Method and apparatus for determining relative position using GNSS carrier phase - Patents.com

Abstract

Techniques are provided that may be implemented using various methods and / or devices in the vehicle to determine nearby vehicles, e.g., vehicles located within a pre-specified distance, or within a broadcast distance, or otherwise geographically nearby, by using broadcast or other messages sent by other vehicles, and obtain GNSS carrier phase measurement data from the nearby vehicles, where the shared carrier GNSS phase measurement data may be utilized to update the location of the nearby vehicles.

Description

[Technical field]

[0001] Claiming priority This application claims priority to and the benefit of U.S. Non-provisional Patent Application No. 16 / 797,350, filed February 21, 2020, and entitled “METHOD AND APPARATUS TO DETERMINE RELATIVE LOCATION USING GNSS CARRIER PHASE,” which is hereby incorporated by reference in its entirety.

[0002] The subject matter disclosed herein relates to automotive devices and vehicles, and more particularly to methods, messaging, and apparatus used in or with vehicles to determine relative position using Global Navigation Satellite System (GNSS) carrier phase from other vehicles. [Background technology]

[0003] Autonomous or partially autonomous automobiles require accurate and rapid localization of surrounding vehicles to enable automated driving and improve the safety, efficiency, and convenience of vehicle transportation. For example, route and maneuver planning for vehicle to everything (V2X)-enabled vehicles (e.g., cellular vehicle to everything (CV2X)-enabled vehicles, etc.), referred to herein as vehicles, depends on knowing accurate inter-vehicle distances and relative positions. The capabilities and behaviors of surrounding vehicles help determine, for example, safe inter-vehicle spacing and lane change maneuvers. The positions and position-related measurements of surrounding vehicles need to be communicated, for example, through a V2X application layer standard, via a set of data elements for vehicles to exchange capability information. However, the capabilities and methods of locating each vehicle may differ based on model, brand, and other factors. Furthermore, when using Global Navigation Satellite System (GNSS) for positioning, GNSS signals may be subject to various error factors such as multipath, ionospheric, and tropospheric errors, which may affect the accuracy of the absolute position that may be shared by each vehicle. However, assuming that one primary objective of each vehicle is to avoid collisions and maintain a safe distance from other vehicles, the usefulness of data on relative position (distance and direction between vehicles) may be higher in some circumstances than absolute position (latitude / longitude), especially when absolute position is subject to significant errors due to external factors such as dense urban reflections of GNSS signals. Thus, adding V2X data elements to enable the calculation of relative distance may enable vehicles to optimize time and distance for safe inter-vehicle spacing and maneuvers. Summary of the Invention [Means for solving the problem]

[0004] Presented herein are several example techniques that may be implemented in various methods and apparatus within a vehicle to determine, transmit, receive, and utilize position and GNSS position measurement data to determine inter-vehicle spacing, intersection priority, lane change behavior and spacing, and other autonomous vehicle behavior.

[0005] In one embodiment, a method for updating a position of a target vehicle using GNSS phase measurement data may include determining a position of an own vehicle; receiving a broadcast message from the first proximate vehicle at the own vehicle including a first position of the first proximate vehicle and a vehicle ID of the first proximate vehicle; determining that the first proximate vehicle is located within a threshold distance from the own vehicle based at least in part on a distance between the position of the own vehicle and the first position of the first proximate vehicle; obtaining GNSS phase measurement data for the first proximate vehicle; determining GNSS phase measurement data for the own vehicle; and determining a second position of the first proximate vehicle based at least in part on the GNSS phase measurement data for the first proximate vehicle and the GNSS phase measurement data for the own vehicle.

[0006] In one embodiment, the vehicle may include a wireless transceiver, a GNSS receiver, a memory, and one or more processors communicatively coupled to the wireless transceiver, the GNSS receiver, and the memory, wherein the one or more processors are configured to determine a position of the own vehicle, receive a broadcast message from the first proximate vehicle at the own vehicle including a first position of the first proximate vehicle and a vehicle ID of the first proximate vehicle, determine that the first proximate vehicle is located within a threshold distance from the own vehicle based at least in part on a distance between the position of the own vehicle and the first position of the first proximate vehicle, obtain GNSS phase measurement data for the first proximate vehicle, determine GNSS phase measurement data for the own vehicle, and determine a second position of the first proximate vehicle based at least in part on the GNSS phase measurement data for the first proximate vehicle and the GNSS phase measurement data for the own vehicle.

[0007] In one embodiment, the vehicle may include means for determining a position of the vehicle, means for receiving a broadcast message from the first proximate vehicle at the vehicle, the broadcast message including a first position of the first proximate vehicle and a vehicle ID of the first proximate vehicle, means for determining that the first proximate vehicle is located within a threshold distance from the vehicle based at least in part on a distance between the position of the vehicle and the first position of the first proximate vehicle, means for obtaining GNSS phase measurement data for the first proximate vehicle, means for determining GNSS phase measurement data for the vehicle, and means for determining a second position of the first proximate vehicle based at least in part on the GNSS phase measurement data for the first proximate vehicle and the GNSS phase measurement data for the vehicle.

[0008] In one embodiment, a non-transitory computer-readable medium may store computer-readable instructions to cause one or more processors on the vehicle to determine a position of the own vehicle, receive a broadcast message from the first proximate vehicle at the own vehicle including a first position of the first proximate vehicle and a vehicle ID of the first proximate vehicle, determine that the first proximate vehicle is located within a threshold distance from the own vehicle based at least in part on a distance between the position of the own vehicle and the first position of the first proximate vehicle, obtain GNSS phase measurement data for the first proximate vehicle, determine GNSS phase measurement data for the own vehicle, and determine a second position of the first proximate vehicle based at least in part on the GNSS phase measurement data for the first proximate vehicle and the GNSS phase measurement data for the own vehicle.

[0009] Non-limiting and non-exhaustive aspects are described with reference to the following figures, in which like reference numerals refer to like parts throughout the various figures unless otherwise specified. [Brief description of the drawings]

[0010] [Figure 1]FIG. 2 is a block diagram of various components and / or systems implemented in an exemplary vehicle. [Diagram 2] FIG. 1 illustrates an example vehicle configured with various sensor and communication components and / or systems. [Diagram 3] FIG. 1 illustrates a function block level embodiment of a vehicle using V2X to obtain GNSS measurement data for nearby automobiles. [Figure 4] FIG. 1 illustrates an example system for a vehicle using V2X data elements for V2X vehicle sensing, prediction, planning, and execution. [Diagram 5] 1 illustrates the use of carrier phase and / or other relative positioning methods between vehicles, as well as the use of vehicles with high precision position capabilities as absolute position references to other vehicles. [Figure 6] FIG. 1 illustrates the use of relative positioning between vehicles with poor visibility of each other. [Figure 7] FIG. 1 illustrates a vehicle-to-vehicle (V2V) based embodiment for determining relative position. [Figure 8] FIG. 1 illustrates a sample embodiment of a process for V2V-based relative positioning. [Figure 9] FIG. 1 illustrates a broadcast-based embodiment for determining relative position. [Figure 10] FIG. 1 illustrates a sample embodiment of a process for broadcast-based determination of relative position. [Figure 11] FIG. 1 illustrates an embodiment showing a hybrid system for determining relative position utilizing both broadcasted and V2V-based information. [Figure 12] FIG. 1 illustrates a sample embodiment of a process for a hybrid system for determining relative position utilizing both broadcasted and V2V-based information. [Figure 13] FIG. 1 illustrates messaging for a hybrid system for determining relative position. [Figure 14]FIG. 1 illustrates messaging for a system that interacts with roadside units that perform traffic and / or intersection control. [Figure 15] FIG. 1 illustrates a sample embodiment of a process for determining relative positions between vehicles. [Figure 16] FIG. 1 illustrates a sample embodiment of a process for using relative position in interacting with roadside units. [Figure 17] FIG. 1 illustrates vectors between three receivers. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Several exemplary techniques are presented herein that may be implemented in various methods, means, and apparatus in a vehicle. The exemplary techniques presented herein address various methods and apparatus in a vehicle to enable or otherwise support the determination and use of vehicle-to-everything (V2X) data elements for determining relative position. The exemplary techniques described herein may generally be applied to V2X capability data elements (DEs) that are not currently defined in V2X application layer standards and that represent V2X-enabled vehicle capabilities, including Global Navigation Satellite System (GNSS) measurement information, demodulated GNSS information, and / or other GNSS-related information described herein. These DEs may be provided via V2X messages, such as messages defined in the Society of Automotive Engineers (SAE) Surface Vehicle Standard (SVS) or / and messages defined in the European Telecommunications Standards Institute (ETSI) Intelligent Transportation Systems (ITS) standard and utilized for vehicle-to-vehicle relative positioning. Exemplary techniques and embodiments are provided for determining and providing these data elements. In one embodiment, a vehicle can use vehicle GNSS receiver data to determine relative vehicle-to-vehicle or vehicle-to-roadside unit or vehicle-to-other devices position and provide up-to-date data elements over the air (OTA) to nearby vehicles or devices, and dynamically update or adjust values ​​of GNSS measurement data elements using external V2X inputs, such as data elements from other vehicles.

[0012] If the exact relative positions of nearby vehicles are known, they may be used to improve accuracy and reduce uncertainty for vehicle spacing, lane changes, and maneuvers when other vehicles are present, thus enhancing safety by avoiding collisions. Accurate positioning of nearby automobiles (e.g., automobiles when there are automobiles in front of the vehicle, behind the vehicle, or on either side of the vehicle) therefore increases safety and prevents accidents. Relative positioning may be done by various means such as LIDAR, RADAR, and cameras. However, LIDAR is expensive and subject to obstruction in some cases by bad weather, cameras are similarly subject to obstruction by bad weather during more widespread use, and RADAR tends to be forward-facing and subject to obstruction. Relative positioning using GNSS-based carrier-phase observations may be done quickly and inexpensively, and may be utilized to verify, supplement, and possibly replace some of the above-mentioned systems. This is particularly attractive because GNSS receivers are widely installed in vehicles for navigation purposes and therefore can be very cost-effectively utilized for relative positioning by adding GNSS-based carrier phase differencing techniques (to share / communicate GNSS-based carrier phase information and determine relative positioning solutions between vehicles).

[0013] GNSS-based positions are subject to various factors such as multipath, ionospheric, and tropospheric errors. Thus, absolute positions, although based on GNSS, generally have some associated uncertainty and / or errors, especially in dense urban areas or other high-blockage areas. GNSS-based absolute positions may be verified and / or corrected using dead-reckoning information from distance sensors (such as wheel ticks), accelerometer and gyro measurements, camera information, other technologies such as SONAR, RADAR, and / or LIDAR, or other both absolute and relative positioning technologies, possibly used with reference points such as landmarks or roadside units. Some of these measurement systems, such as LIDAR, RADAR, and SONAR systems, may be expensive to implement and may not be present in all vehicle models. Some legacy vehicles may also not have some of the redundant positioning technologies.

