the BSM.

[0013] Since some information is security-relevant and has real-time deadlines, DSRC, along with its BSM requirements, provides the necessary efficiency and underlying network protocols for computation, as it is designed for mobility and vehicle applications. DSRC-enabled devices use the placeholder BSSID (always a value of "1") in the header of the frames they exchange and can initiate the sending and receiving of data frames as soon as they arrive on the communication channel. This is one example of why DSRC is suitable for vehicle applications, whereas other types of wireless communication are less suitable.

[0014] The reference vehicle may include a set of ADAS systems. The set of ADAS systems comprises one or more ADAS systems.

[0015] In some embodiments, the reference vehicle comprising the accuracy system is an autonomous vehicle. The National Highway Traffic Safety Administration (NHTSA) has defined different levels of autonomous vehicles, for example, Level 0, Level 1, Level 2, Level 3, Level 4, and Level 5. If one vehicle has a higher level number than another (for example, Level 3 is a higher level than Levels 2 or 1), then the vehicle with the higher level number offers a greater combination and number of autonomous features relative to the vehicle with the lower level number. The different levels of autonomous vehicles are briefly described below.

[0016] Level 0: The set of ADAS systems installed in the reference vehicle does not perform vehicle control but issues warnings to the driver of the reference vehicle. Vehicle control refers to the features or functionality provided by an ADAS system in the reference vehicle, including, for example, an "autonomous feature" or "autonomous functionality" provided by the ADAS system.

[0017] Level 1: The driver must be ready to take control of the reference vehicle at any time. The set of ADAS systems installed in the reference vehicle may provide autonomous features, such as one or more of the following: adaptive cruise control (ACC); and Type II parking assistance with automatic steering and lane keeping assistance (LKA), in any combination.

[0018] Level 2: The driver is required to detect objects and events in the road environment and react if the ADAS system installed in the reference vehicle does not respond appropriately (based on the driver's subjective judgment). The ADAS system installed in the vehicle performs acceleration, braking, and steering. The ADAS system installed in the reference vehicle can be deactivated immediately after the driver takes over.

[0019] Level 3: Within known, confined environments (such as highways), the driver can safely take their attention away from driving tasks, but must still be prepared to take over control of the reference vehicle if necessary.

[0020] Level 4: The set of ADAS systems installed in the reference vehicle can control the reference vehicle in all but a few environments, such as adverse weather conditions. The driver may only activate the automated system when it is safe to do so (the automated system being the set of ADAS systems installed in the reference vehicle). When the automated system is activated, no driver attention is required to operate the reference vehicle safely and consistently in accordance with accepted standards.

[0021] Level 5: Apart from setting the destination and starting the system, no human intervention is required. The automated system can drive to any location where it is legally permitted to drive and make its own decisions (which may vary based on the specific jurisdiction in which the reference vehicle is located).

[0022] In some embodiments, the reference vehicle is a highly autonomous vehicle (“HAV” in the singular, or “HAVs” in the plural). An HAV is a vehicle (for example, the DSRC-capable reference vehicle) that incorporates a set of ADAS systems capable of operating at Level 3 or higher, as described above, or as described by the NHTSA on page 9 of its position paper entitled “Federal Automated Vehicles Policy: Accelerating the Next Revolution in Roadway Safety,” published in September 2016.

[0023] Examples of an ADAS system include one or more of the following: an ACC system; an adaptive high beam system; an adaptive headlight control system; an automatic parking system; an automotive night vision system; a blind spot monitor; a collision avoidance system; a crosswind stabilization system; a driver fatigue detection system; a driver monitoring system; an emergency driver assistance system; a forward collision warning system; a junction assist system; an intelligent speed adaptation system; a lane departure warning system; a pedestrian protection system; a traffic sign recognition system; a turn assist system; and a wrong-way driving warning system. Each of these examples of ADAS systems provides its own features and functionality, which are referred to below, accordingly, as an “ADAS feature” or an “ADAS functionality.”The features and functionality provided by these exemplary ADAS systems are also referred to as an “autonomous feature” or “autonomous functionality”.

[0024] In some embodiments, the reference vehicle includes a DSRC radio. The DSRC radio includes the DSRC transmitter and receiver. The DSRC radio receives a DSRC message containing DSRC data. The DSRC data includes, among other things, sensor information measured by a first remote vehicle. The DSRC message is transmitted by the first remote vehicle. The reference vehicle includes an onboard or vehicle-mounted computer, such as an electronic control unit (ECU). The onboard vehicle computer includes the accuracy system described herein.The accuracy system comprises code and routines that, when executed by the vehicle's onboard computer, cause the computer to analyze all available information and provide a real-time or near-real-time calculation of whether the sensor information contained in the DSRC data is accurate. For example, the sensor information might be inaccurate if one or more sensors of the first vehicle removed are malfunctioning, damaged, or require calibration, repair, replacement, or a software update. If the sensor information is determined to be inaccurate, the accuracy system causes the DSRC data to be deleted or ignored.

[0025] In some embodiments, future instances of DSRC data from this particular first remote vehicle could be deleted or ignored without the need to determine their accuracy. For example, the accuracy system could determine that the first remote vehicle is not trusted, and any wireless communications containing a unique vehicle identifier for that particular first remote vehicle could be deleted or ignored by the reference vehicle.

[0026] In some embodiments, the information considered by the accuracy system when determining whether the sensor information is accurate includes one or more of the following: (1) corresponding sensor information measured by the onboard sensor set of the reference vehicle, which is known or believed to be reliable; (2) information received from other connected vehicles (i.e., second remote vehicles) describing the accuracy of the sensor information generated by the first remote vehicle; and (3) sensor information generated by the first remote vehicle (for example, the DSRC data included in Part 1 of the DSRC message broadcast or transmitted by the first remote vehicle). Part 1 and Part 2 of an example of a DSRC message are shown in Fig. 4B is shown.

[0027] The accuracy system described herein overcomes numerous disadvantages of existing solutions. These disadvantages will now be described.

[0028] First, existing solutions always assume that the sensor information received from other connected vehicles (such as the first remote vehicle) is reliable. These existing solutions receive sensor information from external sources and automatically proceed to make operational decisions based on this sensor information. However, experience tells us that this sensor information is not always reliable, as there will always be some vehicles whose sensors require maintenance, calibration, or software updates, resulting in inaccurate or inconsistent sensor information from these vehicles. The accuracy system described herein solves this problem by identifying unreliable vehicles and excluding sensor information received from them.When a wireless message containing sensor information is received by the reference vehicle, which includes the accuracy system, the accuracy system operates in real time (or near real time) to analyze relevant available data. This allows the system to determine the accuracy of the sensor information received from the other vehicle and, optionally, to establish a "confidence level" for the other vehicle itself. This analysis is performed before the sensor information is used by the reference vehicle's ADAS systems to make operational decisions for the reference vehicle. As a result, the accuracy system beneficially improves the quality of operational decisions made by connected vehicles by eliminating sensor information received from an unreliable source.For comparison, existing solutions would not exclude sensor information received from an unreliable source, and therefore these are likely to make poor vehicle operational decisions relative to those made by vehicles incorporating the accuracy system described herein. The improved decision-making enabled by this accuracy will enhance vehicle safety and could save lives.

[0029] Secondly, in some embodiments, the accuracy system described herein detects a damaged or inaccurate sensor for another vehicle and assists that vehicle in seeking repair. For example, the accuracy system detects vehicles whose sensor information is inaccurate or inconsistent in the manner described above. These vehicles are described as "unreliable vehicles".

[0030] In some embodiments, the accuracy system includes functionality that causes the reference vehicle to send a wireless message to unreliable vehicles, informing them that their sensors appear to require maintenance, calibration, or software updates. The unreliable vehicle can then take steps to inform its driver that maintenance is necessary.

[0031] Alternatively, the accuracy system can also send the wireless notification identifying the unreliable vehicle to a server belonging to the manufacturer of the unreliable vehicle, along with the data used by the accuracy system to designate the vehicle as unreliable. The server can analyze this data to verify whether the vehicle is indeed unreliable. If the server verifies that the vehicle is unreliable, the manufacturer can take action, either by sending a notification to the driver (for example, via email, SMS, or other suitable means) or by having the vehicle itself display a message to the driver requesting that the vehicle be brought in for servicing.If the determination that the vehicle is "unreliable" is not verified by the server, then the server can take action by collecting data that helps in generating a software update for the accuracy system, which improves its operation and functionality.

[0032] Third, the accuracy system can enhance the safety of other vehicles by detecting malicious attacks that could cause other vehicles to record inaccurate sensor readings. For example, an unreliable vehicle might generate inaccurate or inconsistent sensor information because it has been hacked by a malicious individual or computer program. As described above, the accuracy system can (1) detect vehicles whose sensor information is inaccurate or inconsistent and (2) send a wireless notification to the unreliable vehicle to inform it of the problem. These vehicles might then be taken to a dealer or mechanic for servicing, where the hacking issue can be investigated.

[0033] Alternatively, the accuracy system can send the wireless message identifying the unreliable vehicle to a server belonging to the manufacturer of the unreliable vehicle, along with the data used by the accuracy system to designate the vehicle as unreliable. The server can then analyze the underlying data. The server can also retrieve other diagnostic data from the other vehicle itself. In this way, the server can attempt to verify whether the other vehicle has been hacked. If the other vehicle has been hacked, the server can take immediate action, such as transmitting wireless messages to the other vehicle that cause its ADAS systems to safely pull over to a shoulder (or any safe and legal location) and cease operation.The server can take additional actions to inform the driver about the problem and perform other actions to assist the driver. In some implementations, the server is a cloud server.

[0034] A system of one or more computers can be configured to perform specific operations or actions by means of software, firmware, hardware, or a combination thereof installed on the system, which, in an operation, cause the system to perform the actions. One or more computer programs can be configured to perform specific operations or actions by means of instructions which, when executed by a data processing device, cause the device to perform the actions.

[0035] A general aspect comprises a procedure for a reference vehicle with an ADAS system, wherein the procedure includes: receiving DSRC data describing information about a first remote vehicle, wherein the DSRC data includes a sensor measurement recorded by the first remote vehicle; determining that the DSRC data is inconsistent with local sensor data measured by one or more sensors of the reference vehicle; requesting remote accuracy data from a set of remote vehicles, wherein the remote accuracy data describes an accuracy of the sensor measurement of the first remote vehicle, which is determined by the set of remote vehicles;Determining reference accuracy data for the first remote vehicle based on the remote accuracy data received from the set of remote vehicles, wherein the reference accuracy data describe an accuracy level for the first remote vehicle determined by the reference vehicle;and determine whether the DSRC data should be entered into the ADAS system, based on the accuracy level described by the reference accuracy data, so that inaccurate information is not entered into the ADAS system and the performance of the ADAS system is improved. Other embodiments of this aspect include appropriate computer systems, a device, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the procedures. In some embodiments, the reference accuracy data specifies whether certain sensor measurements (for example, position, velocity, direction, etc.) contained in the DSRC data are accurate.

[0036] Implementations may include one or more of the following features: The method in which the DSRC data is received via a broadcast message. The method in which the DSRC data is contained in a message received over channel 172 of a DSRC spectrum. The method in which the DSRC data describes one or more of the following: a location of the remote vessel at a given time; a speed of the remote vessel at a given time; and a direction of the remote vessel at a given time. The method in which a remote accuracy data request includes broadcasting a message containing a request for remote accuracy data from one or more second remote vessels included in the set of remote vessels.The method involves receiving one or more of the DSRC data and the remote accuracy data in a wireless communication provided by an RSU. The method further includes comparing the reference accuracy data to a threshold to determine if the threshold is met, determining whether to input the DSRC data into the ADAS system, inputting the DSRC data into the ADAS system if the threshold is met, and not inputting the DSRC data into the ADAS system if the threshold is not met. The method involves the reference vehicle being a highly autonomous vehicle. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.

