SYSTEMS AND METHODS FOR MANEUVERING AN AUTOMATED VEHICLE

Abstract

A procedure includes receiving one or more vehicle shunting messages, initiating a vehicle maneuvering process via a transmission of one or more infrastructure shunting messages, receiving a vehicle-initiated certification key in response to one or more nodes of the vehicle verifying the infrastructure-initiated certification key, verifying that the vehicle-initiated certification key corresponds to an identity of the vehicle, and generating a virtual boundary box that specifies a current location of the vehicle.

Description

AREA

[0001] The present disclosure relates to the maneuvering of a vehicle. In particular, the present disclosure relates to the maneuvering of the vehicle in a shunting situation. GENERAL STATE OF THE ART

[0002] The statements in this section merely provide background information regarding the present disclosure and may not represent the state of the art.

[0003] Shunting vehicles rely on camera sensor(s) within a factory shunting infrastructure to locate the vehicles within the infrastructure. Detecting vehicles at a specific location can be difficult and often inaccurate due to localization issues when using the camera sensor(s). Such difficulties can result in inaccurate vehicle positioning and / or shunting, which can cause unintended effects associated with the vehicles, abnormal vehicle behavior, production cycle delays, accidental loading / unloading of the wrong vehicles, and / or incorrect vehicle control. These difficulties can also lead to problems related to functionality and technical requirements. The present disclosure addresses these and other issues related to vehicle maneuvering. SUMMARY

[0004] This section provides a general summary of the revelation and is not a comprehensive revelation of its full scope or all of its features.

[0005] The present disclosure provides a method comprising: receiving one or more vehicle shunting messages from a vehicle located within a distance-related threshold of an infrastructure system in response to a broadcast maneuvering command; initiating a maneuvering process of the vehicle by transmitting one or more infrastructure maneuvering messages to one or more transmission points, wherein the one or more infrastructure maneuvering messages include an infrastructure-initiated certification key associated with the vehicle;Receiving a vehicle-initiated certification key from the one or more transmission points in response to one or more nodes of the vehicle verifying the infrastructure-initiated certification key, wherein the one or more vehicle shunting messages include the vehicle-initiated certification key and wherein a data rate associated with the vehicle shunting messages is higher than a data rate interval associated with the infrastructure maneuvering messages exchanged with the vehicle during the maneuvering process; verifying that the vehicle-initiated certification key corresponds to an identity of the vehicle; and generating a virtual boundary box indicating a current location of the vehicle in response to the verification that the vehicle-initiated certification key corresponds to the identity of the vehicle;wherein the one or more vehicle shunting messages are received by the vehicle and include at least one vehicle identification number assigned to the vehicle; wherein the infrastructure-initiated certification key includes a first timestamp, the vehicle identification number, a rolling identifier of an original equipment manufacturer, or a combination thereof; further comprising: generating a second infrastructure-initiated certification key based on a second timestamp, the vehicle identification number, a rolling identifier of the original equipment manufacturer, or a combination thereof; further comprising: transmitting a transmission point count message, a transmission point identification message, or a combination thereof to the one or more transmission points;wherein a transmission point of the one or more transmission points associated with a vehicle location is configured to transmit the infrastructure-initiated certification key to the one or more nodes of the vehicle, and wherein the transmission point is further configured to receive the vehicle-initiated certification key from the one or more nodes of the vehicle; further comprising: causing the vehicle to enter a segregation state based on successful identification of the vehicle's current location within a time-related threshold and using the virtual boundary box, or determining that a distance measurement during the maneuvering process is successful;or cause the vehicle to enter an ejection state or an incorporation state based on one or more communication failures, wherein the one or more communication failures include: unsuccessful identification of the vehicle's current location within the time-related threshold; unsuccessful decoding of the vehicle-initiated certification key verification; or determining that distance measurement is unsuccessful during the maneuvering process; wherein the vehicle-initiated certification key verification further includes: performing a join analysis of the vehicle-initiated certification key and the infrastructure-initiated certification key based on a derived secret key approach analysis;and wherein the generation of the virtual boundary box is based on a distance measurement code pattern generated from a secret key, and wherein the secret key is decoded using the vehicle-initiated certification key and the infrastructure-initiated certification key.

[0006] The present disclosure provides another method comprising: receiving a broadcast maneuver command at a vehicle in response to the vehicle being within a distance-related threshold from an infrastructure system; transmitting one or more vehicle shunting messages to the infrastructure system from the vehicle based on receiving the broadcast maneuver command; verifying the one or more infrastructure shunting messages, wherein the one or more infrastructure maneuvering messages include an infrastructure-initiated certification key received from a transmission point of a plurality of transmission points, the transmission point being associated with a location of the vehicle;and transmitting a vehicle-initiated certification key to the plurality of transmission points in response to the verification of the infrastructure-initiated certification key, wherein the one or more vehicle shunting messages include the vehicle-initiated certification key, and wherein a data rate associated with the vehicle shunting messages is higher than a data rate interval associated with the infrastructure shunting messages exchanged with the vehicle during a maneuvering process, and wherein the transmission of the vehicle-initiated certification key causes a virtual boundary box to be generated by the infrastructure system, indicating a current location of the vehicle; wherein the one or more vehicle shunting messages include at least one vehicle identification number associated with the vehicle;wherein the infrastructure-initiated certification key includes an initial timestamp, the vehicle identification number, a rolling identifier of an original equipment manufacturer, or a combination thereof; further comprising: generating a second vehicle-initiated certification key based on a second timestamp, the vehicle identification number, a rolling identifier of the original equipment manufacturer, or a combination thereof; further comprising: entering a spin-off state based on the infrastructure system successfully identifying the current location of the vehicle within a time-related threshold, and using the virtual boundary box or determining that a distance measurement is successful during the maneuvering process;or entering an exit state or an entry state based on one or more communication failures, wherein the one or more communication failures include: the infrastructure system's failure to identify the vehicle's current location within the time-related threshold; the infrastructure system's failure to decode the vehicle-initiated certification key verification; the infrastructure system's determination that distance measurement is unsuccessful during the maneuvering process; or the vehicle's failure to decode the infrastructure-initiated certification key verification; further comprising: transmitting a vehicle node count message, a vehicle identification message, one or more node identifiers, a distance measurement rate code bit, a distance measurement rate synchronization bit, or a combination thereof;wherein the verification of the infrastructure-initiated certification key further comprises: performing a join analysis of the vehicle-initiated certification key and the infrastructure-initiated certification key based on a derived secret key approach analysis; and wherein the generation of the virtual boundary box is based on a distance measurement code pattern generated from a secret key, and wherein the secret key is decoded using the vehicle-initiated certification key and the infrastructure-initiated certification key.

[0007] The present disclosure provides a system comprising: an infrastructure system configured to: receive one or more vehicle shunting messages from a vehicle located within a distance-related threshold of an infrastructure system in response to a broadcast maneuvering command; initiate a maneuvering process of the vehicle by transmitting one or more infrastructure shunting messages to a plurality of transmission points, wherein the one or more infrastructure shunting messages include an infrastructure-initiated certification key associated with the vehicle; receive a vehicle-initiated certification key from the one or more transmission points, wherein the one or more vehicle shunting messages include a vehicle-initiated certification key and wherein a data rate,which is associated with the vehicle shunting messages, is higher than a data rate interval associated with the infrastructure messages exchanged with the vehicle during the maneuvering process, verify that the vehicle-initiated certification key corresponds to a vehicle identity, and generate a virtual bounding box indicating a current location of the vehicle in response to the vehicle-initiated certification key corresponding to the vehicle identity; and the vehicle is configured to: receive the broadcast maneuver command in response to being within the distance-related threshold from the infrastructure system; transmit the one or more vehicle shunting messages to the infrastructure system based on the broadcast maneuver command, verify the infrastructure-initiated certification key,which is received by a transmission point of the plurality of transmission points, wherein the transmission point is associated with the location of the vehicle, and transmission of the vehicle-initiated certification key to the plurality of transmission points in response to verification of the infrastructure-initiated certification key; wherein the generation of the virtual boundary box is based on a distance code pattern generated from a secret key, and wherein the secret key is decoded using the vehicle-initiated certification key and the infrastructure-initiated certification key; and wherein the vehicle, which is configured to verify the vehicle-initiated certification key,furthermore, it is configured to perform the following: Performing a merger analysis of the vehicle-initiated certification key and the infrastructure-initiated certification key based on a derived secret key approach analysis.