[0014] However, GNSS-based carrier-phase observations may be used to determine a very accurate relative position between two receiving antennas. In some embodiments, the accuracy may be at the centimeter (cm) level. This is especially true when the two antennas are relatively close and therefore subject to the same multipath and other error effects (such as ionospheric and tropospheric delays), which may be calculated / minimized by using two or more measurements. In this case, for example, two receiving antennas located on cars adjacent to each other or possibly near each other may be subject to some of the same error effects, which may be cancelled out in calculating the relative position of the two antennas (and therefore the two cars).

[0015] Carrier phase measurements can be very accurate, but can also contain very large errors as shown by a consideration of the components that contribute to the carrier phase. However, many, if not most, of these errors are shared by two nearby antennas. Carrier phase may be expressed by the following mathematical formula:

[0016]

number

[0017]

number

[0018] represents the carrier phase variation measurement (in meters) between antenna α and satellite j at time t.

[0019]

number

[0020] is the transmitted carrier phase from the satellite vehicle (SVj). λ is the wavelength corresponding to the frequency of the band transmission.

[0021]

number

[0022] is the integer carrier phase ambiguity between antenna α and satellite j.

[0023]

number

[0024] is the noise and carrier phase multipath

[0025]

number

[0026] is the carrier phase measurement error caused by

[0027]

number

[0028] is the geometric range from antenna α to satellite j at time t. dt j is the SVj clock error. dT α is the receiver α clock error.

[0029]

number

[0030] is the SVj orbit error.

[0031]

number

[0032] is the ionospheric delay (c, i.e., multiply by the speed of light to convert to distance).

[0033]

number

[0034] is the tropospheric delay (c, i.e., multiply by the speed of light to convert to distance).

[0035] The dual phase difference may be used to reduce the effects of the above-mentioned error sources on the carrier phase measurement. In one embodiment, the carrier single phase difference may be determined by calculating the difference between the carrier phase measurement obtained at the first vehicle and the carrier phase measurement obtained from the second vehicle. Space-common errors (i.e., errors associated with the approximate positions of both the first and second vehicles, assuming they are fairly close, such as satellite clock errors, satellite orbit errors, tropospheric errors, and ionospheric errors) may be eliminated or significantly reduced. The carrier double phase difference may be determined by calculating the difference between the carrier single phase difference measurement for the first satellite and the carrier single phase difference measurement for the second satellite. The dual phase difference allows errors common to the receiver (such as receiver clock bias) to be cancelled. This two-step difference process, referred to as dual phase difference Δ∇φ, enables the resolution of carrier phase integer ambiguities, thereby enabling centimeter-level positioning accuracy.

[0036] If we introduce a third GNSS receiver (so we have receivers 1, 2, and 3) and obtain carrier-phase measurements, as shown in Figure 17, we can further constrain the ambiguities. With these GNSS receivers, we have three baselines between any two receivers, i.e.

[0037]

number

[0038] ,

[0039]

number

[0040] ,

[0041]

number

[0042] and thus the three corresponding dual phase difference ambiguities can be resolved. The ambiguities are constrained according to

[0043]

number

[0044] The above formula may be utilized for integer ambiguity resolution, thereby reducing the time and increasing the reliability of the resolution. Similarly, if measurements from three GNSS receivers are processed together, three position vectors are generated between the three receivers (1, 2, and 3), i.e.

[0045]

number

[0046] ,

[0047]

number

[0048] ,

[0049]

number

[0050] where:

[0051]

number

[0052] This vector relationship is clearly shown in Figure 17. This position vector constraint may be used to speed up and make baseline / ambiguity resolution more reliable.

[0053] With the advent of 5G V2X (fifth generation wireless, V2X stands for "vehicle to everything") technology, V2X-enabled vehicles will be able to connect with each other and share information such as status, capabilities, and measurement data with low latency. Vehicles may share GNSS pseudorange and carrier phase measurements in one embodiment, and may share location information in one embodiment. For example, vehicles may send GNSS pseudorange and / or carrier phase measurements, and in some embodiments other GNSS information may be sent from vehicle to vehicle, broadcast from each vehicle to neighboring vehicles, or some combination thereof.

[0054] As mentioned above, exchanging GNSS pseudorange and carrier phase information significantly improves the accuracy of inter-vehicle distance and vector determination. This information can be broadcast to vehicles within range or transferred between vehicles (point-to-point), perhaps in response to receiving a broadcasted capability, or a combination of broadcast and inter-vehicle information can be used to reduce message overhead. For example, in one embodiment, a location may be broadcast to vehicles within range, and then GNSS measurement information may be requested by vehicles that meet a proximity constraint based on the target vehicle's broadcasted location. In one embodiment, the request may trigger continuous GNSS measurement transfer, which terminates based on exceeding a distance threshold, and / or is re-requested when a time threshold is exceeded, and / or transfer is maintained as long as the broadcast messaging signal strength is above a threshold signal strength. By using dual phase difference ranging between vehicles, ranging may be performed to cm-level accuracy, depending on the circumstances.

[0055] In one embodiment, messaging elements and / or content are sent as follows: The message may include both vehicle specific but satellite independent variables as shown in Table 1 and satellite dependent variables as shown in Table 2, which may be sent for visible satellites (for a given vehicle) or some subset thereof. In one embodiment, criteria such as signal strength or degree of multipath may be used to select the satellite with the strongest signal or least path to use in the vehicle-to-vehicle dual phase difference calculation. Similarly, the vehicle may request general or specific GNSS measurement information (e.g., which satellites) in one embodiment.

[0056] [Table 1]

[0057] [Table 2]

[0058] Some of the advantages of GNSS-based relative positioning include low cost and use of existing GNSS receivers, high accuracy in outdoor environments such as highways, all-weather operation (not hindered by rain or snow), operable when far away, operable when invisible (far away, out of sight because it has turned a corner, blocked by one or more objects or one or more vehicles), and no inherent interference (GNSS receivers are passive, and therefore GNSS measurements do not interfere with other transmissions and / or measurements, in contrast to, for example, RADAR). Furthermore, the extremely accurate GNSS carrier-phase-based relative positioning may be used alone or in combination with other technologies, such as RADAR, LIDAR, and cameras, in which case positioning robustness and redundancy may be improved. GNSS carrier-phase-based relative positioning, especially in clear highway conditions, may be used to calibrate other systems, such as RADAR, LIDAR, and camera systems, by using the GNSS carrier-phase-based relative positioning to identify relative positions to remote objects and determining the correct calibration for the camera, RADAR, or LIDAR. This can be particularly useful in addressing alignment issues such as those that can arise when a bumper-integrated camera or radar unit is impacted and becomes misaligned. Similarly, GNSS carrier-phase based relative position may be used to calibrate distance estimates for RADAR, LIDAR, and camera systems.

[0059] In one embodiment, some or all of the GNSS measurement information from Table 1 and Table 2 may be sent as V2X data elements. In one embodiment, V2X data elements (DE) representing GNSS measurements and data, such as decoded GNSS satellite identities and / or time information and / or other information shown in Table 1 and Table 2, including Global Navigation Satellite System (GNSS) measurement information, demodulated GNSS information, and / or other GNSS related information, may be sent. These data elements (DE) may be provided via V2X messages, such as messages defined in the Society of Automotive Engineers (SAE) Road Vehicle Standard (SVS) or / and messages defined in the European Telecommunications Standards Institute (ETSI) Intelligent Transportation Systems (ITS) standard. In one embodiment, the shared GNSS information, such as the information contained in the above data elements, may be utilized for relative positioning between vehicles and / or vehicle control and operation.

[0060] In one embodiment, the data elements may be determined using the GNSS receiver 170 of Figure 1, which may be located, for example, in the shark fin 202 of the vehicle 100 of Figure 2 or elsewhere in the vehicle. The GNSS receiver and processing in one embodiment may be part of the vehicle external sensors 302 of Figure 3, or the signal information from the GNSS receiver 170 may be processed in the DSP 120 or the processor 110, or a combination thereof. The received GNSS data may be stored and / or processed in a memory 160 in the vehicle, such as a non-volatile RAM / ROM or a hard drive, and shared via the wireless transceiver 130. In one embodiment, the GNSS data may be broadcast or sent point-to-point to other vehicles.

[0061] As shown in FIG. 1 , in one embodiment, a vehicle 100, e.g., a car, truck, motorcycle, and / or other motorized vehicle, may transmit and receive wireless signals to and from other vehicles 100, e.g., via V2X vehicle-to-exchange (e.g., using one of the CV2X vehicle-to-exchange protocols), and / or in one embodiment, may transmit and receive wireless signals to and from a wireless communication network 470 via a wide area network (WAN) base station (BTS) and / or wireless access point 430, and / or may transmit and receive wireless signals to and from a roadside unit (RSU or roadside device) 425. In one embodiment, the vehicle 100 (e.g., vehicle 480) may communicate with other vehicles (e.g., vehicle 490) and / or a wireless communication network via the wireless transceiver 130 and wireless antenna 132 by transmitting and receiving wireless signals to and from a remote wireless transceiver, which may constitute another vehicle 490, a wireless base transceiver subsystem (BTS) 420, e.g., a Node B or evolved Node B (eNode B) or next generation Node B (gNode B), or a wireless access point 430 over a wireless communication link.

[0062] Similarly, the vehicle 100 may transmit and receive wireless signals to and from a local transceiver over a wireless communication link, for example, by using a wireless local area network (WLAN) and / or a personal area network (PAN) wireless transceiver, represented herein by one of the wireless transceiver 130 and the wireless antenna 132. In one embodiment, the wireless transceiver 130 may comprise various combinations of WAN transceivers, WLAN transceivers, and / or PAN transceivers. In one embodiment, the local transceiver may also be a Bluetooth transceiver, a ZigBee transceiver, or other PAN transceiver. In one embodiment, the vehicle 100 may transmit and receive wireless signals to and from the wireless transceiver 130 on the vehicle 100 over the wireless communication link 134. The local transceiver, WAN wireless transceiver, and / or mobile wireless transceiver may comprise a WAN transceiver, an access point (AP), a femtocell, a home base station, a small cell base station, a home node B (HNB), a home eNodeB (HeNB), or a next generation node B (gNodeB), and may provide access to a wireless local area network (WLAN, e.g., an IEEE 802.11 network), a wireless personal area network (PAN, e.g., a Bluetooth network), or a cellular network (e.g., an LTE network, or other wireless wide area network, such as those described in the next paragraph). Of course, it should be understood that these are merely examples of networks that may communicate with the vehicle over a wireless link, and that claimed subject matter is not limited in this respect. It should also be understood that the wireless transceiver 130 may be located on various vehicles 100, such as boats, ferries, cars, buses, drones, and various transportation vehicles. In one embodiment, the vehicle 100 may be utilized for passenger transportation, freight transportation, or other purposes.In one embodiment, GNSS signals 174 from GNSS satellites are utilized by vehicle 100 for position location and / or determining GNSS signal parameters and demodulated data. In one embodiment, signals 134 from the WAN transceiver, WLAN local transceiver, and / or PAN local transceiver are used alone or in combination with GNSS signals 174 for position location.