[0037] A general aspect comprises a system with a reference vehicle, wherein the reference vehicle includes: an ADAS system; and an onboard vehicle computer system communicatively coupled to the ADAS system, wherein the onboard vehicle computer system includes non-volatile memory storing computer code which, when executed by the onboard vehicle computer system, causes the onboard vehicle computer system to: receive DSRC data describing information about a first remote vehicle, wherein the DSRC data includes a sensor measurement recorded by the first remote vehicle; determine that the DSRC data is inconsistent with local sensor data; request remote accuracy data from a set of remote vehicles, wherein the remote accuracy data describes an accuracy of the sensor measurement for the first remote vehicle;To determine reference accuracy data for the first remote vehicle, based on the remote accuracy data received from the set of remote vehicles, wherein the reference accuracy data describes an accuracy level for the first remote vehicle; and to determine whether the DSRC data is to be entered into the ADAS system, based on the accuracy level described by the reference accuracy data, so that inaccurate information is not entered into the ADAS system. Other embodiments of this aspect include appropriate computer systems, a device, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0038] Implementations may include one or more of the following features: The system in which the DSRC data is contained in a DSRC message and the reference accuracy data describes the accuracy of Part 1 of the DSRC data. The system in which the DSRC data describes one or more of the following: a location of the remote vessel at a given time; a speed of the remote vessel at a given time; and a direction of the remote vessel at a given time. The system in which a request for remote accuracy data involves broadcasting a message containing a request for remote accuracy data from one or more second remote vessels included in the set of remote vessels. The system in which one or more of the DSRC data and the remote accuracy data are received in a wireless message provided by a Remote Surveillance Unit (RSU).The system in which the local sensor data describe one or more of the following, as measured by a sensor set of the reference vehicle that is communicatively coupled to the on-board vehicle computer system: a location of the first remote vehicle at a given time; a speed of the remote vehicle at the given time; and a direction of the remote vehicle at the given time.The system, in which non-volatile memory stores additional computer code which, when executed by the onboard vehicle computer system, causes the onboard vehicle computer system to compare the reference accuracy data to a threshold to determine whether the threshold is met, including determining whether to input the DSRC data into the ADAS system, inputting the DSRC data into the ADAS system if the threshold is met, and not inputting the DSRC data into the ADAS system if the threshold is not met. The system, in which the reference vehicle is an autonomous vehicle. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.

[0039] A general aspect comprises a computer program product with non-volatile memory of an onboard vehicle computer system of a reference vehicle, which stores computer executable code which, when executed by a processor, causes the processor to: receive DSRC data describing information about a first remote vehicle, wherein the DSRC data includes a sensor measurement recorded by the first remote vehicle; determine that the DSRC data is inconsistent with local sensor data; request remote accuracy data from a set of remote vehicles, wherein the remote accuracy data describes an accuracy of the sensor measurement of the first remote vehicle;To determine reference accuracy data for the first remote vehicle, based on the remote accuracy data received from the set of remote vehicles, wherein the reference accuracy data describes an accuracy level for the first remote vehicle; and to determine whether the DSRC data is to be entered into an ADAS system, based on the accuracy level described by the reference accuracy data, so that inaccurate information is not entered into the ADAS system. Other embodiments of this aspect include appropriate computer systems, a device, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the procedures.

[0040] Implementations may include one or more of the following features: The computer program product in which the DSRC data are contained in a DSRC message and the reference accuracy data describe the accuracy of Part 1 of the DSRC data. The computer program product in which a request for remote accuracy data includes broadcasting a message containing a request for remote accuracy data from one or more second remote vehicles included in the set of remote vehicles. The computer program product in which one or more of the reference vehicle and the first remote vehicle are autonomous vehicles. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The revelation is presented as an example, not a limitation, in the figures of the pending drawings, in which the same reference signs are used to refer to similar elements. Fig. Figure 1 is a block diagram representing an operating environment for a precision system according to some embodiments. Fig. Figure 2 is a block diagram that represents an example of a computer system with a precision system according to some embodiments. Fig. Figure 3 is a flowchart of an example of a procedure for determining whether the DSRC data provided by a first remote vehicle is provided to an ADAS system of the reference vehicle according to some embodiments. Fig. 4A is a block diagram that represents an example of DSRC data according to some implementation examples. Fig. 4B is a block diagram that represents an example of DSRC data according to some implementation examples. Fig. 5, Fig. 6 to Fig. Figure 7 are block diagrams that illustrate an example of a use case of the accuracy system according to some embodiments. DETAILED DESCRIPTION

[0042] A driver's vehicle may below be referred to as a "reference vehicle." It is assumed that the reference vehicle includes an ADAS system. The reference vehicle also includes a sensor set that receives local sensor data describing the sensor measurements recorded by the sensor set. The reference vehicle may also receive remote sensor data, or far-field sensor data, recorded by the sensors of distant vehicles. In some embodiments, the far-field sensor data is contained in DSRC data transmitted via a DSRC message. Both the local and far-field sensor data may include data describing a road environment that includes the reference vehicle and one or more distant vehicles.For example, local sensor data and remote sensor data describe the location, speed, and direction of a specific remote vehicle at a specific time. See, for example, Part 1 of the DSRC data, which is located in [document / reference]. Fig. 4B are shown.

[0043] Since the functionality provided by the ADAS system depends on the accuracy of the sensor data used by the ADAS system, it would be advantageous for the ADAS system to always operate with the most accurate sensor data available under any circumstances, whether local or remote. For example, the reference vehicle incorporates a set of ADAS systems that make it a high-speed vehicle (HV), and this set of ADAS systems requires accurate remote sensor data to avoid a collision with a specific distant vehicle.The reference vehicle may include an accuracy system that solves this problem by determining the accuracy of the remote sensor data received from the specified remote vehicle (the remote sensor data may be contained in DSRC data) and determining whether to input this remote sensor data into the set of ADAS systems based on its accuracy.

[0044] Remote sensing data can originate from one or more remote sources. Examples of remote sources include a remote vehicle and a roadside unit (RSU). The RSU can relay remote sensing data to the reference vehicle, for example, if the remote vehicle is outside the reference vehicle's DSRC range. Optionally, the RSU could include a set of sensors that record their own remote sensing data, which is then relayed to the reference vehicle via DSRC or any other wireless communication protocol.

[0045] In some embodiments, the accuracy system can provide a message to the vehicle driver to inform them which of the local and remote sensor data is more accurate for a given time or timeframe. The message provided to the driver can be a visual message, such as a graphical user interface (GUI), an audio message, such as a sound produced by one or more speakers, or a combination of a visual and an audio message, provided simultaneously or concurrently.

[0046] The visual message can be provided by a head-up display unit or an electronic panel. The head-up display unit comprises a three-dimensional head-up display unit, such as the one described in U.S. Patent Application No. 15 / 080,433, filed on March 24, 2016, entitled "Wireless Data Sharing Between a Mobile Client Device and a Three-Dimensional Heads-Up Display Unit," the entirety of which is included herein by reference. The electronic panel can be an element of a main unit or head unit, or of an infotainment system, installed in the vehicle.

[0047] The audio message can be provided through one or more speakers operated by the vehicle's main unit, infotainment system, or navigation system. Examples of wireless messages containing remote sensor data

[0048] Vehicles are increasingly equipped with DSRC. A vehicle equipped with DSRC may be described as "DSRC-equipped" or "DSRC-capable." A DSRC-equipped vehicle may include a DSRC antenna and any hardware or software necessary to transmit and receive DSRC messages, generate DSRC messages, and read DSRC messages. For example, a DSRC-equipped vehicle may include any hardware or software necessary to receive a DSRC message, retrieve data contained in the DSRC message, and read the data contained in the DSRC message. The DSRC antenna includes a DSRC transmitter and receiver capable of legally transmitting and receiving DSRC messages within the area of ​​operation where the vehicle (for example, the reference vehicle) is located, over a 75 MHz spectrum in the 5th9 Gigaherz (GHz) Band.

[0049] In some implementations, the primary allocation for DSRC communications is 5.850 to 5.925 GHz, which includes the following channels: Channel 172, used for transmitting and receiving BSM and a small set of vehicle-to-infrastructure safety applications; Channel 174, used for infrastructure-to-vehicle communications and to avoid cross-channel interference with Channel 172; Channel 176, used for pedestrian safety communications and safety reference management; Channel 178, used for service announcements regarding Wireless Access in Vehicular Environments (WAVE) (that is, to inform vehicles that a WAVE service is available for a particular geographic area); Channel 180, used for non-BSM-related vehicle-to-vehicle safety communications and mobility.Channel 182, used for infrastructure-to-vehicle safety and mobility messages; and Channel 184, designated for public safety messages. The descriptions provided for these channels are illustrative and non-exclusive.

[0050] In some embodiments, DSRC messages are used to transmit remote sensor data from a distant vehicle to a reference vehicle. There are many types of DSRC messages. One type is known as BSM. Vehicles equipped with DSRC perform a BSM broadcast at regular intervals. In some embodiments, this interval is user-adjustable.

[0051] A BSM includes DSRC data. The DSRC data describes characteristics of the vehicle that originally transmitted the BSM. Vehicles equipped with DSRC perform a round-robin transmission of BSMs at an adjustable rate. In some embodiments, the rate may be once every 0.1 seconds. The BSM includes DSRC data that describes, among other things, one or more of the following: (1) a timestamp describing a specific time; (2) the vehicle position data (sometimes referred to as "global positioning system data" or "GPS data"), which describes the location of the vehicle transmitting the BSM at the time described by the timestamp; (3) the speed of the vehicle transmitting the BSM at the time described by the timestamp; and (4) the direction of travel of the vehicle transmitting the BSM at the time described by the timestamp. Fig. 4A and Fig. 4B, which are described below, represent examples of DSRC data according to some embodiments. Part 1 of the DSRC data comprises the remote sensor data according to some embodiments. See, for example, Fig. 4B.

[0052] In some embodiments, DSRC-equipped vehicles can probe other DSRC-equipped vehicles / facilities along the roadway for information describing their current and future states, including their trajectory, future path, and remote sensor data they may have received or generated. This information is described as "DSRC probe data." DSRC probe data can include any data received through or in response to a DSRC probe.

[0053] A DSRC message includes DSRC-based data. The DSRC-based data may include DSRC data or DSRC sounding data. In some embodiments, the DSRC-based data included in a DSRC message may include DSRC data or DSRC sounding data received from a multitude of DSRC-equipped vehicles (or other DSRC-equipped facilities). This DSRC data or DSRC sounding data may include an identifier of its source and the location of the source, or any traffic events described by the DSRC data or DSRC sounding data. In some embodiments, the DSRC sounding data includes remote sensing data, such as that included in Part 1 of the DSRC data.

[0054] In some embodiments, the DSRC-enabled vehicles will include a DSRC-compliant GPS unit. The DSRC data, or DSRC probing data, can specify the lane a vehicle is traveling in, as well as its speed and path. The DSRC data, or DSRC probing data, can further specify one or more of the following: the vehicle's speed at one or more different times or locations; the vehicle's direction at one or more different times or locations; and the vehicle's acceleration at one or more different times or locations.

[0055] Another type of wireless communication is a full-duplex wireless communication described in US patent application 14 / 471,387, filed on August 28, 2014, entitled "Full-Duplex Coordination System", the entirety of which is included herein by reference. Examples of track level accuracy

[0056] Vehicles are increasingly being manufactured to include a GPS-based navigation system. A GPS-based navigation system can provide navigation routes to a driver based on vehicle position data and information about queue lengths along roadways.

[0057] Lane-level accuracy means that a vehicle's location is described so precisely that its lane can be accurately determined. In the context of an accuracy system, lane-level accuracy allows the system to more accurately determine the area ID for the reference vehicle, and thus more accurately determine whether local or remote sensor data is more accurate at a given time or timeframe. A conventional GPS system is not capable of determining a vehicle's location with lane-level accuracy. A typical road lane is approximately 3 meters wide. However, a conventional GPS system might only have an accuracy of plus or minus 10 meters relative to the vehicle's actual location.