[0008] Further areas of application will become apparent from the description provided herein. It is understood that the description and specific examples serve only for illustration and are not intended to limit the scope of this disclosure. DRAWINGS

[0009] To fully understand the revelation, various forms of it will now be described by way of example with reference to the attached drawings, in which the following applies: Fig. Figure 1 illustrates a system for automated vehicle maneuvering according to one or more embodiments of the present disclosure; Fig. Figure 2 illustrates an exemplary vehicle, which is characterized by the in Fig. The system shown in 1 is ranked according to one or more embodiments of the present disclosure; Fig. Figure 3 is a process flow diagram illustrating an exemplary method for integrating an automated vehicle according to one or more embodiments of the present disclosure; Fig. 4A and Fig. Figure 4B illustrates an exchange of messages between the automated vehicle and an infrastructure system according to one or more embodiments of the present disclosure; Fig. Figure 5 illustrates a computer calculation and computation of a distance measurement code pattern using an exchange of messages according to one or more embodiments of the present disclosure; Fig. Figure 6 is a flowchart illustrating an exemplary procedure for integrating the automated vehicle according to one or more embodiments of the present disclosure; Fig. Figure 7 is a flowchart illustrating another exemplary method for integrating the automated vehicle according to one or more embodiments of the present disclosure; and Fig. Figure 8 is a block diagram illustrating an exemplary computer system according to one or more embodiments of the present disclosure.

[0010] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0011] The following description is merely exemplary and is not intended to limit the present disclosure, application, or uses. It is understood that in all drawings, corresponding reference numerals indicate identical or corresponding parts and features.

[0012] One or more of the examples described herein provide a means for maneuvering a vehicle based on at least one wireless communication protocol that supports the exchange of infrastructure maneuvering messages (e.g., IMMs) and vehicle maneuvering messages (e.g., VMMs) between an automated vehicle (e.g., an autonomous vehicle) and an infrastructure system. For example, accurate vehicle identification can reduce or eliminate errors in maneuvering a selected vehicle due to its correct integration into the system managed by the infrastructure. As another example, and in a manufacturing use case, efficient manufacturing is provided due to an accelerated, precise distance measurement process (e.g., within a few seconds) that offers centimeter-level accuracy, minimizing the impact on cycle time while vehicles are in motion.As another example, in a commercial depot shunting situation, correct vehicle maneuvering is provided, resulting in the correct loading and / or unloading of vehicles. As a further example, by using such a vehicle maneuvering device, precise automated parking assignment and / or the accurate movement of vehicles to loading bays with successful integration of the vehicles can be enabled.

[0013] Such vehicle maneuvering systems offer advantages over existing solutions, such as ubiquitous vehicle identification, enabling vehicle identification at any point within an operational domain and thus eliminating the need for markings and / or specific infrastructure. Another advantage is that the integration process is not dependent on vehicle orientation, providing flexibility and ease of integration. A further benefit is the global applicability of such a system, designed to function across all markets and regions, enabling widespread adoption and compatibility.Another advantage of such a vehicle maneuvering device is its ability to provide guidance to standards organizations in the low-speed automation industry (e.g., SAE, ETSI, ISO, 5GAA, VDA, etc.) on how to utilize distance measurement support for the successful integration of automated vehicles. An additional benefit is the reduction of false identifications during the automated vehicle maneuvering process, which improves overall safety and reliability. Furthermore, the use of a combination of IMMs and VMMs, along with a unique vehicle identifier and / or distance measurement, protects against man-in-the-middle attacks, preventing multiple vehicles from being maneuvered simultaneously.Another advantage of such a vehicle maneuvering method is that vehicles can utilize any combination of one or more nodes during a distance measurement process for identifying and maneuvering autonomous vehicles, thus providing redundancy and fault tolerance. A further advantage of such a vehicle maneuvering method is that unintended impacts associated with the vehicles are reduced in the event of infrastructure performance degradation or vehicle detection issues due to environmental problems.

[0014] Now, with reference to Fig. Figure 1 shows a system 100 (e.g., an automated vehicle marshaling (AVM) system) for maneuvering one or more automated and / or semi-automated vehicles 102 (e.g., one or more vehicles 102a, 102b) within a marshalling environment (e.g., a manufacturing plant or a parking lot). The system 100 includes an infrastructure system 104. The infrastructure system 104 includes a sensor component 106 that communicates with a set of infrastructure sensors 108, such as one or more cameras, lidar, radar, and / or ultrasonic devices. The set of infrastructure sensors 108 is configured to monitor the movement of the vehicle(s) 102 as the vehicle(s) 102 move through the marshalling environment.The infrastructure system 104 also includes a wireless communication component 110, which provides communication between the infrastructure system 104 and the vehicle(s) 102.

[0015] Additionally, the infrastructure system 104 includes an infrastructure controller 112. The infrastructure controller 112 is configured to centrally control the operation of each of the vehicles 102. For example, the operation of each of the vehicles 102 includes propulsion, braking, and / or steering of the vehicle(s) 102. It is understood that the infrastructure controller 112 can be located within the infrastructure system 104 or outside of it relative to the infrastructure system 104. The infrastructure controller 112 includes an AVM software module 114 (e.g., an infrastructure-side AVM algorithm) that is configured to establish communication between the infrastructure controller 112 and a vehicle controller (e.g., a vehicle controller 200, as described in Fig. 2 shown), which is assigned to each of the vehicles 102. It is understood that the infrastructure-side AVM algorithm 114, in one or more embodiments, is configured to perform one or more machine learning-based analyses, such as an input operation 302, a loop process operation 304, and / or an output operation 308, as shown in conjunction with Fig. 3 further described.

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

[0017] With reference to Fig. 2. The vehicle(s) 102 can be powered in various ways, for example, by an electric motor and / or an internal combustion engine. It is also understood that the vehicle(s) 102 can be any type of vehicle powered by an electric motor and / or an internal combustion engine, such as a car, a truck, a robot, an aircraft, and / or a boat. The vehicle(s) 102 can generally include the vehicle control unit 200, one or more actuators 202, a variety of onboard sensors 204, a human-machine interface (HMI) 206, and a vehicle system 208. The vehicle(s) 102 also has a reference point 210, that is, a specified point within a space defined by a vehicle body, which identifies the location of the vehicle(s) 102.For example, reference point 210 is a geometric center point where the respective longitudinal and lateral center axes of vehicle(s) 102 intersect. Alternatively, reference point 210 is a point where vehicle(s) 102 is located while navigating towards a waypoint.

[0018] In some examples, the vehicle control unit 200 is configured or programmed to control the operation of one or more of the vehicle's brakes, drive system (e.g., controlling the acceleration of the vehicle(s) 102 by controlling one or more internal combustion engines, electric motors, hybrid motors, etc.), steering, air conditioning, interior and / or exterior lighting, etc. In other examples, the vehicle control unit 200 is further configured or programmed to determine whether and when it should control such operations concerning the vehicle(s) 102 instead of a human driver. It is understood that any of the operations assigned to the vehicle(s) 102 can be facilitated by an automated, a semi-automated, or a manual mode.For example, the automated mode can facilitate the complete control of any operation by the vehicle control unit 200 without the assistance of the human driver. As another example, the semi-automated mode can allow any operation to be at least partially controlled by the human driver in combination with the vehicle control unit 200. As yet another example, the manual mode can facilitate the complete control of operations by the human driver without the assistance of the vehicle control unit 200.