[0063] Examples of network technologies that may support the wireless transceiver 130 include Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), Wideband CDMA (WCDMA), Long Term Evolution (LTE), Fifth Generation Wireless (5G) or New Radio Access Technology (NR), High Rate Packet Data (HRPD), and V2X vehicle-to-vehicle communications. V2X communications protocols may be defined in various standards, such as the SAE standard and the ETS-ITS standard. GSM, WCDMA, and LTE are technologies defined by 3GPP. CDMA and HRPD are technologies defined by the 3rd Generation Partnership Project 2 (3GPP2). WCDMA is also part of the Universal Mobile Telecommunications System (UMTS) and may be supported by the HNB.

[0064] The wireless transceiver 130 may communicate with the communication network via a WAN wireless base station, which may include a deployment of equipment that enables subscriber access to the wireless communication network for service (subject to a service agreement). Here, the WAN wireless base station may perform the functions of a wide area network (WAN) or cell base station in serving subscriber devices within a cell that is determined based at least in part on the distance over which the WAN wireless base station can provide access services. Examples of WAN base stations include GSM, WCDMA, LTE, CDMA, HRPD, WiFi, BT, WiMax, and / or fifth generation (5G) NR base stations. In an embodiment, the further wireless base station may comprise a wireless LAN (WLAN) and / or PAN transceiver.

[0065] In one embodiment, the vehicle 100 may include multiple wireless transceivers, including a WAN transceiver, a WLAN transceiver, and / or a PAN transceiver. In one embodiment, radio technologies that may support the wireless communication link may further include a wireless local area network (e.g., WLAN, e.g., IEEE 802.11), Bluetooth (BT), and / or Zigbee.

[0066] In one embodiment, the vehicle 100 may include one or more cameras 135. In one embodiment, the camera may comprise a camera sensor and a mounting assembly. Different mounting assemblies may be used for different cameras on the vehicle 100. For example, a front camera may be mounted on the front bumper, on the stem of a rearview mirror assembly, or on other frontal areas of the vehicle 100. A rear camera may be mounted on the rear bumper / fender, on the rear window, on the trunk or other rear areas of the vehicle. Side mirrors may be mounted on the sides of the vehicle, such as by being integrated with the mirror assembly or door assembly. The cameras may perform object detection and distance estimation, especially for objects of known size and / or shape (e.g., stop signs and license plates both have standardized sizes and shapes), and may provide information about rotational motion about the vehicle's axes, such as when turning. When used with other sensors, the cameras may be calibrated by verifying mileage and angular orientation using other systems, such as using LIDAR, wheel tick / distance sensors, and / or GNSS. The camera may similarly be used to verify and calibrate other systems, for example to verify that distance measurements are correct by calibrating against known distances between known objects (landmarks, roadside markers, road mile markers, etc.), and to verify that object detection is performed accurately such that objects are therefore mapped to the correct location relative to the car by the LIDAR and other systems.Similarly, for example, when combined with an accelerometer, it may estimate the time of impact with a road obstacle (e.g., the elapsed time until hitting a pothole), which may be verified against the actual impact time and / or verified against a stopping model (e.g., comparing with an estimated stopping distance when attempting to stop before hitting an object), and / or verified against a maneuvering model (verifying that current estimates of turning radius at current speed and / or maneuverability at current speed are accurate in current conditions, and correcting and updating estimated parameters based on camera and other sensor measurements accordingly).

[0067] The accelerometers, gyros, and magnetometers 140 may be utilized in one embodiment to provide and / or verify motion and orientation information. The accelerometers and gyros may be utilized to monitor wheel and drivetrain performance. The accelerometers may also be utilized in one embodiment to verify actual impact times with road obstacles, such as potholes, against predicted times based on existing stopping and acceleration models and steering models. The gyros and magnetometers may be utilized in one embodiment to measure the vehicle's rolling status and orientation relative to magnetic north, particularly when used in conjunction with measurements from other external and internal sensors, such as speed sensors, wheel tick sensors, and / or other sensors 145, such as odometer measurements, to measure and calibrate estimates and / or models for turning radius at current speed and / or maneuverability at current speed, respectively.

[0068] The Light Detection and Ranging (LIDAR) 150 subsystem measures distance to objects using pulsed laser light. While cameras may be used for object detection, the LIDAR 150 provides a means to detect object distance (and orientation) with more uncertainty, especially for objects of unknown size and shape. LIDAR 150 measurements may be used to estimate driving speed, vector direction, relative position, and stopping distance by providing precise distance and delta distance measurements.

[0069] Memory 160 may be utilized with processor 110 and / or DSP 120. Memory 160 may comprise FLASH, RAM, ROM, disk drive, or FLASH card, or other memory devices, or various combinations thereof. In one embodiment, memory 160 may include instructions for implementing various methods described throughout this description, including, for example, processes for implementing the use of relative positioning between vehicles and between vehicles and external reference objects such as roadside units. In one embodiment, memory may include instructions for operating and calibrating sensors, receiving map, weather, vehicle (both vehicle 100 and surrounding vehicles), and other data, and utilizing various internal and external sensor measurements and received data and measurements to determine driving parameters such as relative position, absolute position, stopping distance, acceleration and turning radius at current speed, and / or maneuverability at current speed, following distance, turn initiation / timing and performance, and initiation / timing of driving maneuvers.

[0070] In one embodiment, the power and drive systems (generator, battery, transmission, engine) and associated systems 175 and systems (brakes, actuators, throttle control, steering, and electrical) 155 may be controlled by a processor and / or hardware or software or a vehicle operator or some combination thereof. The systems (brakes, actuators, throttle control, steering, electrical, etc.) 155 and power and drive or other systems 175 may be utilized along with performance and operational parameters to enable the vehicle 100 to safely and precisely drive and operate autonomously (and manually for alerts and emergency override / braking / stopping), such as merging into traffic, stopping, accelerating, and otherwise operating the vehicle 100 safely, effectively, and efficiently. In one embodiment, inputs from various sensor systems such as camera 135, accelerometer, gyro and magnetometer 140, LIDAR 150, GNSS receiver 170, RADAR 153, inputs, messaging, and / or measurements from wireless transceiver 130 and / or other sensors 145, or various combinations thereof, may be utilized by processor 110 and / or DSP 120 or other processing system to control power and drive system 175 and systems (brakes, actuators, throttle control, steering, electrical, etc.) 155.

[0071] Global Navigation Satellite System (GNSS) receivers are used to determine position relative to the Earth (absolute position) and, when used together with other information such as measurements from other objects and / or mapping data, may also be used to determine position relative to other objects, such as position relative to other vehicles and / or position relative to the road surface.

[0072] In one embodiment, the GNSS receiver 170 may support one or more GNSS constellations as well as other satellite-based navigation systems. For example, in one embodiment, the GNSS receiver 170 may support a global positioning satellite system such as the Global Positioning System (GPS), Global' naya Navigatsionnaya Sputnikovaya Sistema (GLONASS), Galileo, and / or BeiDou, or any combination thereof. In one embodiment, the GNSS receiver 170 may support a regional navigation satellite system such as NAVIC or QZSS, or a combination thereof, as well as various augmentation systems (e.g., a geostationary satellite-based augmentation system (SBAS) or a ground-based augmentation system (GBAS)), such as doppler orbitography and radio-positioning integrated by satellite (DORIS) or a wide-area augmentation system (WAAS) or a European geostationary satellite navigation overlay service (EGNOS) or a multi-role satellite-based augmentation system (MSAS) or a local area augmentation system (LAAS). In one embodiment, the GNSS receiver 130 and antenna 132 may support multiple bands and sub-bands, such as GPS L1, L2, and L5 bands, Galileo E1, E5, and E6 bands, Compass (BeiDou) B1, B3, and B2 bands, GLONASS G1, G2, and G3 bands, and QZSS L1C, L2C, and L5-Q bands.

[0073] The GNSS receiver 170 may be used to determine the distance between two points in time in clear sky conditions and to calibrate other sensors, such as odometers and / or LIDAR, as appropriate, to determine location and relative position that may be utilized for localization, navigation, etc. In one embodiment, the GNSS-based relative position may be used to determine a very accurate distance between two vehicles, for example, based on shared Doppler and / or pseudorange measurements between the vehicles, and when combined with vehicle information such as shape and model information and GNSS antenna positions, may be used to calibrate, validate, and / or affect confidence levels associated with information from LIDAR, cameras, RADAR, SONAR, and other distance estimation techniques. GNSS Doppler measurements may also be utilized to determine the linear and rotational motion of a vehicle or a vehicle relative to another vehicle, and may be utilized in conjunction with gyros and / or magnetometers and other sensor systems to maintain the calibration of those systems based on the measured position data. The relative GNSS position data may also be combined with a reliable absolute position from a roadside device 425, also referred to as a roadside unit or RSU, to determine a reliable absolute position of the vehicle. Additionally, the relative GNSS position data may be used during inclement weather that may obscure LIDAR and / or camera-based data sources to avoid other vehicles and stay in lanes or other assigned road areas. For example, when using an RSU with a GNSS receiver and V2X capabilities, the GNSS measurement data may be provided to the vehicle and, given the absolute position of the RSU, the GNSS measurement data may be used to guide the vehicle relative to a map to keep the vehicle in a lane and / or on the road despite poor visibility.

[0074] Radio detection and ranging Radar 153 uses transmitted radio waves reflected from objects. The reflected radio waves are analyzed based on the time it takes for the reflection to arrive and other signal characteristics of the reflected waves to determine the location of nearby objects. Radar 153 may be utilized to detect the location of nearby automobiles, roadside objects (signs, other vehicles, pedestrians, etc.), and generally allows objects to be detected even in the presence of obscuring weather such as snow, rain, or hail. Thus, radar 153 may be used to complement the LIDAR 150 and camera 135 systems in providing ranging information to other objects by providing ranging and distance measurements and information, generally when vision-based systems are impaired. Additionally, radar 153 may be utilized to calibrate and / or sanity check other systems such as LIDAR 150 and camera 135. Range measurements from radar 153 may be utilized to determine / measure stopping distance at current speed, acceleration, maneuverability at current speed and / or turning radius at current speed and / or maneuverability at current speed. In some systems, ground penetrating radar may also be used to track the road surface, for example via RADAR reflective markers on the road surface or terrain features such as grooves.