[0058] A DSRC-compliant GPS unit can provide vehicle positioning data that describes the vehicle's location with lane-level accuracy. A DSRC-compliant GPS unit can include hardware that communicates wirelessly with a GPS satellite to retrieve vehicle positioning data that describes a vehicle's location with an accuracy compliant with the DSRC standard. The DSRC standard requires that vehicle positioning data be precise enough to determine whether two vehicles are in the same lane. The lane can be a section of a road or roadway. The DSRC-compliant GPS unit can be operational to identify, monitor, and track its two-dimensional position within 1.5 meters of its actual position 68% of the time in open areas.Since lanes of a road are typically no less than 3 meters wide, the accuracy system described herein can, whenever the two-dimensional error of the vehicle position data is less than 1.5 meters, analyze the vehicle position data provided by the DSRC-compliant GPS unit and determine which lane the vehicle is traveling in, based on the relative positions of the vehicles on the road.

[0059] The accuracy system described herein can determine an area ID for the remote vehicle based on the vehicle position data provided by a DSRC-compliant GPS unit. ADAS system

[0060] The reference vehicle described herein includes a set of ADAS systems. The set of ADAS systems comprises one or more ADAS systems. Examples of an ADAS system may include one or more of the following elements of a reference vehicle: an ACC system; an adaptive high beam system; an adaptive lighting control system; an automatic parking system; an automotive night vision system; a blind spot monitor; a collision avoidance system; a crosswind stabilization system; a driver fatigue detection system; a driver monitoring system; an emergency driver assistance system; a forward collision warning system; a junction assist system; an intelligent speed adaptation system; a lane departure warning system; a pedestrian protection system; a traffic sign recognition system; a turn assist system; and a wrong-way driving warning system.

[0061] The ADAS system can also include software or hardware contained in the reference vehicle that makes the reference vehicle an autonomous or semi-autonomous vehicle. Digital data

[0062] Various types of data are described herein, including, for example, sensor data such as local sensor data and remote sensor data, DSRC data, remote accuracy data, reference accuracy data, and threshold data. These types of digital data, as well as any other type of data described herein, refer to digital data that can be stored digitally on non-volatile storage. Example of an overview

[0063] Referring to Fig. Section 1 describes an operational environment 100 for an accuracy system 199. The operational environment 100 can include one or more of the following elements: a reference vehicle 123; a first remote vehicle 124; a set of remote vehicles 126 comprising one or more second remote vehicles; and a roadside unit 104 (“RSU 104”). These elements of the operational environment 100 can be communicatively coupled to a network 105. Although in Fig. Not shown in Figure 1, the operating environment 100 in some embodiments comprises a server operated by a manufacturer of one or more of the reference vehicle 123, the first remote vehicle 124 and the second vehicle included in the set of remote vehicles 126.

[0064] Network 105 can be of a conventional type, wired or wireless, and can have numerous different configurations, including a star topology, a token ring topology, or other configurations. Furthermore, Network 105 can comprise a local area network (LAN), a wide area network (WAN) (for example, the internet), or other interconnected data paths over which multiple entities and / or identities can communicate. In some embodiments, Network 105 can comprise a peer-to-peer network. Network 105 can also be coupled to or comprise sections of a telecommunications network for transmitting data in a variety of different communication protocols.In some embodiments, the Network 105 comprises a Bluetooth® communication network or a cellular communication network for sending and receiving data, including a Short Message Service (SMS), a Multimedia Message Service (MMS), Hypertext Transfer Protocol (HTTP), a direct data connection, a Wireless Application Protocol (WAP), email, DSRC, full-duplex wireless communication, etc. The Network 105 may also include a mobile data network, which may include 3G, 4G, LTE, VoLTE, or any other mobile or cellular data network, or a combination thereof. Furthermore, the Network 105 may include one or more IEEE 802.11 wireless networks.

[0065] In some embodiments, one or more of the reference vehicle 123, the first remote vehicle 124, the first or several second remote vehicles included in the set of remote vehicles 126, and the RSU 104 are equipped with DSRC. The network 105 can comprise one or more communication channels shared between the reference vehicle 123 and one or more other wireless communication devices (for example, one or more first remote vehicles 124, one or more second remote vehicles, one or more RSUs 104, one or more servers 103, etc.). The communication channel can include DSRC, full-duplex wireless communication, or any other wireless communication protocol. For example, the network 105 can be used to transmit a DSRC message, a DSRC probe, or BSM including DSRC data 195 to the reference vehicle 123.

[0066] The reference vehicle 123, the first remote vehicle 124, and the one or more second remote vehicles included in the set of remote vehicles 126 may comprise the same or similar elements. Two or more of the reference vehicle 123, the first remote vehicle 124, and the second remote vehicles 126 may share a connection or link. For example, the reference vehicle 123 and the first remote vehicle 124 may share a common manufacturer (for example, Toyota), and the functionality described herein could be provided only for vehicles that share the same manufacturer.

[0067] The reference vehicle 123 can be a car, a truck, a sports utility vehicle, a bus, a semi-trailer truck, a drone, or any other road-based means of transport. In some embodiments, the vehicle 123 can be an autonomous vehicle or a semi-autonomous vehicle. For example, the reference vehicle 123 can include an ADAS system. In some embodiments, the reference vehicle 123 is a HAV.

[0068] The reference vehicle 123 can comprise one or more of the following elements: a sensor set 182; a processor 125; a memory 127; a communication unit 145; a DSRC-compliant GPS unit 170; an ADAS system 180; and an accuracy system 199. In some embodiments, the ADAS system 180 is an element of an ADAS system set comprising a plurality of ADAS systems 180. These elements of the reference vehicle 123 can be communicatively coupled to one another via a bus 120.

[0069] In some embodiments, the processor 125 and the memory 127 can be elements of an onboard vehicle computer system (not shown). The onboard vehicle computer system can be operational to initiate or control the operation of the accuracy system 199. The onboard vehicle computer system can be operational to access and execute the data stored in the memory 127 to provide the functionality described herein for the accuracy system 199 or its elements. For example, the reference vehicle 123 includes an electronic control unit (ECU) or some other onboard unit specialized for a vehicle application, and this processor-based computing device is the onboard vehicle computer system.

[0070] The sensor set 182 can comprise one or more sensors capable of measuring the physical environment outside the reference vehicle 123. For example, the sensor set 182 can record one or more physical characteristics of the physical environment in the vicinity of the reference vehicle 123.

[0071] In some embodiments, the sensor set 182 may include one or more of the following vehicle sensors: a camera; a LiDAR sensor; a laser altimeter; a navigation sensor (for example, a sensor of a global positioning system of the DSRC-compliant GPS unit 170); an infrared detector; a motion detector; a thermostat; a sound detector; a carbon monoxide sensor; a carbon dioxide sensor; an oxygen sensor; a mass airflow sensor; an engine coolant temperature sensor; a throttle position sensor; a crankshaft position sensor; an automotive engine sensor; a valve timing sensor; an air-fuel ratio sensor; a blind spot sensor; a curb sensor; a defect detector; a Hall effect sensor; an exhaust manifold absolute pressure sensor; a parking sensor; a radar gun; a speedometer; a speed sensor; or a speed sensor.Speed ​​sensor; a tire pressure monitoring sensor; a torque sensor; a transmission fluid temperature sensor; a turbine speed sensor (TSS); a variable reluctance sensor or variable reluctance sensor or an inductive sensor; a vehicle speed sensor (VSS); a water sensor; a wheel speed sensor; and any other type of automotive sensor.

[0072] The sensor set 182 can be operational to record local sensor data 191 describing one or more of the following: one or more locations of the first remote vehicle 124 at one or more distinct times; the speeds of the first remote vehicle 124 at the one or more distinct times; the directions of the first remote vehicle 124 at the one or more distinct times; and timestamps describing the one or more distinct times. The local sensor data 191 is stored in the memory 127.

[0073] In some embodiments, the sensor set 182 comprises one or more sensors capable of recording digital data describing any of the information contained in the DSRC data 195. See, for example, Fig. 4A and Fig. 4B.

[0074] The Processor 125 comprises an arithmetic logic unit, a microprocessor, a general-purpose controller, or some other processor field to perform calculations and provide electronic display signals to a display device. The Processor 125 processes data signals and can incorporate various computing architectures, including a complex instruction set computer (CISC) architecture, a reduced instruction set computer (RISC) architecture, or an architecture implementing a combination of instruction sets. Although Fig. While 1 comprises a single processor (125), it can include multiple processors. Other processors, operating systems, sensors, displays, and physical configurations are also possible.

[0075] The memory 127 stores instructions or data that can be executed by the processor 125. The instructions or data may include code for performing the techniques described herein. The memory 127 may be a dynamic random-access memory (DRAM) arrangement, a static random-access memory (SRAM) arrangement, flash memory, or some other storage arrangement. In some embodiments, the memory 127 also includes non-volatile memory or similar permanent storage arrangement and media, including a hard disk drive, a floppy disk drive, a CD-ROM arrangement, a DVD-ROM arrangement, a DVD-RAM arrangement, a DVD-RW arrangement, a flash memory arrangement, or some other mass storage arrangement for storing information on a permanent basis.

[0076] As in Fig. As shown in Figure 1, in some embodiments the memory 127 stores one or more of the following elements: the local sensor data 191; the DSRC data 195; the accuracy data set 194; and the reference accuracy data 190. In some embodiments, the DSRC data 195 is an element of the accuracy data set 194.

[0077] The local sensor data 191 are described below with reference to the sensor set 182, and therefore this description is not repeated here. The local sensor data 191 are digital data that describe, among other things, information about the first remote vehicle 124, such as its location, speed, and direction at one or more times. In this way, the local sensor data 191 describe information about the first remote vehicle 194 as recorded by the local sensors of the reference vehicle 123.

[0078] The DSRC data 195 are digital data describing information about the first remote vehicle 124, as recorded by the onboard sensors of the first remote vehicle 124. For example, the first remote vehicle 124 includes its own sensor set 182, and these sensors record DSRC data 195, which describes, among other things, information about the first remote vehicle 124, such as its location, speed, and direction at one or more times. The DSRC data 195 are referred to below with reference to Fig. 4A and Fig. 4B is described in more detail. The first remote vehicle 124 is a DSRC-capable vehicle and performs a round-robin transmission of BSMs at regular intervals. The BSMs include the DSRC data 195. The communication unit 145 of the reference vehicle 123 receives the BSMs, and in this way the reference vehicle 123 receives the DSRC data 195.

[0079] In some embodiments, the DSRC data 195 is contained in some other type of DSRC message, which is transmitted by the first remote vehicle 124 to the reference vehicle 123.

[0080] Accuracy data set 194 is a data structure that stores one or more instances of remote accuracy data 193. The remote accuracy data 193 is digital data that describes whether the DSRC data 195 provided by the first remote vehicle 124 is accurate. For example, the second remote vehicles included in the set of remote vehicles 126 each comprise an accuracy system 199. The accuracy systems 199 of these second remote vehicles each perform one or more of the following steps: (1) Determine, based on their own local sensor data 191 as recorded by the onboard sensors of these second remote vehicles, whether the DSRC data 195 provided by the first remote vehicle 124 is accurate (for example, whether the location information included in the DSRC data 195 is accurate).(1) whether the speed information contained in the DSRC data 195 is accurate with respect to the speed of the first remote vessel 124 at a given time; whether the direction information contained in the DSRC data 195 is accurate with respect to the direction of the first remote vessel at a given time; and so on); (2) generating remote accuracy data 193, which determines whether the first remote vessel 124 provides accurate DSRC data 195 about itself,(3) receive a request for remote accuracy data 193 from the reference vehicle 123; and (4) provide the remote accuracy data 193 to the reference vehicle 123. In this way, the accuracy system 199 of the reference vehicle 123 receives a plurality of instances of remote accuracy data 193 from the set of remote vehicles 126 and creates the accuracy data set 194 based on the remote accuracy data 193 received from the one or more remote vehicles.