[0019] The vehicle control unit 200 includes one or more processors (not shown) or may be communicatively coupled to them (e.g., via a vehicle communication bus). For example, the one or more processors may be a controller or the like, which is included in the vehicle(s) 102 for monitoring and / or controlling various vehicle controls, such as a powertrain control, a brake control, a steering control, etc. The vehicle control unit 200 is generally arranged for various communications in a vehicle communication network (not shown), which may include a bus in the vehicle(s) 102, such as a Controller Area Network (CAN) or the like, and / or other wired and / or wireless mechanisms.

[0020] The vehicle control unit 200 transmits messages via a vehicle network to various devices in the vehicle(s) 102 and / or receives messages from the various devices, for example, the one or more actuators 202, the MMS 206, etc. Alternatively or additionally, in cases where the vehicle control unit 200 includes multiple devices, the vehicle communication network is used for communication between devices that are referred to in this disclosure as the vehicle control unit 200. Furthermore, as discussed below, various other controllers and / or sensors provide data to the vehicle control unit 200 via the vehicle communication network.

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

[0022] The vehicle controller 200 is also configured via the vehicle-side AVM algorithm 212 to communicate with other traffic objects (e.g., vehicles, infrastructure, etc.) through a wireless vehicle communication interface, such as via a vehicle-to-vehicle communication network. The vehicle communication network represents one or more mechanisms through which the vehicle controller 200 of the vehicle(s) 102 communicates with other traffic objects. For example, the vehicle communication network can be one or more wireless communication mechanisms, including any desired combination of wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any desired network topology (or topologies if multiple communication mechanisms are used).Examples of vehicle communication networks include cellular networks, Bluetooth®, IEEE 802.11, dedicated short range communications (DSRC) and / or wide area networks (WAN), which include the Internet and provide data communication services.

[0023] The vehicle actuators 202 are implemented via circuits, chips, or other electronic and / or mechanical components that can actuate various vehicle subsystems in accordance with appropriate control signals. The actuators 202 can be used to control the braking, acceleration, and steering of the vehicle(s) 102. The vehicle control unit 200 can be programmed to activate the vehicle actuators 202, which include propulsion, steering, and / or braking, based on the planned acceleration or deceleration of the vehicle(s) 102.

[0024] The multitude of onboard sensors 204 includes a variety of devices to provide data to the vehicle control system 200. For example, the multitude of onboard sensors 204 may include object detection sensors (e.g., lidar sensor(s)) located on or in the vehicle(s) 102, which provide the relative locations, sizes, and / or shapes of one or more objects surrounding the vehicle(s), such as additional vehicles, bicycles, pedestrians, robots, drones, etc., moving alongside, in front of, and / or behind the vehicle(s). As another example, one or more of the multitude of onboard sensors 204 may be one or more radar sensors mounted on one or more bumpers of the vehicle(s) 102, which can provide the positions of the object(s) relative to the location of each of the vehicles 102.

[0025] The multiple onboard sensors 204 can include a camera sensor, for example, to provide front, side, and rear views, etc., of an area surrounding the vehicle(s) 102. As another example, the vehicle control unit 200 can be programmed to receive sensor data from camera sensor(s) and implement image processing techniques to detect a road, infrastructure elements, etc. The vehicle control unit 200 can also be programmed to determine a current vehicle location based on location coordinates from a GPS sensor (not shown) (e.g., GPS coordinates) received by the vehicle(s) 102, indicating the location of the vehicle(s) 102.

[0026] The MMS 206 is configured to receive information from the human driver during the operation of vehicle(s) 102. Furthermore, the MMS 206 is configured to present information to the human driver, such as to an occupant of vehicle(s) 102. In some variations, the vehicle control unit 200 is programmed to receive target data (e.g., location coordinates) from the MMS 206.

[0027] The vehicle system 208 is configured to control each of the subsystems within the vehicle(s) 102 and to facilitate requests via each of the components described above (e.g., the vehicle controller 200, the one or more actuators 202, the multitude of onboard sensors 204, and / or the MMS 206). Accordingly, the vehicle(s) 102 can be autonomously guided to a waypoint using at least the multitude of onboard sensors 204. Route guidance can be performed using the vehicle's location, the distance to be traveled, the vehicle maneuvering queue, etc.

[0028] Fig. Figure 3 represents a process flow illustrating an exemplary process 300 (e.g., the maneuvering process) for maneuvering an automated vehicle (e.g., the vehicle(s) 102). In one or more embodiments, the process 300 generally includes three primary operations—namely, the input operation 302, the loop process operation 304, and the output operation 308 (the output operation 308 refers to both a first output operation 308a and a second output operation 308b in the illustrated example).

[0029] Initially, and from the perspective of the infrastructure system 104, the infrastructure-side AVM algorithm 114 is configured to use wireless communication protocols (e.g., Bluetooth). ®-like protocol, a mobile communication protocol, a wireless fidelity (Wi-Fi) protocol, a near-field communication (NFC) protocol, an ultra-wideband (UWB) protocol, among others) to initiate a vehicle identification process. For example, the vehicle identification process can enable the infrastructure-side AVM algorithm 114 to confirm a physical location of the vehicle 102 and establish a distance measurement to the vehicle 102, which is communicating with the infrastructure-side AVM algorithm 114, via a unicast or broadcasting means.

[0030] The input process 302 is initiated by the vehicle-side AVM algorithm 212, which can cause the vehicle 102 to wirelessly transmit one or more vehicle marshalling messages (VMMs) to the infrastructure system 104. For example, the VMMs can contain a vehicle identification number (VIN), a command response identifying the current state flow, a state of the vehicle 102's operating mode, or a combination thereof. In response to receiving the one or more VMMs, the infrastructure-side AVM algorithm 114 can initiate a wireless transmission of one or more infrastructure marshaling messages (IMMs) to the vehicle 102.For example, the infrastructure-side AVM algorithm 114 can cause the infrastructure system 104 to wirelessly transmit the one or more IMMs to the vehicle 102 based on an acknowledgment of at least the VIN of the vehicle 102 and / or an initiation of a maneuver of the vehicle 102 via the transmission of the IMMs by the system vehicle operator (e.g. a human driver, a mainframe controller, a machine learning-based control system, etc.).

[0031] The loop process operation 304 is initiated by the infrastructure-side AVM algorithm 114, which can cause the infrastructure system 104 to wirelessly transmit (e.g., via one or more IMMs) an infrastructure-initiated public security key to each of the one or more anchors 116. For example, the infrastructure-side AVM algorithm 114 can cause the infrastructure system 104 to wirelessly transmit (e.g., via one or more IMMs) an anchor count and / or an acknowledgment to each of the one or more anchors 116 along with the infrastructure-initiated public security key.It is understood, however, that the infrastructure-side AVM algorithm 114 can cause the infrastructure system 104 to wirelessly transmit the anchor count, the recognition, and / or the infrastructure-initiated public security key to any number of anchors of the one or more anchors 116, or to any anchor of the one or more anchors 116. It is also understood that the infrastructure system 104 can transmit the anchor count, the recognition, and / or the infrastructure-initiated public security key to the one or more anchors 116 via a wired connection.

[0032] Once the infrastructure system 104 has begun maneuvering the vehicle 102, the system vehicle operator can indicate (e.g., identify) that at least one anchor of the one or more anchors 116 is located within an area of ​​the vehicle 102's location at the time the loop process operation 304 was initiated. However, it is understood that the system vehicle operator can indicate at any time and at any time-related frequency during the shunting of the vehicle 102 that the at least one anchor of the one or more anchors 116 is positioned within the area of ​​the vehicle 102's location.As an example, and based on the specification of at least one anchor of the one or more anchors 116 by the system vehicle operator with respect to the location of the vehicle 102, the identified anchor(s) of the one or more anchors 116 is / are configured to wirelessly transmit at least the infrastructure-initiated public security key to one or more nodes 118 (e.g., as in . Fig. (shown in Figure 1) of the vehicle 102. For example, the one or more nodes 118 can correspond to or represent the onboard sensors 204. The loop process operation 304 additionally involves the wireless transmission (e.g., via the one or more IMMs) of a distance measurement command from the infrastructure system 104 to the one or more anchors 116. For example, the infrastructure-side AVM algorithm 114 can cause the infrastructure system 104 to wirelessly transmit the distance measurement command to the one or more anchors 116. As another example, the distance measurement command can include data elements associated with maneuvering the vehicle 102 and relating to generating new code, preparing for distance measurement, distance measurement, successful identification of the vehicle 102, or a combination thereof.