[0075] As shown in FIG. 2, in one embodiment, the vehicle 100 may have cameras such as a camera 1006 mounted on the rearview mirror, a camera (not shown) mounted on the front fender, a camera (not shown) mounted on the side mirror, and a rear camera (not shown, but typically located on the trunk, hatch, or rear bumper). The vehicle 100 may also have a LIDAR subsystem 204 for detecting objects and measuring distances to those objects, the LIDAR system 204 is often mounted on the roof, but if there are multiple LIDAR units 204, the LIDAR units 204 may be located on the front, back, and sides of the vehicle. The vehicle 100 may have various other position-related systems such as a GNSS receiver 170 (typically located in a shark fin unit at the rear of the roof), various wireless communication interfaces (WAN, WLAN, V2X, etc., but typically not necessarily located in the shark fin) 202, a RADAR system 208 (typically located in the front bumper), and a SONAR 210 (if present, typically located on both sides of the vehicle). There may also be various wheel 212 and drive train sensors, such as tire pressure sensors, accelerometers, gyros, and wheel rotation detection and / or counters. In one embodiment, distance measurements and relative positions determined via various sensors, such as LIDAR, RADAR, cameras, GNSS, and SONAR, may be combined with information about the size and shape of the car and the location of the sensors to determine the distance and relative positions between different vehicle surfaces, such that the distance or vector from a sensor to another vehicle or between two different sensors (such as two GNSS receivers) is gradually increased to account for the location of the sensors on each vehicle. Thus, the precise GNSS distance and vector between the two GNSS receivers needs to be corrected based on the relative positions of the various car surfaces to the GNSS receiver.For example, when determining the distance between the front bumper of the following vehicle and the rear bumper of the leading vehicle, the distance needs to be adjusted based on the distance between the GNSS receiver and the front bumper of the following vehicle, and the distance between the GNSS receiver of the leading vehicle and the rear bumper of the leading vehicle. For example, the distance between the rear bumper of the leading vehicle and the front bumper of the following vehicle is the relative distance between the two GNSS receivers minus the distance from the GNSS receiver of the following vehicle to the front bumper minus the distance from the GNSS receiver of the leading vehicle to the rear bumper. It will be appreciated that this list is not limiting and that FIG. 2 provides exemplary locations of various sensors in one embodiment of the vehicle 100. Further details regarding specific sensors are described with respect to FIG. 1.

[0076] 3, vehicle 100 may receive vehicle and environmental information from vehicle external sensors 302, vehicle internal sensors 304, vehicle capabilities 306, external wireless information 308 such as adjacent vehicle position and GNSS measurement information (from the environment, from other vehicles, from roadside devices / roadside units (RSUs), from a system server), and / or vehicle motion states 310 (representing current and / or future motion states). The received vehicle, sensor, and environmental information may be processed in one embodiment in one or more processors 110, DSPs 120, and memories connected and configured to provide external object detection and classification, prediction and planning, and maneuver execution, as well as to determine and update V2X or other wireless data element values, including GNSS data element values, and to transmit messaging including determined data elements via one or more wireless transceivers 130. Messaging and data elements may be sent and received via various means, protocols, and standards, such as via SAE or ETSIC V2X message and data elements or other wireless and wireless V2X protocols supported by wireless transceiver 130. Additionally, it should be noted that as used in the context of this specification, the term ego-vehicle refers to vehicle 100.

[0077] The inter-vehicle relative position determination block 328 includes a block 330 for determining which vehicles are located within the processing range and a block 332 for determining the relative positions of the vehicles within the processing range. In one embodiment, GNSS data is exchanged with the vehicles within the processing range or other devices, such as roadside units, identified by block 330, and the GNSS data received from the vehicles within the processing range is used to determine and / or verify and / or enhance the accuracy of the relative positions associated with other vehicles or devices within the processing range in block 332. In one embodiment, determining the vehicles (or other devices) within the processing range (block 330) may utilize broadcasted position information, such as broadcasted latitude and longitude from nearby vehicles or other devices, and position information for the vehicle 100 to determine an approximate relative position and / or distance between the vehicles that may be used to determine whether the vehicles are located within a threshold distance. For vehicles within the threshold distance, a more accurate relative position may be calculated using shared GNSS measurements and / or other sensors on the vehicles. The threshold distance may be preset based on speed, road conditions, and other factors, or may be dynamic. The threshold distance may be an estimated distance or may be based on other distance-related factors such as threshold signal strength or timing-related measurements based on wireless signal-based round trip time (RTT) or signal time of arrival (TOA). A more accurate relative position of and distance to each neighboring vehicle within the processing range may be determined using GNSS data received from vehicles within the processing range, as described above, such as via carrier dual phase difference and / or by using a constraint relationship such as a three-way vehicle constraint vector relationship. The measurements may also be modified to account for the distance between the vehicle surface and the mounting location of the GNSS antenna on the vehicle. Wireless information, such as V2X information from other vehicles, may be provided via the wireless transceiver 130 in one embodiment and may be received from and / or exchanged with other vehicles via vehicle-to-vehicle negotiation in one embodiment.

[0078] In various embodiments, the processing range may be determined in various and / or multiple ways depending, for example, on the processing capabilities of the receiving vehicle or device and the safety and information requirements of the receiving vehicle or device. In one embodiment, the processing range may be determined by a threshold distance or range within which the vehicles or devices send and / or exchange GNSS data and use the GNSS data to calculate accurate relative distances between the vehicles and / or devices. In one embodiment, the processing range may be selected to include nearby or adjacent vehicles. In one embodiment, the processing range may be selected to include any vehicles that may have a potential collision risk, such as vehicles on perpendicular and intersecting roads or vehicles on the same road but traveling in the opposite direction, as well as vehicles immediately next to the ego vehicle, on either side of the ego vehicle and vehicles in front and behind the ego vehicle, and / or vehicles in non-parallel paths that may be even farther apart. In some embodiments, mapping data is also taken into account, whereby vehicles traveling in the opposite direction on the same road may be monitored even though the road may be curved and the current direction of the vehicle is not perpendicular. In some embodiments, GNSS information may be broadcast to all vehicles and / or devices within a reception range, which may be equivalent to a processing range, and in such embodiments, the receiving device may still impose a distance or other selection criteria to determine whether it should calculate a more accurate relative position based on the GNSS measurements. In one embodiment, the processing range may be variable, in one embodiment being larger when there are fewer nearby vehicles and smaller when there are more nearby vehicles, possibly based on the maximum processing burden imposed by the receiving device in terms of how many distances are tracked simultaneously. In one embodiment, a vehicle may request GNSS measurement information for vehicles or devices nominally outside its processing range, for example to monitor distant traffic or track erratic vehicles, or for other more specialized requirements.

[0079] In one embodiment, other vehicle-related input sources, such as servers 455, 445, 460, 450, and 440, may provide information such as vehicle information, routing, location assistance, map data, and environmental data, and may provide input for and / or complement and / or be used with other inputs, e.g., road position data, map data, driving condition data, and other vehicle-related data inputs, used with vehicle-to-vehicle operation coordination 324 to determine maneuver execution 326. In one embodiment, the map data may include the position of the roadside unit relative to the road position, where the vehicle may utilize GNSS-based relative positioning between the roadside device / roadside unit in combination with the map data to position relative to the road surface, especially in situations where other systems may fail due to poor visibility weather conditions (snow, rain, dust storms, etc.), etc. It should be understood that the terms roadside unit and roadside device may be used interchangeably to refer to stationary reference, control, and / or messaging devices. In one embodiment, map data from map server 450 may be utilized along with relative and / or absolute data from neighboring vehicles and / or from roadside unit (RSU) 425 to determine a reliable absolute position for multiple vehicles and a relative position relative to the road / map. For example, if vehicle A 480 has a more accurate / reliable position than other vehicles in communication with vehicle A 480, such as vehicle B 490, vehicle B 490 may determine a reliable position for vehicle B 490 using the accurate relative position and GNSS information for accurate position sent from vehicle A 480 to vehicle B 490, even if vehicle B's system would not otherwise be able to calculate a reliable position in a particular situation or environment. In this situation, the presence of vehicle A with its accurate positioning system provides a benefit to all surrounding vehicles by sharing one or more accurate positions along with ongoing relative position information. Additionally, assuming the map data from map server 450 is accurate, the ability to propagate highly accurate location data to surrounding vehicles, such as vehicle A 480 to vehicle B 490, allows surrounding vehicles to better understand the location of vehicles in an otherwise problematic signal / location environment. also be able to pinpoint their relative positions relative to the map data. The vehicle information server 455 may provide vehicle information such as size, shape, and antenna position that may be utilized, for example, by vehicle A or other vehicles, to determine not only the relative position between the GNSS receiver on vehicle A 480 and, for example, vehicle B 490, but also the distance between the closest points of vehicle A 480 and vehicle B 490. In one embodiment, traffic information from the traffic control and optimization server 465 may be utilized to determine overall route selection and rerouting, which is used (in one embodiment) with the route server 445. In one embodiment, the environmental data server 440 may provide input on road conditions, ice, snow, water on the road, and other environmental conditions that may also affect the decisions and decision criteria in the vehicle-to-vehicle operation coordination block 325 and the operation execution block 326. For example, in icy or rainy conditions, the vehicle 100 may implement and / or request increased vehicle distance from adjacent vehicles, or may choose route options that avoid road hazard conditions such as ice and standing water.

[0080] Blocks 330 and 332 may be implemented using various dedicated or general purpose hardware and software, such as using processor 110 and / or DSP 120 and memory 160, or in one embodiment, in dedicated hardware blocks, such as dedicated sensor processing and / or vehicle messaging cores. As previously mentioned, in block 330, vehicles within processing range may be determined through various means, such as RTT and TOA of broadcast signals for other vehicles, signal based timing measurements such as signal strength, and broadcasted latitude and longitude from nearby vehicles and distance determined based on the vehicle's current location. In block 332, the relative positions of other vehicles to the vehicle position may be determined based on various sensor measurements, including but not necessarily limited to GNSS measurements (such as Doppler and phase measurements) from other vehicles, and may also utilize other sensor measurements such as LIDAR, RADAR, SONAR, and camera measurements. In one embodiment, some or all of blocks 302, 304, 306, 308, and / or 310 may have dedicated processing cores, for example to improve performance and reduce measurement latency. In one embodiment, some or all of blocks 302, 304, 306, 308, and / or 310 may share processing with blocks 330 and 332.

[0081] Vehicle external sensors 302 may comprise, in some embodiments, cameras 206, LIDAR system 204, RADAR system 208, proximity sensors, rain sensors, weather sensors, GNSS receiver 170, and received data used with those sensors, such as map data, environmental data, location, route, and / or other vehicle information, such as may be received from other vehicles, devices, and in one embodiment, servers, such as map server 450, route server 445, vehicle information server 455, environmental data server 440, location server 460, and / or from associated devices, such as mobile device 400, which may be present in or near a vehicle, such as vehicle A 480. For example, in one embodiment, mobile device 400 may provide an additional source of GNSS measurements, may provide an additional source of motion sensor measurements, or may provide network access as a communications portal to a WAN, Wi-Fi, or other network, and as a gateway to various information servers, such as servers 440, 445, 450, 455, 460, and / or 465. It should be understood that the vehicle 100 may include one or more cameras. In one embodiment, the cameras may be front, side, back, or adjustable in field of view (e.g., rotatable cameras). In one embodiment, there may be multiple cameras 206 facing the same surface. For example, the cameras 206 and the bumper-mounted cameras at 208 may comprise two front cameras, one focused on lower objects and / or a lower viewpoint for parking (e.g., bumper-mounted), and one focused on a higher viewpoint, such as for tracking traffic, other vehicles, pedestrians, and more distant objects. In one embodiment, the various fields of view may be stitched and / or correlated to other inputs, such as V2X inputs from other vehicles, to optimize tracking of other vehicles and external entities and objects, and / or to calibrate the sensor systems relative to each other. The LIDAR system 204 may be roof-mounted and rotated or focused on a particular viewpoint (e.g., front, back, side).The LIDAR system 204 may be solid-state or mechanical. Proximity sensors may be ultrasonic, RADAR-based, light-based (based on infrared distance measurement, etc.), and / or capacitive (surface touch oriented, or capacitive detection of metallic objects). Rain and weather sensors may include various sensing capabilities and technologies, such as air pressure sensors, moisture detectors, rain sensors, and / or light sensors, and / or may leverage other existing sensor systems. The GNSS receiver may be roof mounted, such as in a fin antenna assembly at the rear of the car roof, mounted on the hood or dashboard, or otherwise located within the exterior or interior of the vehicle.