[0081] In some embodiments, the remote accuracy data 193 describing the first remote vehicle 124 can vary from one second remote vehicle to another. For example, one second remote vehicle might determine that the first remote vehicle 124 provides accurate or reliable DSRC data 195, whereas another second remote vehicle might determine that the first remote vehicle 124 does not provide accurate or reliable DSRC data 195. In this way, the accuracy data set 194 is not homogeneous with respect to its description of the accuracy of the DSRC data 195 provided by the first remote vehicle 124 and whether the first remote vehicle 124 is reliable. As used herein, the term "reliable" refers to whether the onboard sensors of the first remote vehicle 124 provide accurate DSRC data 195.If the DSRC data 195 is accurate, then the first distant vehicle 124 is trustworthy. If the DSRC data 195 is inaccurate, then the first distant vehicle 124 is not trustworthy.

[0082] The reference accuracy data 190 are digital data that describe whether the first remote vehicle 124 has provided accurate DSRC data 195, as determined by the reference vehicle's accuracy system 199. In some embodiments, the accuracy system 199 receives one or more of the following as inputs: the local sensor data 191 describing the first remote vehicle 124; DSRC data 195 describing the first remote vehicle 124; and an accuracy data set 194 containing one or more instances of remote accuracy data 193 describing the first remote vehicle 124.In some embodiments, the accuracy system 199 comprises code and routines which, when executed by the processor 125 of the reference vehicle 123, are operational to cause the processor 125 to receive these inputs, to determine the reference accuracy data 190 based on these inputs, and then to determine whether to provide the DSRC data 195 as an input to the ADAS system 180 based on the reference accuracy data 190.

[0083] In some embodiments, if the reference accuracy data 190 describe the DSRC data 195 received from the first remote vehicle 124 as inaccurate, then the DSRC data 195 is not provided to the ADAS system 180 as an input. Optionally, all future instances of DSRC data 195 received from the first remote vehicle 124 are discarded or otherwise not provided to the ADAS system without further analysis to determine whether these future instances of DSRC data 195 are accurate, for example, because the first remote vehicle 124 is not trusted. Optionally, steps could be taken to cause the first remote vehicle 124 to ensure that its local sensors are serviced, replaced, or updated so that its DSRC data 195 is accurate in the future.If the reference accuracy data 190 describe that the DSRC data 195 received from the first remote vehicle 124 is accurate, then the DSRC data 195 is provided to the ADAS system 180 as input.

[0084] In some embodiments, the reference accuracy data 190 describe an accuracy level for the DSRC data 195 provided by the first remote vehicle 124 and whether the first remote vehicle 124 is trustworthy. It may be required that the accuracy level meets a predetermined threshold for the reference accuracy data 190 to indicate that the first remote vehicle 124 is trustworthy. The memory 127 stores threshold data describing the predetermined threshold. Threshold data is in Fig. 1 not shown. In some embodiments, the remote accuracy data 193 contained in the accuracy data set 194 describe one or more accuracy levels for the DSRC data 195 provided by the first remote vehicle 124, and this one or more accuracy levels are determined by the accuracy system 199 of the one or more second remote vehicles contained in the set of remote vehicles 126. See, for example, Fig. 5, Fig. 6 to Fig. 7, in which the reference accuracy data 190 (in Fig. 7 as “P5, o “designated) based partly on a multitude of instances of remote accuracy data 193 (P 5,1 , P 5,2 , P 5,3 , P 5,4 ) can be determined. The block that is in Fig. 5, Fig. 6 to Fig. Block 7, designated X0, is an exemplary embodiment of the reference vehicle 123; block X5 is an exemplary embodiment of the first remote vehicle 124; and blocks X1, X2, X3, and X4 are examples of second remote vehicles included in the set of remote vehicles 126. The accuracy system 199 of the reference vehicle 123 compares the reference accuracy data 190 with the threshold data to determine whether the predetermined threshold is met and thus determines whether the DSRC data 195 for the first remote vehicle 94 is provided as an input for the ADAS system 180.

[0085] In some embodiments, the reference accuracy data 190 describe whether certain sensor measurements (for example, location, speed, direction, etc.) contained in the DSRC data 195 are accurate.

[0086] Referring back to Fig. 1. The communication unit 95 transmits and receives data to and from a network 105 or another communication channel. In some embodiments, the communication unit 195 may include a DSRC transmitter-receiver, a DSRC receiver, or other hardware or software necessary to make the reference vehicle 123 a DSRC-capable device.

[0087] In some embodiments, the communication unit 145 includes a connector for a direct physical connection to the network 105 or to another communication channel. For example, the communication unit 145 includes a USB, SD, CAT-5, or other similar connector for wired communication with the network 105. In some embodiments, the communication unit 145 includes a wireless transmitter-receiver for exchanging data with the network 105 or another communication channel using one or more wireless communication methods, including: IEEE 802.11; ...16, Bluetooth®; EN ISO 14906:2004 Electronic fee collection, application interface; EN 11253:2004 Dedicated short-range communication - physical layer using microwaves at 5.8 GHz (review); EN 12795:2002 Dedicated short-range communication (DSRC) - DSRC data link layer: media access and logic link control (review); EN 12834:2002 Dedicated short-range communication - application layer (review); EN 13372:2004 Dedicated short-range communication (DSRC) - DSRC profiles for RTTT applications (review); the communication method described in U.S. patent application 14 / 471,387, filed on August 28, 2014, entitled "Full-Duplex Coordination System," or a suitable wireless communication method.

[0088] In some embodiments, the communication unit 145 includes a full-duplex coordination method described in US patent application 14 / 471,387, filed on August 28, 2014, entitled “Full-Duplex-Coordination System”.

[0089] In some embodiments, the communication unit 145 comprises a cellular communication transmitter-receiver for sending and receiving data over a cellular communication network, including a short message service (SMS), a multimedia message service (MMS), hypertext transfer protocol (HTTP), a direct data connection, WAP, email, or another suitable type of electronic communication. In some embodiments, the communication unit 145 comprises a wired connection and a wireless transmitter-receiver. The communication unit 145 also provides other conventional connections to the network 105 for distributing data or media files using standard network protocols, including TCP / IP, HTTP, HTTPS, SMTP, millimeter waves, DSRC, etc.

[0090] Although it is in Fig. Not shown in Figure 1, in some embodiments the first remote vehicle 124, the second remote vehicles, and the RSU include a communication unit 145. In some embodiments, the communication unit 145 may include code or routines that create and transmit a wireless message to the network 105, which includes DRSC data 195. For example, the first remote vehicle 124, one or more second remote vehicles, or the RSU 104 may include a communication unit 145 that causes a wireless message, including the DRSC data 195, to be transmitted to the reference vehicle 123. The wireless message may include a DRSC message, a DRSC probe, a BSM, a full-duplex wireless message, or any other type of wireless message transmitted via any other wireless communication method or protocol.The communication unit 145 of the reference vehicle 123 can receive the wireless message including the DSRC data 195.

[0091] In some embodiments, the communication unit 145 of the reference vehicle 123 can provide the DSRC data 195 to the accuracy system 199 or store the DSRC data 195 in the memory 127.

[0092] The DSRC-compliant GPS unit 170 can include hardware that communicates wirelessly with a GPS satellite to retrieve vehicle position data describing the location of the reference vehicle 123. In some embodiments, a DSRC-compliant GPS unit 170 is capable of providing vehicle position data describing the location of the reference vehicle 123 with a degree of accuracy of one lane plane or lane level. This vehicle position data is included in Part 1 of the DSRC data 195. The DSRC standard requires that vehicle position data be precise enough to deduce whether two vehicles (such as the reference vehicle 123 and another vehicle on the same road as the reference vehicle 123) are in the same lane.The DSRC-compliant GPS unit 170 can be operational to identify, monitor, and track its two-dimensional position within 1.5 meters of its current position 68% of the time in open areas. Since lanes of a road are typically no less than 3 meters wide, the accuracy system 199, whenever the two-dimensional error of the vehicle position data is less than 1.5 meters, can analyze the vehicle position data provided by the DSRC-compliant GPS unit 170 and determine which lane of the road the reference vehicle 123 is traveling in, based on the relative positions of the vehicles on the road.

[0093] For comparison, a GPS unit that is not DSRC-compliant is far less accurate than the DSRC-compliant GPS Unit 170 and is not capable of reliably providing the same level of lane level accuracy. For example, a non-DSRC-compliant GPS unit may have an accuracy on the order of 10 meters, which is not precise enough to provide the level of lane level accuracy provided by the DSRC-compliant GPS Unit 170. Since a lane may be as narrow as 3 meters, for example, the DSRC standard may require a DSRC-compliant GPS Unit 170 to have an accuracy on the order of 1.5 meters, which is significantly more precise than a non-DSRC-compliant GPS unit, as described above.

[0094] The ADAS 180 system is an advanced driver assistance system, like those described above.

[0095] In some embodiments, the ADAS system 180 comprises some hardware or software that controls one or more operations of the reference vehicle 123, such that the reference vehicle 123 is “autonomous” or “semi-autonomous”. For example, the reference vehicle 123 comprises a set of ADAS systems 180 that make the reference vehicle 123 one of the following: a Level 1 autonomous vehicle; a Level 2 autonomous vehicle; a Level 3 autonomous vehicle; a Level 4 autonomous vehicle; a Level 5 autonomous vehicle; and an HAV.

[0096] In some embodiments, the accuracy system 199 comprises code and routines which, when executed by the processor 125, are capable of causing the processor 125 to perform one or more of the steps described below with reference to Fig. 3 are described below. In some embodiments, the accuracy system 199 comprises code and routines which, when executed by the processor 125, are capable of causing the processor 125 to perform one or more steps, such as those described below with reference to Fig. 5, Fig. 6 to Fig. 7 are to be carried out.

[0097] In some embodiments, the accuracy system 191 comprises code and routines which, when executed by the processor 125, are capable of causing the processor 125 to perform one or more of the following: (1) receiving the DSRC data 195 describing the first remote vehicle 124; (2) causing the local sensors contained in the sensor set 182 to generate the local sensor data 191; (3) determining that the local sensor data 191 and the DSRC data 195 describe the first remote vehicle 124 differently [for example, that the location of the first remote vehicle 124 at a given time is described differently, the speed of the first remote vehicle 124 at a given time is described differently, the direction of the first remote vehicle 124 at a given time is described differently, etc.].]; (4) Requesting remote accuracy data 193 from the second remote vehicles included in the set of remote vehicles 126; (5) Receiving the remote accuracy data 193 from one or more second remote vehicles; (6) Creating the accuracy data set 194 based on the remote accuracy data 193 received from one or more second remote vehicles; (7) Determining the reference accuracy data 190 based on one or more of the DSRC data 195, the local sensor data 191, and the remote accuracy data 193 received from the one or more second remote vehicles; and (8) Determining whether to provide the DSRC data 195 received from the first remote vehicle 124 to the ADAS system 180, based on the reference accuracy data 190.

[0098] In some embodiments, the accuracy system 199 can be implemented using hardware including a field-programmable gate array (“FPGA”) or an application-specific integrated circuit (“ASIC”). In other embodiments, the accuracy system 199 can be implemented using a combination of hardware or software. The accuracy system 199 can be stored in a combination of devices (for example, servers or other devices) or in just one of them.

[0099] Accuracy system 199 is described below with reference to Fig. Sections 2, 3 and 5 to 7 are described in more detail.

[0100] Although it is in Fig. Not shown in Figure 1, the reference vehicle 123 may, in some embodiments, include a full-duplex coordination system as described in U.S. Patent Application 14 / 471,387, filed on August 28, 2014, entitled "Full-Duplex Coordination System." In some embodiments, the full-duplex coordination system of the reference vehicle 123 receives a full-duplex wireless message containing the DSRC data 195.