[0033] The identified anchor(s) of the one or more anchor(s) 116 is / are further configured to wirelessly transmit the distance measurement command to the one or more node(s) 118 of the vehicle 102. After receiving the infrastructure-initiated public security key and the distance measurement command, the vehicle-side AVM algorithm 212 can verify the infrastructure-initiated certification key. As another example, the verification of the infrastructure-initiated certification key can be processed using a hashing algorithm or any other cryptographically related method. Upon verification of the infrastructure-initiated public security key, the vehicle-side AVM algorithm 212 can cause the one or more node(s) 118 to wirelessly (e.g.,to transmit a vehicle-initiated public security key to the infrastructure system 104 via one or more VMMs, via one or more anchors 116. However, it is understood that the one or more nodes 118 can wirelessly transmit the vehicle-initiated public security key directly to the infrastructure system 104. For example, the vehicle-initiated public security key is transmitted wirelessly at a higher data rate than a data rate interval assigned to the one or more IMMs.

[0034] The vehicle-side AVM algorithm 212 can also cause the vehicle 102 to wirelessly transmit a distance measurement command response to the infrastructure system 104 via one or more anchors 116 (e.g., via one or more VMMs). However, it is understood that the vehicle-side algorithm 212 can also cause the vehicle 102 to wirelessly transmit the distance measurement command response directly to the infrastructure system 104. As an example, the distance measurement command response for successful identification of the vehicle 102 can include data elements relating to vehicle code pattern identification in progress, vehicle ready, vehicle distance measurement in progress, vehicle distance measurement completed, vehicle authorized for a successful identification response, or a combination thereof.

[0035] In a case where vehicle 102 is successfully identified, the infrastructure-side AVM algorithm 114 can detect a boundary box 120 (e.g., one or more boundary boxes 120a, 120b, as in Fig. (shown in Figure 1) create the boundary box(es) assigned to vehicle 102. As one example, the boundary box 120 (e.g., a virtual vehicle layout) delimits vehicle 102 within a matrix grid. As another example, and to the extent that more than one vehicle 102 is integrated by the infrastructure system 104, the boundary boxes 120a and 120b each delimit each vehicle 102a and 102b, respectively. As yet another example, the creation (e.g., generation) of the boundary box(es) 120 is based on a distance measurement location derived from the message exchange (e.g., the exchange of IMMs and VMMs) between the one or more nodes 118 and the one or more anchors 116 during the maneuvering process 300.

[0036] However, if vehicle 102 is not successfully identified, the distance measurement command response wirelessly transmitted from vehicle 102 to infrastructure system 104 may contain data elements relating to vehicle code pattern identification failed, vehicle undefined, vehicle distance measurement failed, or a combination thereof. The infrastructure-side AVM algorithm 114 restarts the loop process 304 so that if vehicle 102 is not successfully identified, a new distance command is wirelessly transmitted. For example, the newly transmitted distance measurement command may contain data specifically related to new code generation.As another example, in one or more embodiments, the unsuccessful identification of vehicle 102 can be determined if the infrastructure-side AVM algorithm 114 fails to detect the distance measurement location of vehicle 102 within one or more certain time periods. Since vehicle 102 is not detected within the certain time period, it is not properly identified and / or its distance is not measured during the maneuvering process 300. As yet another example, the time period can be any predetermined range and can represent a timeout threshold, which can be defined by any time limit.As a further example, in one or more embodiments, the unsuccessful identification of the vehicle 102 can be determined if the infrastructure-side AVM algorithm 114 is unsuccessful in decoding the received vehicle-initiated public security key. As a further example, the failed decoding of the received vehicle-initiated public security key can result in the infrastructure-side AVM algorithm 114 being unable to process calculations relating to the vehicle's distance measurement location at various points during the shunting and / or maneuvering of the vehicle 102.

[0037] As the vehicle 102 moves through the shunting environment (e.g., passes through it), and as a further aspect of the loop process 304, the vehicle 102 and the infrastructure system 104 cooperate to maintain a communication link so that the vehicle 102 can be shunted and / or maneuvered through the manufacturing environment. In one or more embodiments, if the vehicle-initiated public security key is transmitted wirelessly, the one or more anchors 116 can be configured to share at least the vehicle-initiated public security key with each other (e.g., each of the one or more anchors 116). For example, receiving the vehicle-initiated public security key at each of the one or more anchors 116 can provide an accurate indication of the location of the vehicle 102, which is useful when creating the virtual vehicle boundary box 120 (e.g.,can support a wireless communication protocol such as UWB).

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

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

[0040] The presence of one or more communication errors is determined in operation 306. For example, one or more communication errors may occur in a case where vehicle 102 is not successfully identified, as described herein. In an initial output operation 308a, the infrastructure-side AVM algorithm 114 may indicate (e.g., to vehicle 102 via one or more IMMs) that maneuvering process 300 was not successfully initiated within an acceptable timeframe. For example, the indication that maneuvering process 300 was not successfully initiated may include data elements relating to at least stateFlowIdentificationCommand, driveCommandAction, the identity of vehicle 102 (e.g., the VIN of vehicle 102), or a combination thereof.As another example, the data elements associated with the indication that maneuvering process 300 was not successfully initiated can, in a case where more than one vehicle is being maneuvered and / or shunted, be assigned to or correspond to vehicle 102. Vehicle 102 can be caused to enter a separation state (e.g., a disentanglement state) or an integration state (e.g., during operation 310) in response to receiving the data elements associated with the indication that maneuvering process 300 was not successfully initiated.

[0041] As another example, and also in the first output process 308a, the vehicle-side AVM algorithm 212 can indicate (e.g., to the infrastructure system 104 via one or more VMMs) that the maneuvering process 300 was not successfully initiated and that the vehicle 102 cannot be prepared for automated vehicle shunting operations. For example, the indication that the maneuvering process 300 was not successfully initiated can include data elements relating to at least `stateFlowIdentificationCommandResponse`, the identity of the vehicle 102, the operating mode state of `vehicleState`, or a combination thereof. As a further example, in a case where more than one vehicle is being maneuvered and / or shunted, the data elements associated with the indication that the maneuvering process 300 was not successfully initiated can refer to the vehicle 102.Once vehicle 102 has entered the integration state or the separation state in operation 310, maneuvering process 300 can return to input operation 302 and maneuvering process 300 can start again.

[0042] However, in a case where one or more communication errors are not present (as determined in process 306), the second output process 308b is initiated as described herein. In the second output process 308b, the infrastructure-side AVM algorithm 114 can indicate (e.g., to vehicle 102 via one or more IMMs) that the maneuvering process 300 has been successfully initiated. For example, the indication that the maneuvering process 300 has been successfully initiated can include data elements relating to at least `stateFlowIdentificationCommand`, the identity of vehicle 102, `driveCommandAction`, or a combination thereof. As another example, in a case where more than one vehicle is being maneuvered and / or shunted, the data elements associated with the indication that the maneuvering process 300 has been successfully initiated can be associated with or correspond to vehicle 102.

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

[0044] In one or more embodiments, both the infrastructure-side AVM algorithm 114 and the vehicle-side AVM algorithm 212 are configured to perform a fusion analysis of the vehicle-initiated public security key and the infrastructure-initiated public security key using a derived secret key approach analysis. In one or more additional embodiments, the vehicle-side AVM algorithm 212 can cause the vehicle 102 to exchange the recalculated public security key (e.g., the fusion version of the vehicle-initiated public security key and the infrastructure-initiated public security key), the derived secret key, and / or a unique vehicle identifier with the one or more anchors 116 (e.g., via the one or more nodes 118).For example, the exchange of the recalculated public security key, the derived secret key, and / or a unique vehicle identifier to one or more anchors 116 can be transmitted / received using data elements related to anchorsCount, nodesCount, or a combination thereof. In one or more further embodiments, a distance measurement code pattern is generated from the SharedvIDSecretKey data element, decoded using the vehicle-initiated public security key and the infrastructure-initiated public security key, and exchanged via one or more IMMs and / or one or more VMMs.