[0082] In one embodiment, the interior vehicle sensors 304 may include tire pressure sensors, brake pad sensors, brake status sensors, wheel sensors 212 such as speedometers and other speed sensors, heading and / or orientation sensors such as magnetometers and geomagnetic compasses, distance sensors such as odometers and wheel tick sensors, inertial sensors such as accelerometers and gyros, and inertial positioning results using the above sensors and yaw, pitch, and / or roll sensors, as may be determined individually or using other sensor systems such as accelerometers, gyros, and / or tilt sensors.

[0083] Both the vehicle interior sensors 304 and the vehicle exterior sensors 302 may have shared or dedicated processing capabilities. For example, a sensor system or subsystem may have one or more sensor processing cores that determine vehicle status values, such as yaw, pitch, roll, heading, speed, acceleration capabilities and / or distance, and / or stopping distance, based on measurements and other inputs from accelerometers, gyros, magnetometers, and / or other sensing systems. Different sensing systems may communicate with each other to determine measurements or send values ​​to block 330 to combine measurements and determine capability values ​​as a function of inputs. Vehicle status values ​​derived from measurements from the internal and external sensors may be further combined with vehicle status values ​​and / or measurements from other sensor systems using a general purpose or application processor. For example, blocks 330, 332 and / or 324 may be implemented on a dedicated or centralized processor to determine data element values ​​for V2X messaging, which may be sent utilizing the wireless transceiver 130 or via other communication transceivers. In one embodiment, the sensors may be separated into associated systems, e.g., LIDAR, RADAR, motion, wheel systems, etc., which are operated by dedicated processing cores for raw results, outputting vehicle status values ​​from each core, which are combined and interpreted to derive combined vehicle status values ​​including capability data elements and status data elements, which may be used to control or otherwise affect vehicle operation and / or as a messaging step shared with other vehicles and / or systems via V2X or other messaging capabilities. These messaging capabilities may be based on various wireless-related, optical-related, or other communications standards, such as those supported by wireless transceiver 130 and antenna 132, in one embodiment.

[0084] In one embodiment, vehicle capabilities 306 may comprise performance estimates for stopping, braking, acceleration, and turning radius, as well as autonomous and / or non-autonomous driving status and / or capabilities. The capability estimates may be based on stored estimates, which in one embodiment may be loaded into memory. These estimates may be based on either empirical performance numbers for a particular vehicle or for average values ​​across one or more vehicles, and / or one or more models for a given performance figure. When performance estimates for multiple models are averaged or otherwise combined, the performance estimates may be chosen based on similar or common characteristics. For example, vehicles with similar or the same weight and the same or similar drivetrains may share performance estimates for driving performance related estimates, such as braking / stopping distance, turning radius, and acceleration performance. Vehicle performance estimates may also be obtained using external V2X input 308 over the wireless network, for example, from a vehicle data server on the network. This is particularly useful for obtaining information about vehicles that are not wireless-enabled and cannot provide vehicle information directly. In one embodiment, vehicle capability 306 may also be affected by car component status, such as tire wear, tire brand capability, brake pad wear, brake brand and capability, and engine status. In one embodiment, vehicle capability 306 may also be affected by overall car status, such as speed, heading, and by external factors, such as road surface, road conditions (wet, dry, slippery / traction), weather (windy, raining, snowing, icy, slippery roads, etc.). In many cases, wear, or other system degradation, and external factors, such as weather, road surface, and road conditions, may be utilized to reduce, confirm, or improve performance estimates when determining capability values ​​as a function 330 of inputs. In some embodiments, actual measured vehicle performance, such as measuring vehicle stopping distance and / or acceleration time per distance, may be used to estimate the vehicle capability. , may be measured and / or estimated based on actual vehicle driving-related performance. In one embodiment, if the measurements are inconsistent, more recently measured performance may be weighted or prioritized more heavily than older measurements. Similarly, in one embodiment, measurements taken during similar conditions, such as in the same type of weather or on the same type of road surface as currently being detected by the vehicle, such as via vehicle exterior sensors 302 and / or vehicle interior sensors 304, may be weighted and / or prioritized more heavily in determining the capability value as a function 330 of the inputs.

[0085] The determined capability values ​​determined in block 330 as a function of the inputs are provided to block 332 to update the V2X capability data elements, and the location information and / or GNSS measurement data may be sent via V2X vehicle-to-vehicle negotiation in block 324, which in one embodiment may be carried out utilizing various V2X messaging standards, such as via SAE or ETSIC V2X messages and data elements, via various means, such as via communication over the wireless transceiver 130. In one embodiment, therefore, the one or more processors 30 and / or DSP 120 and memory 160, as well as systems or means described herein, may be connected and configured to perform the processes described with respect to FIG. 3 and throughout this specification. The capability values ​​as a function of the inputs 330 may be modified into different data formats and / or units, respectively, and / or other conversions or combinations of one or more capability values ​​may be required before being utilized as V2X capability data elements. Adjustments to data format and / or units and / or conversion or combination of one or more capability values ​​may be performed in processor 110, in one embodiment, to update the V2X capability data elements in block 332 or elsewhere in the architecture.

[0086] The V2X vehicle detection, prediction, and planning execution 312 handles the receipt and processing of information from blocks 302, 304, 306, 308, and 310 via external object detection and classification block 314, utilizing in part a sensor fusion and object classification block 316 to correlate, corroborate, and / or combine data from input blocks 302, 304, 306, 308, and 310. Block 314 external object detection and classification determines that an object is present and determines the object type (car, truck, bicycle, motorcycle, pedestrian, animal, etc.) and / or object status relative to the vehicle, such as movement status, proximity, heading, and / or location relative to the vehicle, size, threat level, and vulnerability priority (pedestrians will have a higher vulnerability priority than road debris, for example). In one embodiment, block 314 may utilize GNSS measurements from other vehicles to perform relative positioning relative to other vehicles. This output from block 314 may be provided to a prediction and planning block 318, which determines detected objects and vehicles and their associated trajectories, via block 320, and determines vehicle maneuvers and path plans, via block 322, the output of which is utilized either directly in vehicle maneuver execution, via block 326, or via a V2X vehicle-to-vehicle negotiation block 324, which will integrate and consider maneuver plans, positions, and status received from other vehicles. V2X vehicle-to-vehicle negotiation takes into account the status of neighboring vehicles, and allows negotiation and coordination between neighboring or otherwise affected vehicles based on various conditions, such as vehicle priority, vehicle capabilities (such as the ability to stop, slow down, or accelerate to avoid collisions), and, in some embodiments, weather conditions (raining, foggy, snowy, windy), road conditions (dry, wet, icy, slippery), etc. These include, for example, negotiations between vehicles approaching an intersection about the timing and order for passing through the intersection, negotiations between adjacent vehicles about changing lanes, negotiations about parking spaces, negotiations about one-way traffic on a one-lane road, and so on. Vehicle-to-vehicle negotiations may also include negotiations for access to proceed forward or to pass another vehicle. Vehicle-to-vehicle negotiations may also include time-based and / or distance-based factors, such as the time of the appointment, the distance of the destination, and the estimated route time to reach the destination, as well as, in some embodiments, the type of appointment and the importance of the appointment.

[0087] As clearly shown in Figure 4, the vehicles may communicate with various devices and servers over various networks. In one embodiment, V2X vehicle A 480 may communicate with V2X or other communications transceiver enabled vehicle B 490 using a V2X or other wireless communications transceiver over link 423 to, for example, in one embodiment, perform relative positioning between the vehicles, negotiation for lane changes or for traversing an intersection, exchange V2X data elements such as GNSS measurements, vehicle status, vehicle location and vehicle capabilities, measurement data, and / or calculated status, and other V2X vehicle status steps that may not be covered in the V2X capabilities data elements. In one embodiment, vehicle A may also communicate with vehicle B over a network, for example, via base station 420 and / or access point 430 or via communication-enabled roadside device (RSU) 425, any of which may relay communications, information, and / or convert protocols for use by other vehicles, such as vehicle B, particularly in an embodiment where vehicle B is not capable of communicating directly with vehicle A 480 in a common protocol. In one embodiment, vehicle A 480 may also communicate with roadside devices 425, such as, in various embodiments, various roadside beacons, traffic and / or vehicle monitors, traffic control devices, and location beacons.

[0088] In one embodiment, the roadside device (RSU) 425 may have a processor 425A configured to operate a wireless transceiver 425E to send and receive wireless messages, e.g., Basic Safety Messages (BSM), or Cooperative Awareness Messages (CAM), or other V2X messages, from the base station 420 and / or the access point 430 to and from vehicle A 480 and / or vehicle B 490. For example, the wireless transceiver 425E may send and / or receive wireless messages in various protocols, such as V2X communications with the vehicles, and / or using various WAN, WLAN, and / or PAN protocols to communicate over wireless communications networks. In one embodiment, the RSU 425 may include one or more processors 425A communicatively coupled to the wireless transceiver 425E and memory, and may include instructions and / or hardware to perform as a traffic control unit 425C and / or to provide and / or process environmental and roadside sensor information 425D or to serve as a position reference for a GNSS relative position between it and the vehicles. In one embodiment, the RSU 425 may include a network interface 425B (and / or a wireless transceiver 425E), which in one embodiment may communicate with external servers, such as a traffic optimization server 465, a vehicle information server 455, and / or an environmental data server 440. In one embodiment, the wireless transceiver 425E may communicate over a wireless communication network by transmitting or receiving wireless signals from a wireless base transceiver subsystem (BTS), a Node B, or an evolved Node B (eNodeB), or a next generation Node B (gNodeB) over a wireless communication link. In one embodiment, the wireless transceiver 425E may comprise various combinations of WAN transceivers, WLAN transceivers, and / or PAN transceivers.In one embodiment, the local transceiver may also be a Bluetooth transceiver, a ZigBee transceiver, or other PAN transceiver. The local transceiver, WAN wireless transceiver, and / or mobile wireless transceiver may comprise a WAN transceiver, an access point (AP), a femtocell, a home base station, a small cell base station, a home node B (HNB), a home eNodeB (HeNB), or a next generation node B (gNodeB), and may provide access to a wireless local area network (WLAN, e.g., an IEEE 802.11 network), a wireless personal area network (PAN, e.g., a Bluetooth network), or a cellular network (e.g., an LTE network, or other wireless wide area network such as those described in the next paragraph). It should be understood that these are merely examples of networks that may communicate with the RSU 425 over a wireless link, and that claimed subject matter is not limited in this respect.