[0101] The first remote vehicle 124 contains elements similar to the reference vehicle 123, and therefore their description is not repeated here. The first remote vehicle 124 includes, among other things, non-volatile memory that stores the DSRC data 195 and an accuracy system 199. The accuracy system 199 of the first remote vehicle 124 includes a communication unit (similar to the communication unit 145) that provides the DSRC data 195 to the reference vehicle 123 (and other networked vehicles, such as the second remote vehicle of the set of remote vehicles 123) via the network 105. The first remote vehicle 124 includes a sensor set (similar to the sensor set 182) that measures sensor data describing the information necessary to generate the DSRC data 195.For example, the sensor set of the first remote vehicle 124 measures sensor data describing the location, speed, and direction of the first remote vehicle 124 at a given time. This sensor data is then stored in a DSRC message (for example, a BSM) as DSRC data 195 by the communication unit or accuracy system 199 of the first remote vehicle 124. The DSRC message is provided to the network 105 by the communication unit of the first remote vehicle 124. In this way, the first remote vehicle 124 provides DSRC data 195 to the reference vehicle 123, describing information about the first remote vehicle 124.

[0102] In some embodiments, the first remote vehicle 124 comprises a computer system 200, such as the one described in Fig. 2 is shown.

[0103] The set of remote vehicles 126 comprises one or more second remote vehicles. Examples of second remote vehicles are given in Fig. 5, Fig. 6 to Fig. Figure 7 illustrates that the one or more second remote vehicles of the set of remote vehicles 126 comprise elements similar to the reference vehicle 123, and therefore their description is not repeated here. In some embodiments, the second remote vehicles each comprise a computer system 200, such as the one described in Figure 7. Fig. 2 is shown.

[0104] The set of remote vehicles 126 includes, among other things, one or more second remote vehicles. In some embodiments, each of the second remote vehicles includes non-volatile memory that stores an accuracy system 199 and remote accuracy data 193. The set of remote vehicles 126 is described with reference to the one or more second remote vehicles included in the set of remote vehicles 126. For simplicity, reference is sometimes made to a single second remote vehicle. However, it should be understood that each of the second remote vehicles includes similar elements, so that describing a single second remote vehicle helps to explain the functionality of the set of remote vehicles 126 as a whole.

[0105] In some embodiments, a second remote vehicle comprises non-volatile memory that stores the remote accuracy data 193 (as well as sensor data and other digital data used to generate the remote accuracy data 193) and the accuracy system 199. The second remote vehicle includes a communication unit (similar to the communication unit 145) that provides the remote accuracy data 193 to the reference vehicle 123 via the network 105. The second remote vehicle includes a sensor set (similar to the sensor set 182) that measures sensor data describing the information necessary for the accuracy system 199 of the second remote vehicle to determine the remote accuracy data 193.For example, the sensor set of the second remote vehicle measures sensor data describing the position, speed, and direction of the first remote vehicle 124 at a given time. This sensor data is then used by the accuracy system 199 of a second remote vehicle to determine the remote accuracy data 193. In some embodiments, the remote accuracy data 193 is determined by the determination module 204 in a similar manner to how the reference accuracy data 190 is determined by the accuracy system 199 of the reference vehicle 123. The determination of the remote accuracy data 193 is described in more detail below.In some embodiments, the remote accuracy data 193 is stored in a wireless message that is transmitted by the communication unit of the second remote vehicle to the reference vehicle 123 via the network 105. In this way, one or more second remote vehicles provide their remote accuracy data 193 to the reference vehicle 123. The accuracy system 199 of the reference vehicle 123 creates the accuracy data set 194 based on the one or more instances of remote accuracy data 193 provided by one or more of the second remote vehicles of the set of remote vehicles 126.

[0106] The RSU 104 includes non-volatile memory that stores remote accuracy data 193, DSRC data 195, and an accuracy system 199. The RSU 104 also includes a communication unit (similar to communication unit 145). The RSU 104 may also include a sensor set (similar to sensor set 182) that measures the DSRC data 195 and any data necessary to generate the remote accuracy data 193. As an alternative to recording the DSRC data 195 directly using its own sensor set, the RSU 104 can relay DSRC data 195 from the first remote vehicle 124 to the reference vehicle 123. For example, if the reference vehicle 123 is outside a communication range of the first remote vehicle 124, then the RSU 104 can forward a wireless message including the DSRC data 195 to the reference vehicle 123.Similarly, the RSU 104 can relay the remote accuracy data 193 from a second remote vehicle to the reference vehicle 123.

[0107] Referring now to Fig. Figure 2 shows a block diagram illustrating an example of a computer system 200 with a precision system 199 according to some embodiments.

[0108] In some embodiments, the computer system 200 may comprise a special-purpose computer system programmed to perform one or more steps of a method 300, which is described below with reference to Fig. 3 is described, or the process described below with reference to Fig. 5, Fig. 6 to Fig. 7 is described.

[0109] In some embodiments, the computer system 200 can be an element of one or more of the following: the reference vehicle 123; the first remote vehicle 124; one or more of the second remote vehicles; and the RSU 104.

[0110] In some embodiments, the computer system 200 can be an onboard vehicle computer of a facility such as one or more of the following: the reference vehicle 123; the first remote vehicle 124; one or more of the second remote vehicles; and the RSU 104.

[0111] In some embodiments, the computer system 200 can be a machine control unit, a main unit, or any other processor-based computing device of a vehicle, such as one or more of the following: the reference vehicle 123; the first remote vehicle 124; and one or more of the second remote vehicles.

[0112] According to some examples, the computer system 200 can include one or more of the following elements: the accuracy system 199; the processor 125; the communication unit 145; the sensor set 182; the DSRC-compliant GPS unit 170; the ADAS system 180; the memory 127; and a memory 241. The components of the computer system 200 are communicatively coupled via a bus 220.

[0113] In the illustrated embodiment, the processor 125 is communicatively coupled to the bus 220 via a signal line 238. The communication unit 145 is communicatively coupled to the bus 220 via a signal line 246. The sensor set 182 is communicatively coupled to the bus 220 via a signal line 248. A DSRC-compliant GPS unit 170 is communicatively coupled to the bus 220 via a signal line 249. The ADAS system 180 is communicatively coupled to the bus 220 via a signal line 239. The memory 241 is communicatively coupled to the bus 220 via a signal line 242. The memory 127 is communicatively coupled to the bus 220 via a signal line 244.

[0114] The following elements of the Computer System 200 were described above with reference to Fig. 1 described, so that their description is not repeated here: the accuracy system 199; the processor 125; the communication unit 145; the sensor set 182; the DSRC-compliant GPS unit 170; the ADAS system 180; and the memory 127.

[0115] Memory 127 can store any of the digital data described herein.

[0116] Memory 241 is a non-volatile storage medium that stores data to provide the functionality described herein. Memory 241 may be a dynamic random-access memory (DRAM) array, a static random-access memory (SRAM) array, flash memory, or some other storage array. In some embodiments, Memory 241 also includes non-volatile memory or a similar permanent storage array and media, including a hard disk drive, a floppy disk drive, a CD-ROM array, a DVD-ROM array, a DVD-RAM array, a DVD-RW array, a flash memory array, or some other mass storage array for storing information on a more permanent basis.

[0117] In the Fig. In the embodiment shown in Figure 2, the accuracy system 199 comprises a communication module 202 and a determination module 204. These components of the accuracy system 199 are communicatively coupled to each other via a bus 220. In some embodiments, components of the accuracy system 199 can be stored in a single server or device. In other embodiments, components of the accuracy system 199 can be distributed and stored across multiple servers or devices. For example, some components of the accuracy system 199 can be distributed across one or more servers, RSUs, and the reference vehicle 123.

[0118] The communication module 202 can be software, including routines for handling communications between the accuracy system 199 and other components of the computer system 200. In some embodiments, the communication module 202 can be a set of instructions executable by the processor 125 to provide the functionality described below for handling communications between the accuracy system 199 and other components of the computer system 200.

[0119] The communication module 202 sends and receives data via the communication unit 145 to and from one or more elements of the operating environment 100. For example, the communication module 202 receives or transmits via the communication unit 145 one or more of the following elements: the DSRC data 195; the remote accuracy data 193; and any of the wireless messages described herein, including requirements for remote accuracy data 193.

[0120] In some embodiments, the communication module 202 receives data from components of the accuracy system 199 and stores the data in one or more of the memory 241 and the memory 127. For example, the communication module 202 receives any digital data described above (for example, via the network 105, a DSRC message, a BSM, a DSRC probe, a full-duplex wireless message, etc.) and stores this data in the memory 127 (or temporarily in the memory 241, which may serve as a buffer).

[0121] In some embodiments, the determination module 204 can cause the communication module 202 to communicate with the other elements of the computer system 200.

[0122] For example, the Identification Module 204 can use the Communication Module 202 to communicate with the Sensor Set 182 and cause the Sensor Set 182 to record the local sensor data 191. In another example, the Identification Module 204 can use the Communication Module 202 to communicate with the DSRC-compliant GPS Unit 170 and cause the DSRC-compliant GPS Unit 170 to retrieve vehicle position data. In yet another example, the Identification Module 204 can use the Communication Module 202 to retrieve the remote accuracy data 193 for a specific first remote vehicle 124 from memory 127 and create the accuracy data set 194 based on the remote accuracy data 193 describing that specific first remote vehicle 124.In another example, the communication unit 145 can receive DSRC data 195 from the network 105, and the destination module 204 can instruct the communication module 202 to store the DSRC data 195 in memory 127. These examples are intended as illustrations and not as limitations.

[0123] In some embodiments, the communication module 202 can be stored in the memory 127 of the computer system 200 and can be accessed and executed by the processor 125. The communication module 202 can be adapted for cooperation and communication with the processor 125 and other components of the computer system 200 via a signal line 222.

[0124] The determination module 204 can be software, including routines that are operational when executed by the processor 125 to cause the processor 125 to perform one or more steps, including: (1) receiving the DSRC data 195 describing the first remote vehicle 124; (2) causing the local sensors contained in the sensor set 182 to generate the local sensor data 191; (3) determining that the local sensor data 191 and the DSRC data 195 describe the first remote vehicle differently [for example, the location of the first remote vehicle at a given time is described differently, the speed of the first remote vehicle 124 at a given time is described differently, the direction of the first remote vehicle 124 at a given time is described differently, etc.].]; (4) Requesting remote accuracy data 193 from the second remote vehicles included in the set of remote vehicles 126; (5) Receiving the remote accuracy data 193 from one or more of the second remote vehicles; (6) Creating the accuracy data set 194 based on the remote accuracy data 193 received from the one or more second remote vehicles; (7) Determining the reference accuracy data 190 based on one or more of the DSRC data 195, the local sensor data 191, and the remote accuracy data 193 received from one or more of the second remote vehicles; and (8) Determining whether to provide the DSRC data 195 received from the first remote vehicle 124 to the ADAS system 180, based on the reference accuracy data 190.

[0125] The determination module 204 can be software, including routines that, when executed by the processor 125, cause the processor 125 to use one or more of the sensors contained in the sensor set 182 to generate the local sensor data 191. For example, the determination module 204 can include code and routines that, when executed by the processor 125, cause the processor 125 to operate one or more of the sensors contained in the sensor set 182 to record measurements of the physical environment near the computer system 200 (for example, a road environment including the reference vehicle 123 and the first distant vehicle 124).

[0126] In some embodiments, the determination module 204 can generate local sensor data 191 that describe the measurements of the sensor set 182. The determination module 204 can cause the local sensor data 191 to be stored in the memory 127.

[0127] In some embodiments, the communication unit 145 can receive DSRC data 195 from the network 105 and the destination module 204 can cause the communication module 202 to store the DSRC data 195 in the memory.

[0128] In some embodiments, the determination module 204 can be software, including routines which, when executed by the processor 125, are capable of causing the processor 125 to perform one or more of the following steps: (1) execute one or more sensors of the sensor set 182 to generate the local sensor data 191; (2) store the local sensor data 191 in the memory 127; (3) query the communication unit 145 to receive DSRC data 195 generated by one or more sensors of one or more of the first remote vehicle 124 or one or more RSU(s) 104; and (4) store the DSRC data 195 in the memory 127.