[0045] In relation to Fig. 4A and Fig. 4B displays an example exchange of one or more VMMs and one or more IMMs at 400. Example details of data elements associated with the one or more IMMs included as part of the maneuvering process 300 may be shown (such as in Fig. 4A) includes, but is not limited to, the following: • msgIssueRevision == “current-version-of-IMM-message expected” ◯ Note: VehicleContainerBlob is an array • imm.VehicleContainerBlob.vehicleContainerChecksum == “Checksum value” • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.immDataRate == “100-ms ie 10” • imm. VehicleContainerBlob.vehicleContainerData. immDataManagement. rollingCounterFrom IMMTransmitted == “RC value” • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.rollingCounterOf V MMReceived == “RC value” • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.year == "current year" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.month == "current month" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.day == "current day" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.hour == "current hour" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.minute == “current minute” • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTime.second == "current second and millisecond" • imm.VehicleContainerBlob.vehicleContainerData.immDataManagement.vehicleContainerGenerationTimeConfidence == “Timestamp confidence of AVM-CS” • imm.VehicleContainerBlob.vehicleContainerData.identityManagement.vehicleID == “Vehicle ID that matches CMVS vehicle ID” • imm. VehicleContainerBlob.vehicleContainerData.stateFlowIdentificationCommand == “3, i.e. maneuvering / automated” • imm. VehicleContainerBlob.vehicleContainerData.drivingPermission.expiration Time.year == “Expiration year” • imm. VehicleContainerBlob.vehicleContainerData.drivingPermission.expiration Time.month == “Expiration month” • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.expirationTime.day == “Expiration date” • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.expirationTime.hour == “Expiration hour” • imm. VehicleContainerBlob.vehicleContainerData.drivingPermission.expiration Time.minute == “Expiration minute” • imm. VehicleContainerBlob.vehicleContainerData.drivingPermission.expiration Time.second == "Expiration second and millisecond" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.expirationTimeConfidence == “Timestamp confidence of AVM-CS” • imm. VehicleContainerBlob.vehicleContainerData.drivingPermission.velocityMax == "maximum speed allowed for the vehicle in a given time interval" • imm. VehicleContainerBlob.vehicleContainerData.drivingPermission.curvatureMin == "minimum curvature allowed for the vehicle steering system in a given time interval" • imm.VehicleContainerBlob.vehicleContainerData.drivingPermission.curvatureMax == "maximum curvature allowed for the vehicle steering system in a given time interval" • imm. VehicleContainerBlob.vehicleContainerData.driveCommand.driveCommandAction == “6, i.e., driving” • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.terminateReason == “0 / 1 / 2 / 3 / 4” / / conditional-mandatory • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.gearRequest == “0 / 1 / 2 / 3, i.e. neutral / park / forward / reverse” • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.directionIndicatorRequest == “4, ie both” • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.parkingBrakeRequest == “0 / 1” / / conditionally mandatory • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.emergencyStopRequest == “0 / 1 / 2” / / conditionally mandatory • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.processControlRequest == “0 / 1 / 2 / 3” / / conditionally mandatory • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.hornRequest == “0 / 1 / 2 / 3” / / conditionally mandatory • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.brakeLights == “flashing” / / conditionally mandatory • imm.VehicleContainerBlob.vehicleContainerData.driveCommand.headLights == “solidly functioning lights” / / conditionally mandatory • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.controlTimeInterval == “2 means 20 ms or 5 means 50 ms” • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.year == "current year for the first element of the ControlTrajectory vector" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.month == "current month for the first element of the ControlTrajectory vector" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.day == "current day for the first element of the ControlTrajectory vector" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.hour == "current hour for the first element of the ControlTrajectory vector" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.minute == “current minute for the first element of the ControlTrajectory vector” • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReference.second == "current second and millisecond for the first element of the ControlTrajectory vector" • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.timeReferenceConfidence == “Timestamp confidence of AVM-CS” • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.distance ToStop == “Value indicates the unsigned maximum distance the vehicle can travel before coming to a stop at the control point” • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.controlT trajectory.curvature == "Value tells the vehicle to steer" / / Sequence of curvature control points • imm.VehicleContainerBlob.vehicleContainerData.controlInterface.trajectoryControl.controlT trajectory.controlParameter.controlVelocity == "Value specifies that the vehicle should travel at the target speed" / / Sequence of speed control points • imm.VehicleContainerBlob.vehicleContainerData.vehicleIdentificationCommand->ranging = {anchorsCount & identifiers, rangingCommand =Prepare-for-distance-measurement, Distance-measurement, successful / back to Generate-New-Code}

[0046] Exemplary details of data elements assigned to the one or more VMMs included as part of the Maneuvering Process 300 can be found (such as in Fig. 4B shown) include, but are not limited to, the following: • msgIssueRevision == “current-version-of-VMM message expected” • vmmChecksum == “Checksum value” • vmm.vmmDataManagement.vmmDataRate == “10 ie 100-ms” • vmm.vmmDataManagement.rollingCounterFrom VMM Transmitted == “RC value” • vmm.vmmDataManagement.rollingCounterOfIMMReceived == “RC value” • vmm.vmmDataManagement.vehicleMessageGenerationTime.year == "Year of current VMM" • vmm.vmmDataManagement.vehicleMessageGenerationTime.month == “Month of the current VMM” • vmm.vmmDataManagement.vehicleMessageGenerationTime.day == “Day of the current VMM” • vmm.vmmDataManagement.vehicleMessageGenerationTime.hour == “Hour of the current VMM” • vmm.vmmDataManagement.vehicleMessageGenerationTime.minute == “Minute of the current VMM” • vmm.vmmDataManagement.vehicleMessageGenerationTime.second == “Second and millisecond of the current VMM” • vmm.vmmDataManagement.vehicleMessageGeneration TimeConfidence == “Timestamp confidence VMM” • vmm.stateFlowIdentificationCommandResponse == “3, i.e. maneuvering / automated” • vmm.identityManagement.vehicleID == “Vehicle ID that matches CMVS vehicle ID” • vmm.vehicleControlInterfacePreference == “2, i.e., motion path control speed” • vmm.vehicleState.vehicleStateGenerationTime.year == "Year of current vehicle state" • vmm.vehicleState.vehicleStateGenerationTime.month == "Month of current vehicle state" • vmm.vehicleState.vehicleStateGenerationTime.day == "Day of current vehicle state" • vmm.vehicleState.vehicleStateGenerationTime.hour == “Hour of current vehicle state” • vmm.vehicleState.vehicleStateGenerationTime.minute == “Minute of the current vehicle state” • vmm.vehicleState.vehicleStateGenerationTime.second == “Second and millisecond of the current vehicle state” • vmm.vehicleState.vehicleStateGenerationTimeConfidence == “Timestamp confidence of the vehicle state” • vmm.vehicleState.operationMode == “6, i.e. driving” • vmm.vehicleState.gearState == “0 / 1 / 2 / 3, i.e. neutral / park / forward / reverse” • vmm.vehicleState.directionIndicatorState == “4, ie both” • vmm.vehicleState.currentVelocity == “current speed of the AV” • vmm.vehicleState.currentCurvature == “current curvature of the AV” • vmm.vehicleState.secureStandstill == “0, i.e., secure standstill status of the AV” • vmm.vehicleIdentificationCommandResponse = {rangingCommandResponse = Vehicle Ready, Vehicle Distance Measurement In Progress, Vehicle Distance Measurement Completed / Vehicle Distance Measurement Failed, nodesCount & identifiers, rangingRateCodeBit, rangingRateSyncBit}

[0047] It is understood that any type, kind, format, number, etc., of data elements can be used, based on the specific process or application. It is also understood that the labels and / or names of the data elements are provided merely as examples.