[0089] The RSU 425 may receive position, status, GNSS and other sensor measurements, and capability information from vehicle A 480 and / or vehicle B 490, such as GNSS measurements, sensor measurements, speed, heading, position, stopping distance, priority or emergency status, and other vehicle related information. In an embodiment, environmental information such as road surface information / status, weather status, and camera information may be collected and shared with the vehicles via either point-to-point or broadcast messaging. The RSU 425 may utilize information received from vehicle A 480 and / or vehicle B 490 via the wireless transceiver 425E, environmental and roadside sensors 425D, and network information and control messages, for example, from the traffic control and optimization server 465, to adjust and direct traffic flow or vehicle speed or vehicle position, and provide environmental, vehicle, safety, and announcement messages to vehicle A 480 and vehicle B 490.

[0090] The processor 425A may be configured to operate a network interface 425B, which in one embodiment may be connected to a network 470 via a backhaul and may in one embodiment be used to communicate and coordinate with various centralized servers, such as a centralized traffic control and optimization server 465 that monitors and optimizes traffic flow in an area, such as within a city or section of a city, or in a region. The network interface 425B may also be utilized for remote access to the roadside devices (RSUs) 425 for crowdsourcing of vehicle data, maintenance of the RSUs 425, and / or collaboration with other roadside devices (RSUs) 425 or other users. The roadside device (RSU) 425 may have a processor 425A configured to operate a traffic control unit 425C, which may be configured to process data received from vehicles, such as vehicle A 480 and vehicle B 490, such as position data, stopping distance data, road condition data, identification data, and other information regarding the status and location of nearby vehicles and the environment. The roadside device (RSU) 425 may have a processor 425A configured to acquire data from environmental and roadside sensors 425D, which may include temperature, weather, cameras, pressure sensors, road sensors (e.g., for car detection), accident detection, movement detection, speed detection, and other vehicle and environment monitoring sensors.

[0091] In one embodiment, vehicle A 480 may also communicate with mobile device 400 using short-range communications and personal networks such as Bluetooth, Wi-Fi, or Zigbee, or via V2X or other vehicle-related communications protocols, for example, in one embodiment to access a WAN and / or Wi-Fi network, and / or in one embodiment to obtain sensor and / or location measurements from mobile device 400. In one embodiment, vehicle A 480 may communicate with mobile device 400 using WAN-related protocols through a WAN network, such as via WAN base station 420, or using Wi-Fi directly peer-to-peer or via a Wi-Fi access point. Vehicle A 480 and / or vehicle B 490 may communicate using a variety of communications protocols. In one embodiment, vehicle A 480 and / or vehicle B 490 may support a variety of wireless communication modes, such as by using V2X, GSM, WCDMA, LTE, CDMA, HRPD, Wi-Fi, BT, WiMAX, Long Term Evolution (LTE), Fifth Generation Wireless (5G) New Radio Access Technology (NR) communication protocols, etc.

[0092] In one embodiment, vehicle A may communicate over a WAN network using a WAN protocol via base station 420, or with a wireless LAN access point 430 using a wireless LAN protocol such as Wi-Fi. The vehicle may also support wireless communications using, for example, a wireless LAN (WLAN), a personal area network (PAN) such as Bluetooth or Zigbee, DSL or packet cable.

[0093] Vehicle A 480 and / or vehicle B 490 may include one or more GNSS receivers, such as GNSS receiver 170 for receiving GNSS signals 412 from GNSS satellites 410, in one embodiment, for position determination, time acquisition, and time keeping. Various GNSS systems may be supported, alone or in combination, using GNSS receiver 170 or other receivers to receive signals from Beidou, Galileo, Glonass, and / or GPS, as well as various regional navigation systems, such as QZSS and NavIC or IRNSS. In one example, other wireless systems may be utilized, such as systems that rely on beacons, such as one or more roadside devices (RSUs) 425, one or more wireless LAN access points 430, or one or more base stations 420. Various GNSS signals 412 may be utilized in conjunction with car sensors 140 and / or car sensors 145 to determine location, speed, and proximity to other vehicles, such as between vehicle A 480 and vehicle B 490.

[0094] In one embodiment, vehicle A and / or vehicle B may have access to GNSS measurements and / or positions determined at least in part using GNSS as provided by mobile device 400, which in one embodiment also has GNSS, WAN, Wi-Fi and other communications receivers and / or transceivers. In one embodiment, vehicle A 480 and / or vehicle B 490 may have access to GNSS measurements (such as pseudorange measurements, Doppler measurements, and satellite IDs) and / or positions determined at least in part using GNSS as provided by mobile device 400 as a fallback in case GNSS receiver 170 fails or provides position accuracy below a threshold level.

[0095] Vehicle A 480 and / or vehicle B 490 may access various servers on the network, such as a vehicle information server 455 , a route server 445 , a location server 460 , a map server 450 , and an environmental data server 440 .

[0096] The vehicle information server 455 may provide information describing various vehicles, such as antenna positions, vehicle sizes, and vehicle capabilities, that may be utilized in making decisions regarding operations involving nearby vehicles, such as whether the nearby vehicles are able to stop or accelerate in a timely manner, whether the nearby vehicles are autonomous, autonomous driving capable, communications capable, etc. In one embodiment, the vehicle information server 455 may also provide information regarding vehicle size, shape, capabilities, identification information, ownership, occupancy, and / or determined location points (e.g., GNSS receiver positions, etc.), as well as the location of vehicle boundaries relative to the determined location points.

[0097] A route server 445 may receive current location and destination information and provide routing information, map data, alternate route data, and / or traffic and street condition data for the vehicle.

[0098] The location server 460, in one embodiment, may provide location location capabilities, transmitter signal acquisition assistance (such as GNSS satellite orbit prediction information, time information, approximate location information, and / or approximate time information), a transceiver almanac such as including identification information and locations for Wi-Fi access points and base stations, and, in some embodiments, additional information related to the route, such as speed limits, traffic, and road status / construction status. The map server 450 may provide map data such as road locations, points of interest along roads, address locations along roads, road sizes, road speed limits, traffic conditions, and / or road conditions (wet, slippery, snowy / icy, etc.), road status (passable, under construction, accidents, etc.). The environmental data server 440, in one embodiment, may provide weather and / or road-related information, traffic information, terrain information, and / or road quality and speed information, and / or other related environmental data.

[0099] In one embodiment, the vehicles 480 and 490 and the mobile device 400 in Figure 4 may communicate over the network 470 via various network access points, such as wireless LAN access point 430 on the network 470, or wireless WAN base station 420. The vehicles 480 and 490 and the mobile device 400 in Figure 12 may also communicate directly between devices, between vehicles, and between devices and vehicles, and between devices and devices, using various short-range communication mechanisms to communicate directly without going through the network 470, such as via Bluetooth, Zigbee, and 5G emerging wireless standards, in some embodiments.

[0100] FIG. 5 illustrates the use, in one embodiment, of high-precision relative positions between various vehicles and / or devices determined using shared GNSS measurements as described above. In the above embodiment, the use of dual phase differences using shared measurements of signals from two or more satellites was described. In the above embodiment, constraining the results by utilizing vectors between multiple vehicles as shown in FIG. 17, for example. In FIG. 5, some of the vehicles and devices, which are used interchangeably herein, are referred to as vehicles and / or devices with high-precision positions, and can determine high-precision absolute positions, for example, with meter-level accuracy or even centimeter-level.

[0101] In one embodiment, a vehicle accessing a high-precision absolute position may, for example, have a clear view of the sky, thereby measuring GNSS satellite signals with less impact from multipath and signal degradation. In one embodiment, a vehicle accessing a high-precision absolute position may utilize other sensor systems, such as a vehicle dead-reckoning system (e.g., using measurements from wheel ticks and gyros and accelerometers), camera-based positioning, LIDAR, RADAR, and / or SONAR, or some combination thereof, to improve the accuracy and confidence level associated with the vehicle's position. In one embodiment, a vehicle or device accessing a high-precision absolute position may be located / installed in a fixed location, such as a roadside device (RSU) whose exact location is known or may be calculated by repeated positioning over time, or a vehicle that may remain parked in a fixed location for an extended period of time, thereby improving the accuracy of the vehicle's position over time, such as by repeated positioning over time and / or relative positioning with other vehicles and / or devices.

[0102] In one embodiment, a vehicle that does not have access to high-precision absolute positioning may, for example, have an obstructed view of the sky (e.g., in a dense urban scenario that experiences signal obstruction by tall buildings), which causes the GNSS satellite signals measured at the affected GNSS receiver to be significantly affected by multipath and signal degradation. However, nearby vehicles may experience the same GNSS signal impairments (multipath, signal obstruction, ionospheric errors, tropospheric errors, etc.), which may result in extremely accurate relative positioning even when high-precision absolute positioning is not readily available, by obtaining a dual phase difference of the satellite signals received at two mutually adjacent receivers. In one embodiment, vehicles that have access to other relative positioning related sensor systems, such as camera-based positioning, LIDAR, RADAR, and / or SONAR, may also combine the precise relative positions between the vehicles or devices with the precise absolute position from one of the vehicles or devices, and propagate the precise absolute position between devices and vehicles that may not have access to the precise absolute positioning at that moment, but the relative positioning is likely to be less accurate than the relative positioning made using shared GNSS measurement information.

[0103] In one embodiment, the vehicles and / or devices may share vehicle or device IDs, GNSS measurements, vehicle or device positions, and / or in some embodiments, confidence and / or error estimates or some combination of positions, measurements, and / or confidence or errors, allowing the vehicles and devices to determine high-precision relative positions and propagate high-precision absolute positions when they are available. In one embodiment, the vehicles and / or devices may broadcast their positions and / or their GNSS measurements to other vehicles and / or nearby devices. In some embodiments, broadcasting, point-to-point communication, and information sharing may be mixed, such as by broadcasting the vehicle or device positions and in some embodiments, error and / or uncertainty estimates, but only sending GNSS signal measurements to vehicles and / or devices that request them and that may be determined to be located within a threshold distance using the broadcasted positions. Vehicles that did not access high-precision absolute positions but did access high-precision relative positions may thereby improve the accuracy and the confidence level associated with the vehicle's positions.

[0104] In one embodiment, a vehicle or device that has access to a high-precision absolute position may be located / installed at a fixed location, such as a roadside device (RSU), whose exact location is known or may be calculated by repeated positioning over time. Similarly, a vehicle that remains parked at a fixed location for an extended period of time may have its location over time refined, such as by repeated positioning over time and / or relative positioning with other vehicles and / or devices, allowing a high-precision absolute location to be determined and, in one embodiment, shared with other devices and vehicles. In one embodiment, roadside device RSUs, such as traffic lights or traffic light controllers, may also manage traffic or manage and control access to intersections, and may utilize relative positions with nearby vehicles to determine and control vehicular flow and approach to intersections, exits, and other road resources.

[0105] A vehicle or device accessing a high-precision absolute position, whether mobile or fixed, may be used as a reference point, whereby other vehicles and / or devices accessing the shared GNSS measurements may combine the high-precision absolute position from the reference vehicle or device with the high-precision relative position determined using the shared GNSS measurements between the devices to propagate a high-precision absolute position to vehicles and devices that otherwise only have access to the precise relative position. By sharing an absolute position from a vehicle or device accessing a high-precision absolute position, and also sharing GNSS measurements between a vehicle or device accessing a high-precision absolute position and a vehicle or device that does not have access to a high-precision absolute position, the high-precision relative position determined using GNSS measurements between the vehicle or device accessing the high-precision absolute position and a vehicle or device that does not have access to a high-precision absolute position, the precise absolute position from the vehicle or device accessing the high-precision absolute position, and the precise relative position between the two vehicles may be combined to determine a precise absolute position for a vehicle that did not otherwise have access to a high-precision absolute position.