[0129] In some embodiments, the computer system 200 is an element of a first remote vehicle 124. The memory 127 of the computer system 200 stores the DSRC data 195, which describes the first remote vehicle 124, and the accuracy system 199. The communication unit 145 of the computer system 200 makes the DSRC data 195 available to the reference vehicle 123 (or other networked vehicles, such as the second remote vehicles of the set of remote vehicles 126) via the network 105. The determination module 204 of the computer system 200 comprises code and routines which, when executed by the processor 125, are operational to control the operation of the sensor set 182, causing the sensor set 182 to measure sensor data that describes the information necessary to create or populate the DSRC data 195.For example, the sensor set 182 of computer system 200 measures sensor data describing the location of the first remote vehicle at a given time, the speed data of the first remote vehicle 124 at that given time, and the direction of the first remote vehicle 124 at that given time. This sensor data is then stored in a DSRC message (for example, a BSM) as DSRC data 195 by the communication module 202 or the communication unit 145. The communication module 202 comprises code and routines which, when executed by the processor 125, are operational to cause the processor to control the operation of the communication unit 145 in order to cause the communication unit 145 to provide the DSRC message to the network 105. In this way, the first remote vehicle 124 provides DSRC data 195 to the reference vehicle 123, describing information about the first remote vehicle 124.

[0130] In some embodiments, the computer system 200 is a component of a second remote vehicle. The memory 127 of the computer system 200 stores the remote accuracy data 193 (as well as sensor data and other digital data used to generate the remote accuracy data 193) and the accuracy system 199. The computer system of the second remote vehicle also includes the communication unit 145. The communication module 202 comprises code and routines which, when executed by the processor 125, are operational to cause the communication unit 145 to provide the remote accuracy data 193 to the reference vehicle 123 via the network 105.For example, the communication unit 145 receives a request for the remote accuracy data 193 from the network 105 (for example, because such a request was transmitted by the reference vehicle 123), and the communication module 202 provides this request to the determination module 202. The computer system 200 of the second remote vehicle includes a sensor set 182. The determination module 204 includes code and routines which, when executed by the processor 125, are operational to control the operation of the sensor set 182, to cause the sensor set 182 to measure sensor data that describes the information necessary for the determination module 204 to determine the remote accuracy data 193.For example, the sensor set 182 of the computer system 200 measures sensor data describing the location, speed, and direction of the first remote vehicle 124 at a given time. This sensor data is then used by the determination module 204 to determine the remote accuracy data 193. In some embodiments, the remote accuracy data 193 is determined by the accuracy system 199 of the second remote vehicle in a similar manner to how the reference accuracy data 190 is determined by the reference vehicle 123. The determination of the remote accuracy data 193 is described in more detail below. In some embodiments, the remote accuracy data 193 is stored in a wireless message by the communication module 202 of the computer system 200.The communication module 202 then instructs the communication unit 145 of the computer system 200 to provide the wireless message to the reference vehicle 123 via the network 105. The reference vehicle 123 also includes an embodiment of the computer system 200, and the determination module of the reference vehicle 123 includes software that creates the accuracy data set 194 based on the remote accuracy data 193 provided by one or more of the second remote vehicles.

[0131] In some embodiments, the determination module 204 can be stored in the memory 127 of the computer system 200 and can be accessed and executed by the processor 125. The determination module 204 can be adapted for cooperation and communication with the processor 125 and other components of the computer system 200 via the signal line 224.

[0132] Referring now to Fig. Figure 3 is a flowchart of an example of Method 300 for determining whether the DSRC data provided by a first remote vehicle is provided to an ADAS system of a reference vehicle, according to some embodiments. One or more of the steps described herein for Method 300 may be performed by one or more accuracy systems.

[0133] In step 301, DSRC data is received from a first remote vehicle. The DSRC data describes information about the first remote vehicle.

[0134] In step 303, local sensor data is generated. This local sensor data describes information about the first remote vehicle.

[0135] In step 305, the apparent or detectable accuracy of the information contained in the DSRC data is determined based on the local sensor data. For example, the information about the first distant vehicle contained in the DSRC data is compared with the information about the first distant vehicle contained in the local sensor data to determine the apparent or detectable accuracy of the information contained in the DSRC data. In some embodiments, the local sensor data can be assumed to be accurate because the states of the reference vehicle's onboard sensors are known and assumed to be good. In other embodiments, the local sensor data is assumed to be inaccurate, and step 305 identifies a variance between the DSRC data and the local sensor data.Variance occurs when the DSRC data is inconsistent with the local sensor data.

[0136] In step 307, remote accuracy data is requested from a set of remote vehicles. This set includes one or more second remote vehicles. A second remote vehicle determines remote accuracy data that describes an accuracy level for the first remote vehicle—that is, whether the DSRC data provided by the first remote vehicle accurately describes information about the first remote vehicle. Each second remote vehicle in the set provides its own instance of remote accuracy data describing the accuracy level of the first remote vehicle. In this way, the reference vehicle receives multiple instances of remote accuracy data.

[0137] In step 308, an accuracy data set is created based on the multitude of instances of remote accuracy data received from the set of remote vehicles. The set of remote vehicles includes one or more second remote vehicles that are distinct from the first remote vehicle. In some embodiments, each second remote vehicle includes its own accuracy level for the first remote vehicle. Therefore, different second vehicles can determine a different accuracy level for the first remote vehicle relative to the accuracy level for the first remote vehicle determined by other second vehicles.For example, a second vehicle X1 determines a first accuracy level for the first remote vehicle, and a second remote vehicle X2 determines a second accuracy level for the first remote vehicle, and the first accuracy level is not equal to the second accuracy level.

[0138] In step 309, the reference accuracy data are determined based on one or more of the following: (1) the local sensor data; (2) Part 1 of the DSRC data received from the first remote vehicle; and (3) the accuracy data set. The reference accuracy data describe the accuracy level for the first remote vehicle as determined by a reference vehicle performing method 300 according to some embodiments.

[0139] In step 311, the operation of the reference vehicle is partially controlled based on the reference accuracy data. For example, an ADAS system of the reference vehicle controls the operation of the reference vehicle. A determination is made as to whether the DSRC data is provided to the ADAS system, based at least partially on the reference accuracy data. In this way, the operation of the reference vehicle is partially controlled based on the reference accuracy data.

[0140] In some embodiments, steps 303 to 311 are executed in real time or substantially in real time relative to the reception of the DSRC data in step 301. This is advantageous because, for example, it improves the performance of the reference vehicle's ADAS system by ensuring that the ADAS system only considers accurate information when the reference vehicle's operation is being controlled. This is particularly important if the reference vehicle is an automated or semi-automated vehicle, where the operation of the ADAS system could cost lives.

[0141] Referring now to Fig. Figure 4A shows a block diagram illustrating an example of DSRC data 195 according to some embodiments.

[0142] A DSRC message can be broadcast or transmitted over the 5.9 GHz DSRC band. BSMs are broadcast, whereas other DSRC messages are unicast. A DSRC range can be substantially 1000 meters. In some embodiments, the DSRC range can be from substantially 100 meters to substantially 1000 meters. The range is variable based on the presence of obstacles such as other vehicles, trees, hills, and buildings. For example, the DSRC range in a rural, flat environment is larger than in an urban area due to the presence of buildings and more cars in the city.

[0143] In some embodiments, the DSRC message is a BSM. The regular interval for transmitting BSMs can be user-configurable. In some embodiments, a default setting for this interval might be to transmit the BSM every 0.1 seconds or essentially every 0.1 seconds.

[0144] Referring now to Fig. Figure 4B shows a block diagram illustrating an example of DSRC data 195 according to some embodiments.

[0145] A DSRC notification consists of two parts. These two parts may contain different DSRC data, as in Fig. 4B is shown.

[0146] Part 1 of the DSRC data 195 can describe one or more of the following: a vehicle position; vehicle direction; vehicle speed; vehicle acceleration; vehicle steering wheel angle; and vehicle size.

[0147] Part 2 of the DSRC 195 data can comprise a variable set of data elements selected from a list of optional elements. Some of the DSRC 195 data included in Part 2 of the BSM is selected based on event triggers; for example, activation of an anti-lock braking system (“ABS”) can trigger DSRC 195 data relevant to the vehicle's ABS system.

[0148] In some embodiments, some of the elements of Part 2 are transmitted less frequently in order to save bandwidth.

[0149] In some embodiments, the DSRC data 195 contained in a DSRC communication (for example, a BSM) includes instantaneous snapshots or momentary images of a vehicle traveling along a carriageway or road system.

[0150] In some embodiments, the reference accuracy data 190 describe whether certain sensor measurements (for example, location, speed, direction, etc.) contained in the DSRC data 195 are accurate.

[0151] Fig. 5, Fig. 6 to Fig. Figure 7 shows block diagrams illustrating an example of a use case of the accuracy system according to some embodiments. The block shown in Figure 7 represents the accuracy system. Fig. 5, Fig. 6 to Fig. Block 7, designated X0, is an example of an embodiment of the reference vehicle 123; block X5 is an example of an embodiment of the first remote vehicle 124; and blocks X1, X2, X3, and X4 are examples of second remote vehicles included in the set of remote vehicles 126. The accuracy system 199 of the reference vehicle 123 compares the reference accuracy data 190 with the threshold data to determine whether the predetermined threshold is met and thus determines whether the DSRC data 195 for the first remote vehicle 124 is provided to the ADAS system 180 as an input.

[0152] Each of X0, X1, X2, X3, X4, and X5 can be considered a node. A node is typically a vehicle, but can also be a piece of infrastructure equipment, such as an RSU. Nodes can communicate with each other via DSRC or other wireless communication methods.

[0153] Referring now to Fig. Figure 5 shows a block diagram illustrating an example of a use case of the accuracy system according to some embodiments.

[0154] At block 501, the reference vehicle (X0) receives DSRC data from the first remote vehicle (X5). The DSRC data describes information about the first remote vehicle. The reference vehicle does not know the accuracy level for the first remote vehicle because, for example, it has never previously received DSRC data from the first remote vehicle. The reference vehicle's accuracy system causes its sensor set to generate local sensor data describing the first remote vehicle. The reference vehicle's accuracy system compares the DSRC data with the local sensor data and identifies any variance between the DSRC data and the local sensor data. If multiple instances of the DSRC data are received (for example, because BSMs are broadcast every 0.1 seconds), then the multiple instances of DSRC data may be inconsistent with each other, which would also indicate variance.

[0155] At block 502, the reference vehicle requests remote accuracy data from a multitude of second remote vehicles (X1, X2, X3 and X4) that describe the first remote vehicle.

[0156] At block 503, the reference vehicle receives wireless messages from the multitude of second remote vehicles, containing their remote accuracy data for the first remote vehicle. The reference vehicle's accuracy system determines the reference accuracy data partly based on the remote accuracy data.

[0157] Exemplary functions included in the accuracy system for determining the reference accuracy data are now described according to some embodiments. Some definitions for these functions include the following: X i : Node i. A node is usually a vehicle, but can also be a facility in the infrastructure, such as an RSU. Ri: Request marker for node i. Si: Transmit marker for node i. P i, j Accuracy level for node i of node j. This accuracy level can be for specific information or can be applied generally to all information contained in the DRSC data of a given node i. T: Time until the timeout.

[0158] In some embodiments, each node X0 has two basic functions: (1) the request function; and (2) the delivery function. The request function performs a broadcast of a message for the accuracy level of X. ithrough (that is, requests remote accuracy data from other remote nodes, such as the second remote vehicle). The provisioning function provides the reference accuracy data to Xi. If the reference accuracy data has been calculated, it is directly broadcast by X0; otherwise, X0 first calls the request function and then performs the broadcast.

[0159] The request function will now be described. requirement (X i , T) 1 if (R i ==0) 2 R i\ = 1 3 Distribution of a request for information regarding accuracy level X i\ 4 während (immer noch vor dem Timeout T) 5 Received from P i,jk from X jk 6 Calculating and updating P i,0 7 Updating each P jk,0 8 R i\ = 0

[0160] Lines 6 and 7 of the request function are now described in more detail according to some exemplary implementations. Regarding line 6, it is assumed that X0 receives N responses from X. j1 , X j2 , ..., X jN receives, with each P jk,0 is positive (it doesn't count if P jk,0 (is not positive), P i,0 = (P i,j1 × P j1,0 + P i,j2 × P j2,0 +...+ P i,jN × P jN,0 ) / (P j1,0 + P j2,0 +...+ PjN,0 Regarding line 7, if P i,0 × P i,jk < 0, then P jk;0 = max( -1, P jk,0 - |P i,0 - P i,jkl ).