[0048] Fig. Figure 5 illustrates a computer calculation and computation of the distance measurement pattern as described herein. For example, the computer calculation of the infrastructure-initiated public security key involves the computation of a private security key; the transmission (e.g., via one or more IMMs) of data elements relating to anchorsCount and / or anchorsIdentifiers; and the transmission of data elements relating to vIDCSPublicKey, anchorsCount, anchorsIdentifiers, and / or rangingCommand. As another example, the computation of a light code pattern based on the data elements relating to vIDCSPublicKey and / or anchorsCount involves the computer calculation of vIDCSPublicKey and the computer calculation of a shared vIDSecret key associated with vehicle 102.As a further example, the calculation of the SharedvIDSecretKey includes the calculation of the SharedvIDCSecretKey and the verification of the computer-calculated SharedvIDCSecretKey. As another example, the computer calculation of the vIDAVPublicKey includes the computer calculation of the vehicleIDPublicKey and the transmission (e.g., via one or more VMMs) of data elements that include rangingCommandResponse, vIDAVPublicKey, SharedvIDAVSecretKey, nodesCount, nodesIdentifiers, rangingRateCodeBit, and / or rangingRateSyncBit. It is understood that during the computer calculation and the calculation of the distance measurement pattern, the infrastructure-side AVM algorithm 114 is configured to perform a distance measurement of a location of the vehicle 102 using one or more anchors 116 and one or more nodes 118 based on the exchange of publicKey and secretKey.

[0049] Fig. Figure 6 is a flowchart illustrating an exemplary procedure 600 for maneuvering a vehicle (e.g., vehicle 102). In procedure 602, one or more vehicle shunting messages (e.g., one or more VMMs) are received. For example, the one or more VMMs are received in response to a broadcast maneuvering command (e.g., one or more IMMs). In another example, the maneuvering command is broadcast by an infrastructure system (e.g., infrastructure system 104). As yet another example, the one or more VMMs are received by the vehicle, which is within a distance-related threshold of the infrastructure system. As a further example, the distance-related threshold can be any predefined distance acceptable based on one or more technical capabilities of the infrastructure system and / or the vehicle.The one or more VMMs contain at least one vehicle identification number (e.g. a VIN) which is assigned to the vehicle, for example.

[0050] Operation 604 initiates a vehicle maneuvering process. For example, the vehicle maneuvering process is initiated by transmitting one or more IMMs. As another example, the one or more IMMs are transmitted to one or more transmission points (e.g., the one or more Anchor 116s). As yet another example, the one or more IMMs include an infrastructure-initiated certification key (e.g., the infrastructure-initiated public security key) associated with the vehicle. As a further example, the infrastructure-initiated certification key includes an initial timestamp, the vehicle identification number, an original equipment manufacturer's rolling identifier, or a combination thereof.

[0051] In operation 606, a vehicle-initiated certification key (e.g., the vehicle-initiated public security key) is received. For example, the vehicle-initiated certification key is received by one or more transmission points. As another example, the vehicle-initiated certification key is received in response to one or more nodes (e.g., the one or more nodes 118) of the vehicle verifying the infrastructure-initiated certification key. As a further example, the one or more VMMs include the vehicle-initiated certification key. As yet another example, a data rate associated with the VMMs is higher than a data rate interval associated with the IMMs exchanged with the vehicle during the maneuvering process.For example, a transmission point of one or more transmission points is configured to transmit the infrastructure-initiated certification key to one or more nodes of the vehicle. As another example, the transmission point of one or more transmission points is associated with a location of the vehicle. As yet another example, the transmission point of one or more transmission points is further configured to receive the infrastructure-initiated certification key from one or more nodes of the vehicle.

[0052] Operation 608 verifies the vehicle-initiated certification key, which corresponds to a vehicle identity. For example, verifying the vehicle-initiated certification key involves performing a merger analysis of the vehicle-initiated certification key and / or the infrastructure-initiated certification key. As another example, performing the merger analysis is based on a derived secret key approach analysis.

[0053] Operation 610 generates a virtual boundary box (e.g., boundary box 120) that indicates the current location of the vehicle. For example, the virtual boundary box is generated in response to verification that the vehicle-initiated certification key matches the vehicle's identity. As another example, the generation of the virtual boundary box is based on a distance measurement code pattern generated from a secret key. As yet another example, the secret key is decoded using the vehicle-initiated certification key and / or the infrastructure-initiated certification key.

[0054] In one or more embodiments, a second infrastructure-initiated certification key is generated. For example, the second infrastructure-initiated certification key is generated based on a first timestamp, the vehicle identification number, the rolling identifier of an original equipment manufacturer, or a combination thereof. In one or more additional embodiments, a transmission point count message and / or a transmission point identification message is transmitted to the one or more transmission points.

[0055] In one or more further embodiments, the vehicle is caused to enter an ejection state (e.g., a disengagement state). For example, the vehicle is caused to enter the ejection state based on the successful identification of its current location within a time-related threshold and / or the use of the virtual boundary box and / or the determination that a distance measurement during the maneuvering process is successful. Alternatively, the vehicle is caused to enter the ejection state or an integration state based on one or more communication errors.For example, one or more communication errors may include unsuccessful identification of the vehicle's current location within the time-related threshold, unsuccessful decoding of the vehicle-initiated certification key verification, and / or determining that distance measurement during the maneuvering process is unsuccessful.

[0056] Fig. Figure 7 is a flowchart illustrating an exemplary procedure 700 for maneuvering a vehicle (e.g., vehicle 102). In procedure 702, a broadcast maneuver command (e.g., one or more IMMs) is received by the vehicle. For example, the broadcast maneuver command is received in response to the vehicle being within a distance-related threshold of an infrastructure system (e.g., infrastructure system 104). As another example, the distance-related threshold could be any predefined distance acceptable based on one or more technical capabilities of the infrastructure system and / or the vehicle.

[0057] In process 704, one or more vehicle shunting messages (VMMs) are transmitted from the vehicle to the infrastructure system. For example, the one or more VMMs are transmitted based on the reception of the broadcast maneuvering command. As another example, the one or more VMMs may contain at least one vehicle identification number assigned to the vehicle.

[0058] Operation 706 verifies one or more IMMs. For example, the one or more IMMs include an infrastructure-initiated certification key (e.g., the infrastructure-initiated public security key) received from one of a plurality of transmission points (e.g., the one or more anchors 116). As one example, the transmission point of the plurality of transmission points is associated with a vehicle location. As another example, the infrastructure-initiated certification key verification involves performing a join analysis of the vehicle-initiated certification key and / or the infrastructure-initiated certification key. As yet another example, the join analysis is based on a derived secret key approach analysis.

[0059] In operation 708, a vehicle-initiated certification key (e.g., the vehicle-initiated public security key) is transmitted to the multitude of transmission points. For example, the vehicle-initiated certification key is transmitted in response to the verification of the infrastructure-initiated certification key. As another example, one or more VMMs include the vehicle-initiated certification key. Yet another example is a data rate associated with the VMMs that is higher than a data rate interval associated with the IMMs that are exchanged with the vehicle during a maneuvering process. As a further example, the transmission of the vehicle-initiated certification key causes a virtual boundary box (e.g., boundary box 120) to be created by the infrastructure system.As an additional example, the virtual boundary box indicates the current location of the vehicle. As another example, the vehicle-initiated certification key can include an initial timestamp, the vehicle identification number (VIN), a rolling OEM identifier, or a combination thereof. The generation of the virtual boundary box is based, for example, on a distance measurement code pattern generated from a secret key. As another example, the secret key is decoded using the vehicle-initiated certification key and / or the infrastructure-initiated certification key.