[0106] FIG. 6 illustrates a usage scenario for vehicles with high accuracy relative position capability. Here, the vehicles are approaching a curve with poor visibility. Vehicle R3 cannot see vehicles R1 and R2, and by the time it does, it is no longer possible to avoid a collision. This is certainly true for a human driver, but may also be true for front camera systems, RADAR, LIDAR, and other relative positioning systems. Additionally, the curve may be blocked by foliage or other material, which makes it invisible to drivers on either side. However, the GNSS system signals being sent down to Earth from various constellations are not blocked from the side. Thus, any or all of vehicles R1, R2, and R3 may share position and GNSS information with each other, and commands and / or alerts are enabled to cause R1 to return to the right lane, and commands and / or alerts to cause R3 to slow down and R1 to complete the lane change and return to the right lane. Similarly, if a roadside unit is present at the curve, it may be utilized to determine the relative positions between the approaching vehicles and / or the relative positions between all nearby vehicles. Roadside units (RSUs) can also act as traffic signal controllers, determining where each vehicle is located in the vicinity and providing entry and exit control and commands.

[0107] FIG. 7 illustrates a vehicle / device communication architecture in which vehicles and / or devices share GNSS measurement information, location, identity, and other information using peer-to-peer communication. In a peer-to-peer model, the flow of information between peers may be constant between peers, or may vary based on proximity, or based on collision risk / threat (vehicles that are close to each other are at higher risk than those that are far from each other, and vehicles adjacent to each other are at higher collision risk than those that are two lanes apart or have a concrete barrier between them). Here, for example, vehicles closest to and / or adjacent to the center vehicle (e.g., within the ring 710) may share GNSS measurement information more frequently, as indicated by the black arrows. Vehicles that are slightly further away, e.g., not directly next to the center vehicle but within view, or at a distance greater than one vehicle length or a determined radius away (e.g., the ring 720), may receive GNSS measurement updates less frequently. Vehicles located significantly farther away, e.g., greater than two vehicle lengths apart or greater than some much larger radius (e.g., ring 730), may not receive peer-to-peer GNSS updates at all, but even in ring 730, each vehicle and / or device may still periodically broadcast its location and ID so that neighboring vehicles know where each vehicle and / or device is located and may query for further information to refine their relative locations as needed or desired.

[0108] FIG. 8 illustrates a sample decision tree for peer-to-peer messaging including sharing of GNSS measurement information to be utilized for relative positioning. In step 810, the vehicle ID may be selected as provided by a server or base station, or as received in a radio broadcast from another vehicle. In one embodiment, the broadcasted ID may also be associated with the location of the source vehicle. In block 820, it is determined whether a connection is already established, and if not, a connection may be established in block 860. The connection may be made conditional on the other vehicle being located within a certain distance or there being a high probability of a collision risk. Similarly, if a connection already exists, it may be disconnected in block 850 if the distance is greater than a threshold (i.e., if the other vehicle is located farther away than a threshold distance). If a connection already exists, if the distance is less than a threshold in block 840, GNSS measurement information and / or other information as described above may be exchanged and processed. This process may be repeated at block 820 for iterative relative positioning, whereby instead of ending at block 870, block 860 may enter block 830 and block 840 may return to block 820. It should be understood that there may be alternative embodiments for implementing the peer-to-peer model. For example, there may be multiple threshold distances at block 830 as shown in FIG. 7, and measurements may be requested and processed at block 840 at different frequencies depending on the threshold distance for the target vehicle. Vehicles within the inner circle 710 in FIG. 7 are associated with the lowest threshold and provide GNSS measurements most frequently, and GNSS measurements are also processed most frequently. Vehicles located within the middle circle 720 but outside the inner circle 710 in FIG. 7 are associated with a range between the first and second largest thresholds, provide GNSS measurements less frequently, and have GNSS measurements processed less frequently. Vehicles located within the outer circle 730 but outside the middle circle 720 in FIG. 7 are associated with a range between the second and third largest thresholds, and do not provide GNSS measurements.

[0109] FIG. 9 illustrates a broadcast positioning model for determining relative positions between vehicles, other vehicles, and / or various devices. In the broadcast model, vehicles and devices broadcast their positions and GNSS and / or other measurements. The broadcasted positions of neighboring vehicles may be used for the initial positions of the neighboring vehicles, or, depending on the accuracy of the positions, may be used to determine relative positions. In an embodiment, an error estimate or other accuracy and / or confidence level may be provided along with the broadcasted positions. In an embodiment, the GNSS measurement information may be utilized to calculate more accurate positions, especially for neighboring vehicles that may require higher accuracy to avoid collisions and / or optimize traffic. In an embodiment, the broadcast may include vehicle identification information, vehicle position, possibly accompanied by error estimate or accuracy information and / or confidence level, vehicle GNSS measurement information, and / or other vehicle and position information. In the broadcast model, there may be mechanisms used to minimize mutual interference between vehicle communications, such as intermittent broadcasts, frequency, time, and / or code division, to allow multiple vehicles and devices to broadcast information with minimal interference. In the broadcast model, to reduce processing overhead on each vehicle, the vehicles may process GNSS measurement information to determine high-precision relative positions for a subset of vehicles. For example, the vehicles may utilize the broadcasted positions to determine approximate distances and / or relative positions between themselves and neighboring vehicles, and may use GNSS measurements provided by vehicles within the approximate distance to determine more accurate relative positions. In one embodiment, there may be multiple threshold distances, similar to the embodiment shown in FIG. 7. In such an embodiment, the vehicles may process GNSS measurement information from vehicles in different threshold bands at different frequencies, and outside the largest band, may not process GNSS measurement information at all, or only upon specific events or requests.The processing frequency bands may be implemented similarly to the implementation for FIG. 7, except that some broadcasting embodiments may broadcast GNSS measurement information as well as location and identification information, while some embodiments of the peer-to-peer model in FIG. 7 may provide GNSS measurement information only upon request from other vehicles. Thus, in broadcasting model embodiments, GNSS measurement information broadcast by vehicles within ring 910 may be processed most frequently (e.g., once per second or multiple times per second), while GNSS measurement information broadcast from vehicles between ring 910 and ring 920 may be processed less frequently (e.g., once per minute or once per 30 seconds), and GNSS measurement information broadcast from vehicles outside ring 920 may be ignored or processed only upon request or triggered by some event (accident or excessive speed). In the broadcasting model, each vehicle may broadcast information, including GNSS measurement information, at a fairly high frequency, perhaps corresponding to or perhaps some subset of the GNSS measurement frequency in the GNSS receiver for the vehicle. For example, if a vehicle decides to measure GNSS signals once per second, it may broadcast the GNSS measurements no more frequently than once per second, but less frequently, such as once every 5 seconds, or at a variable frequency depending on the signal noise floor, such that if the noise floor is high, it will broadcast less frequently and if the noise floor is low, it will broadcast more frequently to avoid creating excessive interference in the spectrum.

[0110] FIG. 10 shows a decision chart for a broadcast-based embodiment. In step 1010, broadcasted positions and GNSS and / or other positioning measurements are received from surrounding vehicles. In step 1020, the received broadcasted positions and vehicle positions are utilized to determine the distance (also referred to as range) between the ego vehicle and the source vehicle for the broadcasted position. If the distance is less than a threshold distance, in block 1030, the GNSS and / or other positioning measurements are processed to determine the relative position of the source vehicle for the broadcasted position relative to the ego vehicle. Other actions and / or applications may also be triggered, for example, based on the distance being less than a threshold or a particular position, such as the front, back, or either side of the vehicle. For example, in one embodiment, the relative positions at the front and / or back of the vehicles may trigger routines and car movements that manage inter-vehicle spacing to manage safe distances between the vehicles. For example, the vehicles may accelerate, decelerate, or request actions from adjacent vehicles to increase or decrease inter-vehicle spacing, and / or may switch lanes to avoid situations where the spacing is insufficient (e.g., tailgating by manually driven vehicles). If the distance is equal to or greater than the threshold distance, the vehicle may be monitored at block 1040, or in some embodiments the vehicle may be ignored. The process may be triggered by receiving the broadcasted location and vehicle ID information at block 1010. In one embodiment, the processing of the broadcasted measurements for a particular vehicle ID may occur at different frequencies depending on the distance from the vehicle, whereby in block 1020 the distance is compared to multiple threshold distances, such as below threshold A, between threshold A and threshold B, and above threshold B, with each condition proceeding to a different block 1030 where the GNSS measurement information and / or other positioning measurement information is processed at different frequencies depending on which band the source vehicle for the broadcasted location is in. In one embodiment, for a particular vehicle in a particular band, the positioning measurement information between the frequency boundaries is ignored or discarded or newer. The data is stored until new information or a computation frequency boundary occurs.

[0111] FIG. 11 illustrates an embodiment in which the relative position is determined in a mixed mode in which all vehicles exchange (e.g., via broadcast) VID (user and / or vehicle identification information) and location information. However, vehicle information is requested by and sent only to vehicles that meet certain relative position criteria. For example, as shown in FIG. 11, a vehicle (here marked with a star) may choose to request GNSS measurement information only from vehicles within a certain distance, or only from vehicles located in front of, behind, or on either side of the vehicle, or only from vehicles within a certain geometric boundary (circular, rectangular, square). As with the peer-to-peer and broadcast models, there may be multiple nested boundaries, each of which may have a different shape and / or may have different criteria associated with them, such as an inner boundary corresponding only to vehicles located in front of, behind, and on either side of the vehicle, and an outer boundary based on a threshold distance. In this case, GNSS measurement information from vehicles within the inner boundary is requested and processed more frequently than GNSS measurement information from vehicles between the inner and outer boundaries. In some embodiments, there may be multiple threshold boundaries. In some embodiments, the boundaries may be concentric. In some embodiments, the boundaries may be aligned. In some embodiments, some or all of the boundaries may be asymmetric or modified depending on conditions. For example, the boundaries may be selected such that vehicles on the other side of the physical midpoint are not monitored or located, or only vehicles that have a collision risk or a risk above a threshold risk are located. For example, if the left side of the vehicle is occupied by the physical midpoint or boundary (e.g., the vehicle is located in the leftmost lane of a physically divided highway), the boundary may only monitor vehicles located in front, behind, and to the right of the vehicle. In FIG. 11, the solid double-headed arrows represent the exchange of GNSS and / or other position measurement information between vehicles within a particular geographic boundary.