[0161] The deployment function will now be described. Provision (X i , T) 1 if (P i,0 (was calculated) 2 Broadcast from P i,0 3 otherwise if (T - Δ > 0 and S i = 0) 4 S i = 1 5 requirement (X i , T- Δ) 6 S i = 0 7 Broadcast from P i,0

[0162] It should be noted that, according to some embodiments, each node X0 comprising a precision system can perform the request and provisioning function, since these functions are included in the software for the precision system according to some embodiments. The index 0 of P i,0 Here, "the node itself" means "the node," not node X0, which executes the request function from the beginning. The overall process is a recursive procedure in which a node executing the provisioning function does not have the trust information of X. imight have. In this case (after line 3 in the provisioning function), it also calls the provisioning function to query the remote accuracy data from the other nodes.

[0163] In some embodiments, when the accuracy level P i,0 If the accuracy level P is high (relative to the predetermined threshold), then the accuracy system determines for X0 that the local sensor data is incorrect and that there is a potential sensor error for X0. i,0 If the accuracy is low, then the accuracy system for X0 determines that the DSRC data is incorrect and that there is a potential security attack.

[0164] In some implementations, the analysis described above can be performed in real time or near real time. The overhead arises from the communication between nodes. The smallest possible overhead and the scenario closest to real-time occurs when communication takes place between two nodes: one requests the accuracy level, and the other provides it. In other words, if there is only one second remote vehicle and not a multitude of second remote vehicles, then the functionality of the reference vehicle's accuracy system operates closer to real time. More complex situations depend on the variable "T," the timeout time, which defines how long the node will wait for a response from other nodes.There is a trade-off in this situation: a larger variable “T” gathers more feedback, and a smaller variable “T” provides an earlier determination of the reference accuracy data by the accuracy system of the reference vehicle.

[0165] Fig. 6 and Fig. 7 describe a specific example of the accuracy system in which the reference vehicle's ADAS system is a cooperative adaptive cruise control system (CACC). Fig. 6 describes a first scenario and Fig. Section 7 describes a second example. The examples of Fig. 6 and Fig. The number 7 is intended as an illustration and not as a limiting one, since Fig. 5 describes a general example.

[0166] In Fig. 6 and Fig. In scenario 7, there are two vehicles (in a more generalized scenario, it could be a group of vehicles), with a first remote vehicle (designated X5) leading and a reference vehicle (designated X0) following. The reference vehicle uses the acceleration, velocity, and position of the first remote vehicle to determine its own target gap (or distance) to the first remote vehicle, target velocity, and target acceleration. The acceleration, velocity, and position of the first remote vehicle are transmitted by the first remote vehicle and received by the reference vehicle following it. This information is contained in the DSRC data provided by the first remote vehicle to the reference vehicle via a DSRC message, such as a BSM.The reference vehicle also independently determines the acceleration, speed, and location of the first distant vehicle (for example, by generating local sensor data that describes the first distant vehicle). Assuming that the DSRC data describes the speed of the reference vehicle as 60 mph and the local sensor data describes the speed of the reference vehicle as 90 mph, the reference vehicle's accuracy system can determine whether to provide the speed information contained in the DSRC data to the CACC system. Fig. 6 and Fig. Seven will now be described, with the information contained in this paragraph serving as context for Fig. 6 and Fig. 7 will be provided.

[0167] Referring now to Fig. At block 601, the reference vehicle (X0) receives DSRC data from the first remote vehicle (X5). The DSRC data describes information about the first remote vehicle, such as its speed. In this example, the DSRC data indicates that the speed of the first remote vehicle is 60 miles per hour. The reference vehicle does not know the accuracy level for the first remote vehicle because, for example, it has never previously received DSRC data from the first remote vehicle. The reference vehicle's accuracy system causes its sensor set to generate the local sensor data that describes the first remote vehicle. In this case, the local sensor data indicates that the speed of the first remote vehicle is 90 miles per hour.The reference vehicle's accuracy system compares the DSRC data with the local sensor data and identifies any variance between the DSRC data and the local sensor data.

[0168] In block 602, the reference vehicle requests remote accuracy data from a multitude of second remote vehicles (X1, X2, X3, and X4) that describe the first remote vehicle. This request can be broadcast. For example, the reference vehicle broadcasts a request for remote accuracy data.

[0169] In Block 603, the reference vehicle receives wireless messages from the multitude of second remote vehicles containing their remote accuracy data for the first remote vehicle. The reference vehicle's accuracy system determines its accuracy data based in part on this remote accuracy data. The remote accuracy data received here is P 5,1 , P 5,2 , P 5,3and P 5,4 P 5,1 is received by a second, distant vehicle X1. P 5,2 is received by a second, distant vehicle X2. P 5,3 is received by a second, distant vehicle X3. P 5,4 is received by a second, distant vehicle X4.

[0170] In block 604, the reference vehicle determines the accuracy level for the second remote vehicles, where: confidence level P 1,0 corresponds to the accuracy level for X1; confidence level P 2,0 corresponds to the accuracy level for X2; confidence level P 3,0 corresponds to the accuracy level for X3; and confidence level P 4,0 corresponds to the accuracy level for X4.

[0171] In block 605, the reference accuracy data for the first remote vehicle are determined as follows: N = 4, j1 = 1, j2 = 2, j3 = 3, j4 = 4, and P 5,0= (1 x 1 + 1 x 0.9 + (-1) x 0.4 + 0.9 x 1) / (1 + 0.9 + 0.4 + 1) = 0.727. The rule applied in block 605 is described above with reference to line 6 of the requirement function according to some embodiments.

[0172] In block 606, the accuracy level for X3 is set to P. 3,0 = - 1 updated. The rule applied in block 606 is described above with reference to line 7 of the request function according to some embodiments.

[0173] In this first scenario, the reference vehicle (X0) might determine that the speed information from the first distant vehicle (X5) has a high level of accuracy, making it likely that a sensor on the reference vehicle is damaged or inaccurate. Without the proposed concept, if the reference vehicle relies on its own local sensor data, there is a risk of an accident. The accuracy system described herein eliminates this risk.

[0174] Referring now to Fig. In block 701, the reference vehicle (X0) receives DSRC data from the first remote vehicle (X5). The DSRC data describes information about the first remote vehicle, such as its speed. In this example, the DSRC data indicates that the speed of the first remote vehicle is 60 mph. The reference vehicle does not know the accuracy level for the first remote vehicle because, for example, it has never previously received DSRC data from the first remote vehicle. The reference vehicle's accuracy system causes its sensor set to generate local sensor data describing the first remote vehicle. In this example, the local sensor data indicates that the speed of the first remote vehicle is 90 mph.The reference vehicle's accuracy system compares the DSRC data with the local sensor data and identifies any variance between the DSRC data and the local sensor data.

[0175] In block 702, the reference vehicle requests remote accuracy data from a variety of second remote vehicles (X1, X2, X3, and X4) that describe the first remote vehicle. This request can be broadcast. For example, the reference vehicle broadcasts a request for remote accuracy data.

[0176] In Block 703, the reference vehicle receives wireless messages from the multitude of second remote vehicles, containing their remote accuracy data for the first remote vehicle. The reference vehicle's accuracy system determines the reference accuracy data based in part on the remote accuracy data. The received remote accuracy data is P 5,1 , P 5,2 , P 5,3 and P 5,4P 5,1 is received by a second, distant vehicle X1. P 5,2 is received by a second, distant vehicle X2. P 5,3 is received by a second, distant vehicle X3. P 5,4 is received by a second, distant vehicle X4.

[0177] In block 704, the reference vehicle determines the accuracy level for the second remote vehicles, where: confidence level P 1,0 corresponds to the accuracy level for X1; confidence level P 2.0 corresponds to the accuracy level for X2; confidence level P 3,0 corresponds to the accuracy level for X3; and confidence level P 4,0 corresponds to the accuracy level for X4.

[0178] In block 705, the reference accuracy data for the first remote vehicle are determined as follows: N = 4, j1 = 1, j2 = 2, j3 = 3, j4 = 4, and P 5,0= ((- 1) x 1 + (-1) x 0.9 + (- 0.9) x 0.4 + (-1) x 1) / (1 + 0.5 + 0.5 + 1) = -0.970. The rule applied in block 705 is described above with reference to line 6 of the requirement function according to some embodiments.

[0179] In this scenario, the reference vehicle (X0) may determine that the speed information from the first distant vehicle (X5) has a low level of accuracy (because, for example, the predetermined threshold is greater than -0.970, which does not meet the threshold, which can be 0), making it likely that a sensor on the first distant vehicle is damaged or inaccurate. Without the functionality provided by the accuracy system, if the reference vehicle relies on the speed information contained in the DSRC data, there is a risk of an accident occurring because of the gap or inaccuracy.The distance between the first distant vehicle (i.e., the leading vehicle) and the reference vehicle (i.e., the vehicle following the first distant vehicle in this example) would be greater because the DSRC data describes the speed of the first distant vehicle as 60 mph, when it is more likely to be closer to 90 mph, as described by the local sensor data. The accuracy system described herein eliminates this risk.

[0180] In some embodiments, the predetermined threshold is 0, so that any accuracy level below 0 is determined by the reference vehicle's accuracy system to be insufficiently accurate. In other embodiments, an accuracy level of "1" is the best possible accuracy level, meaning that it is very accurate.

[0181] Referring to block 604 of Fig. 6 and Block 704 of Fig. Section 7 provides numerous implementations for initializing the accuracy levels for the second remote vehicle, enabling blocks 604 and 704 to be executed. Three exemplary implementations are now described.

[0182] As a first example of implementations for initializing the accuracy levels for the second remote vehicle, sensors can be calibrated during maintenance or inspection. After calibration, the accuracy level for a specific second remote vehicle can be set to 1 and registered in a cloud server that provides the accuracy level to the reference vehicle via network 105. In this case, "1" is assumed to represent a high level of confidence, or the highest possible level of confidence. It should be noted that the cloud server or its corresponding facilities can also be nodes in the 100 operational environment. If there is no further update, the reference vehicle's accuracy system will then automatically decrease the accuracy level for the specific second remote vehicle as time increases since the date of the maintenance or inspection event.In this way, accuracy levels for a large number of remote vehicles can be automatically known and updated. An example of a routine applied to the accuracy system to automatically decrease the accuracy level is `max(1 - 2t, 0)`, where `t` is the number of years since the last maintenance or inspection. This routine can be executed once a year on a specific date (for example, January 1st of each year).

[0183] As a second example of an implementation for initializing the accuracy levels for the second remote vehicle, there is a public key infrastructure that nodes, such as the reference vehicle, can use. Once the initial security key exchange with a certificate authority is complete, the accuracy level of a node can be set to "1" with the certificate authority or the other nodes involved in the security key exchange. If there is no security key exchange, the trust level of a node can be set to 0 (or any other value that is not sufficiently accurate, based on the predetermined threshold).

[0184] As a third example of an implementation for initializing the accuracy levels for the second remote vehicle, the first and second examples described in the two preceding paragraphs are combined. Possible operations include one or more of an average, minimum, and maximum value of the two example implementations, as described above.

[0185] In the preceding description, numerous specific details have been presented for explanatory purposes, in order to provide a full understanding of the specification. However, it is recognized by those skilled in the art that the disclosure can be implemented without these specific details. In some cases, structures and devices are shown in block diagram form to avoid ambiguity in the description. For example, the present embodiments described above can be described mainly with reference to user interfaces and specific hardware. However, the present embodiments can be applied to any type of computer system capable of receiving data and instructions, and to any peripheral device that provides services.

[0186] A reference in the specification to "some embodiments" or "some cases" means that a particular feature, structure, or characteristic described in connection with embodiments or cases may be included in at least one embodiment of the invention. The appearance of the phrase "in some embodiments" at different places in the specification does not necessarily refer to the same embodiments.