[0060] In one or more embodiments, a second vehicle-initiated certification key is generated. For example, the second vehicle-initiated certification key is generated based on a second timestamp, the vehicle identification number, the rolling identifier of an original equipment manufacturer, or a combination thereof. In one or more further embodiments, a vehicle node count message, a vehicle identification message, one or more node identifiers, a distance measurement code bit, and / or a distance measurement rate synchronization bit are transmitted via one or more nodes (e.g., the one or more nodes 118) of the vehicle.

[0061] In one or more additional embodiments, the infrastructure system enters an ejection state (e.g., a disengagement state) based on the successful identification of the vehicle's current location within a time-related threshold and / or the use of the virtual boundary box and / or the determination that distance measurement during the maneuvering process is successful. Alternatively, the ejection state or an integration state is entered based on one or more communication errors.For example, one or more communication errors may include the infrastructure system unsuccessfully identifying the vehicle's current location within the time-related threshold, the infrastructure system unsuccessfully decoding the verification of the vehicle-initiated certification key, the infrastructure system determining that distance measurement during the maneuvering process is unsuccessful, and / or the vehicle unsuccessfully decoding the verification of the infrastructure-initiated certification key.

[0062] Fig. Figure 8 illustrates an operating environment that facilitates the performance of one or more of the systems and procedures described herein. In particular, the systems and procedures described herein may be implemented using a computing device 802. For example, the computing device 802 may be a personal computer, a desktop computer, a laptop computer, a tablet computer, a handheld computer, a server computer, a workstation computer, a mainframe computer, a portable computer computer, a supercomputer computer, or a combination thereof. However, it is understood that the foregoing examples of computing device 802 are not exhaustive and that computing device 802 may be any type of processing or computing device.The computing device 802 generally includes a processor 804, a display adapter 806, one or more input / output ports 808, one or more input / output components 810, a network adapter 812, a power supply 814, and a memory 816. However, it is understood that the computing device 802 may include any additional components and need not include any of the listed components (e.g., the processor 804, the display adapter 806, the one or more input / output ports 808, the one or more input / output components 810, the network adapter 812, the power supply 814, and the memory 816).

[0063] The 804 processor is configured to provide instructions to the 802 computing device so that the 802 computing device can process one or more tasks, including the execution of a software program to perform one or more operations, as described in more detail herein. It is also understood that the 802 computing device can contain any number of 804 processors. The 806 display adapter can be a graphics card or a video board that provides the 802 computing device with the ability to display content on a 818 display device.For example, the Display Device 818 may be any screen, monitor, and / or light-emitting component associated with any personal computer, desktop, laptop, tablet, handheld computer, server, workstation, mainframe, portable computer, supercomputer, or any combination thereof. It is understood, however, that the foregoing examples of Display Device 818 are not exhaustive and that Display Device 818 may be any type of device capable of providing a visual display.

[0064] The input / output port(s) 808 provides a number of interfaces (e.g., jacks) for one or more cables to connect to the computing device 802. It is understood that any number of input / output ports 808 may be present on the computing device 802. For example, the input / output port(s) 808 provides a means for the computing device 802 to receive signals and / or data from an external device connected to the computing device 802 by one or more cables. As another example, the input / output port(s) 808 provides a means for the computing device 802 to send signals and / or data to an external device connected to the computing device 802 by one or more cables.The input / output component(s) 810 may include one or more components supporting the input / output port(s) 808, such as, but not limited to, a switch, a push button, a pressure mat, a float switch, a keypad, a radio receiver, or a combination thereof.

[0065] The network adapter 812 can be any type of network interface controller configured to provide a means of communication over a network 820 with another computing device, such as a remote computing device 822. For example, the remote computing device 822 can be a user device, such as a mobile phone, smartphone, tablet, laptop, or a combination thereof. The power supply 814 is configured to convert high-voltage alternating current (e.g., AC) to direct current (e.g., DC) to provide power to the other components (e.g., the processor 804, the display adapter 806, the one or more input / output port(s) 808, the one or more input / output components 810, the network adapter 812, and the memory 816) of the computing device 802.

[0066] Additionally, Memory 816 can be a mass storage device and / or system memory, such as a hard disk drive, a memory card, a solid-state drive, random-access memory (RAM), or a combination thereof. Memory 816 is configured to provide memory for instructions and data associated with the operation of the Computing Device 802. Memory 816 can generally include an Operating System 824, Distance-Measuring Software 826, and Distance-Measuring Data 828. For example, the Operating System 824 is configured to manage and / or process any of the data and / or instructions associated with the Distance-Measuring Software 826 and / or the Distance-Measuring Data 828, as described in more detail herein.

[0067] Furthermore, a system bus 830 is included within the computing device 802, which is configured to couple each of the various components (e.g., the processor 804, the display adapter 806, the one or more input / output ports 808, the one or more input / output components 810, the network adapter 812, the power supply 814, and the memory 816) of the computing device 802. It is also understood that each of the components of the computing device 802 and the functionality assigned to each of the components of the computing device 802 can be implemented within the remote computing device 822. While the operating environment, which is in Fig. Figure 8 illustrates a specific configuration that is associated with at least the computing device 802, the network 820 and the remote computing device 822; it is understood that the operating environment can be configured in any way.

[0068] Thus, one or more examples of the present disclosure described herein provide a means for maneuvering a vehicle based on at least one wireless communication protocol that supports the exchange of infrastructure shunting messages and vehicle shunting messages between an automated vehicle and an infrastructure system, each of which implements machine learning-based analysis for such communication exchange.

[0069] Unless expressly stated otherwise herein, all numerical values ​​indicating mechanical / thermal properties, percentages of compositions, dimensions and / or tolerances, or other parameters are to be understood as modified by the word "approximately" or "about" when describing the scope of this disclosure. This modification is desirable for various reasons, including industrial practice, material, manufacturing and assembly tolerances, and testability.

[0070] As used herein, the phrase "at least one of A, B and C" should be interpreted as meaning a logical (A OR B OR C) using a non-exclusive logical OR, and should not be interpreted as meaning "at least one of A, at least one of B and at least one of C".

[0071] In this application, the terms "controller" and / or "module" may refer to, be part of, or include: an application-specific integrated circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinable logic circuit; a field-programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the foregoing, such as in a system-on-a-chip.

[0072] The term storage is a subset of the term computer-readable medium. The term computer-readable medium, as used here, does not include transitory electrical or electromagnetic signals that propagate through a medium (such as via a carrier wave); the term computer-readable medium can therefore be considered tangible and non-transient.Non-restrictive examples of a non-transitory, tangible, computer-readable medium include non-volatile memory circuits (such as a flash memory circuit, a erasable programmable read-only memory circuit, or a mask read-only memory circuit), volatile memory circuits (such as a static random access memory circuit or a dynamic random access memory circuit), magnetic storage media (such as an analog or digital magnetic tape or a hard disk drive), and optical storage media (such as a CD, a DVD, or a Blu-ray Disc).

[0073] The devices and procedures described in this application can be implemented in whole or in part by a specialized computer created by configuring a general-purpose computer to perform one or more specific functions embodied in computer programs. The functional blocks, flowchart components, and other elements described above serve as software specifications that can be translated into computer programs through the routine work of an experienced technician or programmer.

[0074] The description of the revelation is purely exemplary, and thus it is intended that examples which do not deviate from the content of the revelation fall within its scope. Such variations are not to be considered a deviation from the nature and scope of the revelation.

[0075] According to the present invention, a method comprises: receiving a broadcast maneuver command at a vehicle in response to the vehicle being within a distance-related threshold of an infrastructure system; transmitting one or more vehicle shunting messages from the vehicle to the infrastructure system based on receiving the broadcast maneuver command; verifying one or more infrastructure shunting messages, wherein the one or more infrastructure shunting messages comprise an infrastructure-initiated certification key received from a transmission point of a plurality of transmission points, the transmission point being associated with a location of the vehicle;and transmitting a vehicle-initiated certification key to the plurality of transmission points in response to the verification of the infrastructure-initiated certification key, wherein the one or more vehicle shunting messages include the vehicle-initiated certification key, and wherein a data rate associated with the vehicle shunting messages is higher than a data rate interval associated with the infrastructure shunting messages exchanged with the vehicle during a maneuvering process, and wherein the transmission of the vehicle-initiated certification key causes a virtual boundary box indicating a current location of the vehicle to be generated by the infrastructure system.