[0187] Some sections of the detailed descriptions that follow are presented with respect to the algorithm and symbolic representations of operations concerning data bits within a computer memory. These algorithmic descriptions and representations are the means used by those skilled in the art of data processing to explain the substance of their work to other specialists. An algorithm is considered here, and generally, to be a coherent sequence of steps that leads to a desired result. The steps are those that require physical manipulation of physical quantities. Usually, though not necessarily, these quantities take the form of electrical or magnetic signals capable of being stored, transmitted, combined, compared, and otherwise manipulated.It has proven convenient at times, primarily for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, expressions, numbers, or the like.

[0188] However, it should be taken into account that all these and similar expressions must be linked to appropriate physical quantities and are merely convenient names applied to these quantities.Unless otherwise stated, as is evident from the following discussion, it is acknowledged that throughout the description, discussions using terms including "processing" or "calculating" or "calculating" or "determining" or "displaying" or similar refer to the action and processes of a computer system or similar electronic computing device that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memory into other data represented in a similar manner as physical quantities within the computer system's memory or registers, or other such information storage, transmission, or display devices.

[0189] The present embodiments of the specification may also refer to a device for performing the operations herein. This device may be specially designed for the required purpose or may be a general-purpose computer that is selectively activated and reconfigured by a computer program stored in the computer. Such a computer program may be recorded on a computer-readable storage medium, which includes, but is not limited to, any type of disk, including floppy disks, optical disks, CD-ROMs and magnetic disks, read-only memory (ROMs), random-access memory (RAMs), EPROMs, EEPROMs, magnetic or optical cards, flash memory including USB flash drives with non-volatile memory, or any other type of media suitable for storing electronic instructions, each coupled to a computer system bus.

[0190] The specification may take the form of some holistic hardware embodiments, some holistic software embodiments, or some embodiments that include both hardware and software elements. In such preferred embodiments, the specification is implemented in software that includes, for example, but is not limited to, firmware, resident software, microcode, etc.

[0191] Furthermore, the description may take the form of a computer program product accessible from a computer-usable or computer-readable medium that provides program code for use by or in conjunction with a computer or any instruction execution system. For the purposes of this description, a computer-usable or computer-readable medium may be any device capable of storing, communicating, propagating, or transporting the program for use by or in conjunction with the instruction execution system, device, or installation.

[0192] A data processing system suitable for storing or executing program code will include at least one processor, which is directly or indirectly connected to memory elements via a system bus. The memory elements may include local memory, used during the actual execution of the program code, mass storage, and cache memory, which provides temporary storage of at least some program code to reduce the number of times the code needs to be retrieved from mass storage during execution.

[0193] Input / output devices or I / O devices (including but not limited to keyboards, displays, pointing devices, etc.) can be coupled to the system either directly or via I / O controls.

[0194] Network adapters can also be connected to the system to allow the data processing system to connect to other data processing systems or remote printers or storage devices through intermediary private or public networks. Modems, cable modems, and Ethernet cards are just a few of the currently available types of network adapters.

[0195] Finally, the algorithms and displays presented herein are not inherently tied to any particular computer or device. Various general-purpose systems can be used with programs according to the teachings described herein, or it may prove advantageous to construct specialized devices to perform the required procedural steps. The necessary structure for a multitude of such systems will become apparent from the preceding or following description. Additionally, the specification is not described with reference to any particular programming language. It is acknowledged that a multitude of programming languages ​​can be used to implement the teachings of the specification described herein.

[0196] The preceding description of exemplary embodiments of the specification has been presented for illustrative purposes. It is not intended to be exhaustive or to limit the specification to the precise form disclosed. Many modifications and variations are possible in light of the preceding teaching. It is understood that the scope of disclosure is not limited by the detailed description but by the claims of this application. As will be understood by the person skilled in the art, the specification can be embodied in other specific forms without departing from its spirit or essential characteristics. Similarly, the specific naming and division of the modules, routines, features, attributes, methods, and other aspects are not mandatory or significant, and the mechanisms implementing the specification or its features may have different names, divisions, or formats.Furthermore, as is obvious to those skilled in the art, the modules, routines, features, attributes, methods, and other aspects of the disclosure can be implemented as software, hardware, firmware, or any combination of these three. Likewise, wherever a component, such as a module of the specification, is implemented as software, the component can be embodied as a standalone program, as part of a larger program, as a plurality of separate programs, as a statically or dynamically linked library, as a kernel-loadable module, as a setup driver, or in any other known manner known to those skilled in computer programming now or in the future. Additionally, the disclosure is in no way limited to an embodiment in any specific programming language, or to any specific operating system or environment.Accordingly, the disclosure is intended to represent, and not to limit, the scope of the specification set forth in the following claims.

[0197] The disclosure includes embodiments for a reference vehicle to determine an accuracy level for dedicated short-range communication (DSRC) data provided by a first remote vehicle. One method includes receiving DSRC data describing information about the first remote vehicle, wherein the DSRC data includes a sensor measurement. The method includes determining that the DSRC data is inconsistent with local sensor data. The method includes requesting remote accuracy data from a set of remote vehicles, wherein the remote accuracy data describes the accuracy of the sensor measurement. The method includes determining reference accuracy data for the first remote vehicle based on the remote accuracy data received from the set of remote vehicles, wherein the reference accuracy data describes an accuracy level for the first remote vehicle.The procedure includes determining whether the DSRC data should be entered into the ADAS system, based on the accuracy level.

Claims

[1] Method for a reference vehicle (123) with an advanced driver assistance system (ADAS system) (180), wherein the method comprises: Receiving dedicated short-range communication data (DSRC data) (195) describing information about a first remote vehicle (124), wherein the DSRC data (195) describe a sensor measurement recorded by the first remote vehicle (124); Determine that the DSRC data (195) are inconsistent with local sensor data (191) measured by the reference vehicle (123); Requesting remote accuracy data (193) from a set of remote vehicles (126), wherein the remote accuracy data (193) describe an accuracy of the sensor measurement of the first remote vehicle (124) determined by the set of remote vehicles (126); Determining reference accuracy data (190) for the first remote vehicle (124) based on the remote accuracy data (193) received from the set of remote vehicles (126), wherein the reference accuracy data (190) describe an accuracy level for the first remote vehicle (124) determined by the reference vehicle (123); and Determine whether the DSRC data (195) is entered into the ADAS system (180) based on the accuracy level described by the reference accuracy data (190), so that inaccurate information is not entered into the ADAS system (180) and the performance of the ADAS system (180) is improved. [2] Method according to claim 1, wherein the DSRC data (195) are received via a broadcast message. [3] Method according to claim 1 or 2, wherein the DSRC data (195) are contained in a communication received via channel 172 of a DSRC spectrum. [4] Method according to any one of claims 1 to 3, wherein the DSRC data (195) describe one or more of the following: a location of the first remote vehicle (124) at a given time; a speed of the remote vehicle at the given time; and a direction of the remote vehicle at the given time. [5] Method according to any one of claims 1 to 4, wherein requesting the remote accuracy data (193) comprises broadcasting a message which includes a request for the remote accuracy data (193) from one or more second remote vehicles included in the set of remote vehicles (126). [6] Method according to any one of claims 1 to 5, wherein one or more of the DSRC data (195) and the remote accuracy data (193) are received in a wireless communication provided by a roadside unit (RSU). [7] Method according to any one of claims 1 to 6, further comprising comparing the accuracy level with a threshold to determine whether the threshold is met, comprising determining whether the DSRC data (195) is entered into the ADAS system (180), entering the DSRC data (195) into the ADAS system (180) if the threshold is met, and not entering the DSRC data (195) into the ADAS system (180) if the threshold is not met. [8] Method according to any one of claims 1 to 7, wherein the reference vehicle (123) is a highly autonomous vehicle. [9] System with a reference vehicle (123), wherein the reference vehicle (123) has: an ADAS system (180); and an on-board vehicle computer system that is communicatively coupled to the ADAS system (180), wherein the on-board vehicle computer system comprises a non-volatile memory (127) that stores computer code which, when executed by the on-board vehicle computer system, causes the on-board vehicle computer system to: Receiving dedicated short-range communication data (DSRC data) (195) describing information about a first remote vehicle (124), wherein the DSRC data (195) describe a sensor measurement recorded by the first remote vehicle (124); Determine that the DSRC data (195) are inconsistent with local sensor data (191); Requesting remote accuracy data (193) from a set of remote vehicles (126), wherein the remote accuracy data (193) describe an accuracy of the sensor measurement of the first remote vehicle (124); Determining reference accuracy data (190) for the first remote vehicle (124) based on the remote accuracy data (193) received from the set of remote vehicles (126), wherein the reference accuracy data (190) describe an accuracy level of the first remote vehicle (124); and Determine whether the DSRC data (195) should be entered into the ADAS system (180) based on the accuracy level described by the reference accuracy data (190), so that inaccurate information is not entered into the ADAS system (180). [10] System according to claim 9, wherein the DSRC data (195) are contained in a DSRC communication and the reference accuracy data (190) describe the accuracy of part 1 of the DSRC data (195). [11] System according to claim 9 or 10, wherein the DSRC data (195) describe one or more of the following: a location of the first remote vehicle (124) at a given time; a speed of the remote vehicle at the given time; and a direction of the remote vehicle at the given time. [12] System according to any one of claims 9 to 11, wherein requesting the remote accuracy data (193) comprises broadcasting a message which includes a request for the remote accuracy data (193) from one or more second remote vehicles included in the set of remote vehicles (126). [13] System according to any one of claims 9 to 12 wherein one or more of the DSRC data (195) and the remote accuracy data (193) are received in a wireless communication provided by a roadside unit (RSU). [14] System according to any one of claims 9 to 13 wherein the local sensor data (191) describe one or more of the following, which is / are measured by a sensor set (182) of the reference vehicle (123) which is communicatively coupled with the on-board vehicle computer system: a location of the first remote vehicle (124) at a given time; a speed of the remote vehicle at the given time; and a direction of the remote vehicle at the given time. [15] System according to one of claims 9 to 14, wherein the non-volatile memory (127) stores additional computer code which, when executed by the on-board vehicle computer system, causes the on-board vehicle computer system to compare the accuracy level with a threshold to determine whether the threshold is met, comprising determining whether the DSRC data (195) is entered into the ADAS system (180), entering the DSRC data (195) into the ADAS system (180) if the threshold is met, and not entering the DSRC data (195) into the ADAS system (180) if the threshold is not met. [16] System according to any one of claims 9 to 15, wherein the reference vehicle (123) is an autonomous vehicle. [17] Computer program product with a non-volatile memory (127) of an on-board vehicle computer system of a reference vehicle (123) which stores computer executable code which, when executed by a processor (125), causes the processor (125) to: Receiving dedicated short-range communication data (DSRC data) (195) describing information about a first remote vehicle (124), wherein the DSRC data (195) describe a sensor measurement recorded by the first remote vehicle (124); Determine that the DSRC data (195) are inconsistent with local sensor data (191); Requesting remote accuracy data (193) from a set of remote vehicles (126), wherein the remote accuracy data (193) describe an accuracy of the sensor measurement of the first remote vehicle (124); Determining reference accuracy data (190) for the first remote vehicle (124) based on the remote accuracy data (193) received from the set of remote vehicles (126), wherein the reference accuracy data (190) describe an accuracy level for the first remote vehicle (124); and Determine whether the DSRC data (195) should be entered into an advanced driver assistance system (ADAS system) (180) based on the accuracy level described by the reference accuracy data (190), so that inaccurate information is not entered into the ADAS system (180). [18] Computer program product according to claim 17, wherein the DSRC data (195) are contained in a DSRC message and the reference accuracy data (190) describe the accuracy of part 1 of the DSRC data (195). [19] Computer program product according to claim 17 or 18, wherein a request for the remote accuracy data (193) comprises a broadcast of a message comprising a request for the remote accuracy data (193) from one or more second remote vehicles included in the set of remote vehicles (126). [20] Computer program product according to one of claims 17 to 19, wherein one or more of the reference vehicle (123) and the first remote vehicle (124) is or are an autonomous vehicle.

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