[0076] In one aspect of the invention, the one or more vehicle shunting messages include at least one vehicle identification number assigned to the vehicle.

[0077] In one aspect of the invention, the vehicle-initiated certification key includes a first timestamp, the vehicle identification number, a rolling identifier of an original equipment manufacturer, or a combination thereof.

[0078] In one aspect of the invention, the method includes the following: generating a second vehicle-initiated certification key based on a second timestamp, the vehicle identification number, the rolling identifier of an original equipment manufacturer or a combination thereof.

[0079] In one aspect of the invention, the method includes: entering an exclusion state based on the infrastructure system successfully identifying the current location of the vehicle within a time-related threshold and using the virtual boundary box, or determining that a distance measurement during the maneuvering process is successful; or entering the exclusion state or an inclusion state based on one or more communication errors, wherein the one or more communication errors include: the infrastructure system's unsuccessful identification of the current location of the vehicle within the time-related threshold; the infrastructure system's unsuccessful decoding of the verification of the vehicle-initiated certification key; and the infrastructure system's determination that the distance measurement during the maneuvering process is unsuccessful.or unsuccessful decoding of the verification of the infrastructure-initiated certification key by the vehicle.;

[0080] In one aspect of the invention, the method includes the following: transmitting a vehicle node count message, a vehicle identification message, one or more node identifiers, a distance measurement code bit, a distance measurement rate synchronization bit, or a combination thereof via one or more nodes of the vehicle.

[0081] In one aspect of the invention, the verification of the infrastructure-initiated certification key further includes: performing a composite analysis of the vehicle-initiated certification key and the infrastructure-initiated certification key based on a derived secret key approach analysis.

[0082] In one aspect of the invention, the generation of the virtual boundary box is based on a distance measurement code pattern generated from a secret key, wherein the secret key is decoded using the vehicle-initiated certification key and the infrastructure-initiated certification key.

Claims

[1] Procedure comprising the following: Receiving one or more vehicle shunting messages in response to a broadcast maneuvering command from a vehicle located within a distance-related threshold of an infrastructure system; Initiating a vehicle maneuvering process by transmitting one or more infrastructure shunting messages to one or more transmission points, wherein the one or more infrastructure shunting messages include an infrastructure-initiated certification key associated with the vehicle; Receiving a vehicle-initiated certification key from the one or more transmission points in response to one or more nodes of the vehicle verifying the infrastructure-initiated certification key, wherein the one or more vehicle shunting messages include the vehicle-initiated certification key and wherein a data rate associated with the vehicle shunting messages is higher than a data rate interval associated with the infrastructure shunting messages exchanged with the vehicle during the maneuvering process; Verify that the vehicle-initiated certification key corresponds to the vehicle's identity; and Generating a virtual boundary box that indicates the current location of the vehicle in response to verification that the vehicle-initiated certification key matches the vehicle's identity. [2] Method according to claim 1, wherein the one or more vehicle shunting messages are received by the vehicle and include at least one vehicle identification number assigned to the vehicle. [3] Method according to claim 2, wherein the infrastructure-initiated certification key includes a first timestamp, the vehicle identification number, a rolling identifier of an original equipment manufacturer or a combination thereof. [4] Method according to claim 2, further comprising: Generating a second infrastructure-initiated certification key based on a second timestamp, the vehicle identification number, a rolling identifier of an original equipment manufacturer, or a combination thereof. [5] The method of claim 1, further comprising: Transmitting a transmission point count message, a transmission point identification message, or a combination thereof to one or more transmission points. [6] Method according to claim 1, wherein a transmission point of the one or more transmission points associated with a location of the vehicle is configured to transmit the infrastructure-initiated certification key to the one or more nodes of the vehicle, and wherein the transmission point is further configured to receive the vehicle-initiated certification key from the one or more nodes of the vehicle. [7] Method according to claim 1, further comprising: Causing the vehicle to enter a spin-out state based on successful identification of the vehicle's current location within a time-related threshold and use of the virtual boundary box, or determining that distance measurement during the maneuvering process is successful; or Causing the vehicle to enter an ejection state or an integration state based on one or more communication errors, wherein the one or more communication errors include: Unsuccessful identification of the vehicle's current location within the time-related threshold; Unsuccessful decoding of the vehicle-initiated certification key verification; or Determine that distance measurement during the maneuvering process is unsuccessful. [8] Method according to claim 1, wherein the verification of the vehicle-initiated certification key further comprises: Performing a composite analysis of the vehicle-initiated certification key and the infrastructure-initiated certification key based on a derived secret key approach analysis. [9] Method according to claim 1, wherein the generation of the virtual boundary box is based on a distance measurement code pattern generated from a secret key, and wherein the secret key is decoded using the vehicle-initiated certification key and the infrastructure-initiated certification key. [10] System comprising the following: an infrastructure system configured to do the following: Receiving one or more vehicle shunting messages in response to a broadcast maneuvering command from a vehicle located within a distance-related threshold of an infrastructure system, Initiating a vehicle maneuvering process by transmitting one or more infrastructure shunting messages to a plurality of transmission points, wherein the one or more infrastructure shunting messages include an infrastructure-initiated certification key associated with the vehicle, Receiving a vehicle-initiated certification key from the one or more transmission points, wherein the one or more vehicle shunting messages include the vehicle-initiated certification key and wherein a data rate associated with the vehicle shunting messages is higher than a data rate interval associated with the infrastructure messages exchanged with the vehicle during the maneuvering process, Verify that the vehicle-initiated certification key corresponds to the vehicle's identity, and Generating a virtual boundary box indicating the current location of the vehicle in response to verification that the vehicle-initiated certification key matches the vehicle's identity; and the vehicle is configured as follows: Receiving the broadcast maneuvering command in response to being within the distance-related threshold of the infrastructure system, Transmitting one or more vehicle shunting messages to the infrastructure system based on the reception of the broadcast maneuvering command, Verifying the infrastructure-initiated certification key received from one transmission point of the plurality of transmission points, where the transmission point is associated with the location of the vehicle, and Transmitting the vehicle-initiated certification key to the multitude of transmission points in response to the verification of the infrastructure-initiated certification key. [11] System according to claim 10, wherein the generation of the virtual boundary box is based on a distance measurement code pattern generated from a secret key, and wherein the secret key is decoded using the vehicle-initiated certification key and the infrastructure-initiated certification key. [12] System according to claim 10, wherein the vehicle configured to verify the vehicle-initiated certification key is further configured to: Performing a composite analysis of the vehicle-initiated certification key and the infrastructure-initiated certification key based on a derived secret key approach analysis. [13] System according to claim 10, wherein the vehicle is further configured as follows: Entering a separation state based on the infrastructure system successfully identifying the vehicle's current location within a time-related threshold and using the boundary box, or determining that distance measurement during the maneuvering process is successful; or The vehicle entering a segregation state or an integration state based on one or more communication errors, wherein the one or more communication errors include the following: Unsuccessful identification of the vehicle's current location within the time-related threshold by the infrastructure system; Unsuccessful decoding of the vehicle-initiated certification key verification by the infrastructure system; Determine that distance measurement during the maneuvering process is unsuccessful, by the infrastructure system; or Unsuccessful decoding of the infrastructure-initiated certification key verification by the vehicle. [14] System according to claim 10, wherein a transmission point of the one or more transmission points associated with a location of the vehicle is configured to transmit the infrastructure-initiated certification key to one or more nodes of the vehicle, and wherein the transmission point is further configured to receive the vehicle-initiated certification key from the one or more nodes of the vehicle. [15] System according to claim 10, wherein the vehicle is further configured as follows: Transmitting a vehicle node count message, a vehicle identification message, one or more node identifiers, a distance measurement rate code bit, a distance measurement rate synchronization bit, or a combination thereof, via one or more nodes of the vehicle to the multitude of transmission points.

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