[0112] FIG. 12 shows an exemplary embodiment of a decision tree for an embodiment in which relative position is determined in a mixed mode in which all automobiles exchange VID (user and / or vehicle identification information) and location information, but the exchange and / or processing of GNSS measurement information and / or other location measurement information is based on distance criteria. Various vehicles broadcast vehicle ID information and location information. In step 1210, the vehicles receive the broadcasted location and measurement information from other vehicles. In step 1220, the vehicles determine whether an existing vehicle-to-vehicle (V2V) connection is already established, e.g., a connection with a vehicle whose distance was less than a threshold. If a V2V connection is already established, and if the distance is less than the threshold distance in block 1230, GNSS measurement information and / or other location related information may be requested and processed in block 1260. In block 1260, in one embodiment, the relative position may also trigger actions by other applications and / or vehicles to readjust the spacing between automobiles located behind, in front of, or on either side of the vehicle. If the vehicle is not yet connected at block 1220 and the distance is the threshold distance at block 1240, a connection may be set up to request GNSS measurement information and / or other position measurement information that may be received at block 1210. Additionally, if the distance exceeds the threshold at 1230, the V2V connection may be disconnected. At block 1255, the distance of the broadcasting vehicle may be monitored, whose distance is equal to or greater than the threshold distance (or distances), whereby, if the distance is less than the threshold at block 1240, a new V2V connection may be established at block 1270. It should be appreciated that in some embodiments, for example, there may be multiple threshold distances as previously described, with GNSS measurement information from vehicles in different threshold bands each being processed at a different frequency. In multiple threshold distance embodiments, a maximum threshold may be used to determine whether a connection should be established and / or whether GNSS and / or other position measurement information should be processed. In some implementations, at block 1260, It should be appreciated that in an embodiment, for example where there are multiple threshold ranges as already described, the frequency at which GNSS and other position measurement information is processed may be determined by the threshold band in which the vehicle falls.

[0113] FIG. 13 shows a messaging diagram for a mixed embodiment in which vehicle and / or device IDs are broadcast along with location information and GNSS measurement information and other location related measurement information, and other location related measurement information is exchanged between the vehicles to determine the precise relative positions between the vehicles. In step 1310, vehicle 1 (V1) 1302, vehicle 2 (V2) 1304, and vehicle 3 (V3) 1306 broadcast vehicle identifiers and their respective positions. In some embodiments, location accuracy / error information and / or confidence may also be broadcast to avoid vehicle collisions based on high error positions. It should be appreciated that in some vehicles, a sensor system such as LIDAR or a camera-based system may provide additional information to correct, corroborate, or replace the broadcasted location information to avoid collisions based on inaccurate broadcasted location information and / or prevent spoofing-based attempts to induce vehicle collisions. In steps 1318, 1320, and 1322, each vehicle determines which of the other vehicles are adjacent to each other or possibly within processing range. Thus, in step 1318, V1 1302 monitors the location of V2 1304 and determines that it is within the processing range of V1. In step 1320, V2 1304 monitors the location of V1 1302 and determines that it is within the processing range of V2. Similarly, in step 1322, based at least in part on the received broadcasted information from V1 1302 and V2 1304, V3 1306 determines that V1 1302 and V2 1304 are outside its processing range and do not need to be monitored. In step 1324, V1 and V2 send requests to each other for GNSS measurement data and / or other location measurement data, and in step 1326, V1 1302 and V2 1304 share location measurement information, including GNSS measurement information, with each other. In steps 1328 and 1330, vehicle V1 1302 and vehicle V2 1304 each process the GNSS measurement data and / or other position measurement data obtained from each other and use the measurement data to determine a relative position with respect to the other vehicle V1 1302 and / or vehicle V2 1304.Thus, vehicle V1 1302 may calculate a relative position using GNSS measurement data and / or other position measurement data from vehicle V2 1304 to determine the relative position of V2 1304, and vehicle V2 1304 may calculate the relative position of vehicle V1 1302 using GNSS measurement data and / or other position measurement data from vehicle V1 1302. In one embodiment, the relative position may be utilized to trigger or support actions or applications, such as, here, for example, an action to adjust inter-vehicle spacing between V1 1302 and V2 1304.

[0114] FIG. 14 shows a messaging diagram for an embodiment in which the broadcasted location is utilized in interaction with a roadside unit (RSU) that controls access to an area, such as through an intersection. In step 1410, both vehicle V1 1402 and vehicle V2 1404 broadcast their vehicle IDs and locations. In some embodiments, GNSS measurement information and other location related measurement information are also broadcast, in which case steps 1424 and 1426 for requesting and receiving GNSS measurement information and other location measurement information may be unnecessary, and in one embodiment are not performed. In step 1420, the roadside unit 1406 monitors for broadcasted information from vehicles within communication range and / or other threshold distances, such as a predetermined distance or control area. In a non-broadcast embodiment, messaging may be sent to the roadside unit 1406 from vehicles entering the roadside unit's area of ​​influence, informing the RU 1406 of the presence of such vehicles. In a server coordination embodiment, messaging may be coordinated through a server, with the server informing or otherwise causing vehicles entering the roadside unit's area of ​​influence to share their position and GNSS measurement data with the RU 1406. In a map coordination embodiment, the area of ​​influence of the RU 1406 may be specified on the map as metadata associated with the area. As a vehicle enters the area of ​​influence, it shares its position and GNSS measurement data with the RU 1406 in the area of ​​influence. In step 1422, based on location information for V1 1402, typically provided by V1 1402, e.g., vehicle ID and location obtained from step 1410 or otherwise sent by V1 1402, the roadside unit 1406 determines that V1 1402 is located within or, in one embodiment, approaching the control area.Similarly, although not shown in FIG. 14 (in the scenario shown in FIG. 14, vehicle V2 1404 is assumed to be outside the broadcast range), in step 1422, if messaging including location and vehicle identification information is received from V2 1404, whether received as a broadcasted message or as a direct message from V2 1404, the roadside unit 1406 similarly determines whether V2 1404 is located within the area of ​​influence. In various embodiments, the messaging of step 1410 including location and vehicle identification information may be sent directly to the roadside unit instead of or in addition to being broadcast. In step 1424, the roadside unit 1406 requests GNSS measurement information and / or other positioning measurement information from V1 1402 (in response to a determination that V1 is located within or approaching a control or influence area). The roadside unit 1406 similarly requests GNSS measurement data and / or other position measurement data from vehicles determined to be located within the roadside unit 1406's area of ​​influence. In some embodiments, particularly those in which the vehicle recognizes that it is entering the roadside unit's area of ​​influence, the vehicle may automatically send the GNSS measurement data and / or other position measurement data without requiring the roadside unit 1406 to send a request (i.e., step 1424 and possibly step 1422 may be optional in some embodiments in which the vehicle determines whether it is located within the area of ​​influence and initiates communication with the roadside unit). In step 1426, vehicle V1 1402 sends the GNSS measurement information and / or other position measurement information to the roadside unit 1406, and in step 1428, the roadside unit 1406 processes the received GNSS data and / or location-related measurement data to determine the relative position of vehicle V1 1402.The relative positions of the vehicles within the influence area may be utilized by the roadside unit to influence and / or control the vehicles within the influence area by sending driving commands and / or approach permissions to the vehicles, such as, for example, approaching an intersection or lane, requesting that the vehicle change speed or drive at a particular rate, requesting that the vehicle change lanes or drive in a particular lane, requesting that the vehicle change direction, turning or stopping or other motion commands and / or requests. Based on the determined relative position of vehicle V1 1402, and in some embodiments, movement information about vehicle V1 1402, such as direction, heading, and speed, roadside unit 1406 determines and sends action-related requests, approach permissions, approach denials, and / or other commands to vehicle V1 1402. For example, the action requests or commands may include permission or denial of approach to an intersection, commands to stop, start, accelerate, or decelerate, lane change commands, or other vehicle actions for vehicle V1 1402.

[0115] FIG. 15 illustrates an embodiment for determining the relative position of a vehicle within a processing range. In step 1510, the vehicle sends one or more broadcast messages, thereby broadcasting the vehicle's position and vehicle identification (ID). In one embodiment, other information may also be broadcast, such as a position-related error estimate, a position-related timestamp (e.g., GNSS time associated with the position location), and / or a position-related uncertainty, such as may be determined using a least-squares fit of measurement information (GNSS pseudoranges and / or various sensor data). In some embodiments, the position may be considered the current position and time information may not be required. In step 1520, the vehicle receives position information vehicle IDs broadcast from multiple vehicles. In an alternative embodiment, the vehicle may receive the positions and IDs of adjacent and / or neighboring vehicles from a server. In step 1530, the vehicle uses the received positions and the vehicle's position to determine which of the transmitting vehicles are located within a threshold distance from the vehicle. In one embodiment, the distance may be determined using a simple distance formula, where point 1 is represented by coordinates X1, Y1 and point 2 is represented by coordinates X2, Y2, and the distance between the two points is [(x2-x1) 2 +(Y2-Y1) 2 ] 1 / 2 It is represented by:

[0116] In step 1540, the vehicle may request and receive GNSS measurement data and / or other position measurement data from vehicles within the threshold distance. In various embodiments, there may be multiple threshold distances, each corresponding to a different relative position determination frequency. For example, within a first threshold T1, GNSS measurements and other position related data may be requested at a first frequency R1. Between the first threshold T1 and a second threshold T2, GNSS measurements and other position related data may be requested at a second frequency. Outside the second threshold T2, GNSS measurements and other position related data may be requested at a third frequency R3, or may not be requested at all. The frequency of GNSS measurement data and / or other position measurement data may decrease with increasing vehicle distance from the central vehicle, such that R1>R2>R3 in one embodiment. It should also be appreciated that in various embodiments, the threshold regions may have various shapes, for example, as shown in FIG. 11, the inner region is a rectangle and the outer region is an ellipse. Similarly, the region may follow a lane or set of lanes or may be located around an intersection. Furthermore, in some embodiments, the GNSS measurement data and / or other position measurement data may be automatically sent to the ego vehicle by surrounding vehicles. For example, if a vehicle determines that it is located within a threshold distance of another vehicle, it may automatically start transmitting current measurements of the GNSS measurement data and / or other position measurement data to the other vehicle, and vice versa. That is, an exchange of GNSS measurement data and / or other position measurement data may be automatically triggered by each vehicle to provide data to the other vehicle. In one embodiment, the threshold distance may be used to trigger a current broadcast of the GNSS measurement data and / or other position measurement data when the other vehicle is located within a threshold distance, which has the advantage of reducing or eliminating request messaging overhead.

[0117] In step 1550, the vehicle may determine the relative position of at least one vehicle within the threshold distance based at least in part on the GNSS measurement data. In one embodiment, the vehicle may determine the relative positions of all vehicles within the threshold distance, or may process the GNSS measurement data and / or other position measurement data only for vehicles located immediately next to the vehicle based on the received position and vehicle identification information, or may process the GNSS measurement data and / or other position measurement data only for vehicles that exceed a threshold likelihood of collision or interaction based on the received position and vehicle identification information, or may process the GNSS measurement data and / or other position measurement data only for approaching vehicles, vehicles in front, vehicles behind, and / or vehicles on either side in an oncoming lane or cross road, or various combinations thereof based on the received position and vehicle identification information, or may process the GNSS measurement data and / or other position measurement data only for vehicles with which a request and / or interaction is made (e.g., to adjust spacing between the requesting and receiving vehicles or to request space for a lane change or merge) based on the received position and vehicle identification information.

[0118] In one embodiment, the relative position of adjacent vehicles may be used to trigger and / or inform interactions with adjacent vehicles or other vehicles that may interact with the ego vehicle. For example, approaching vehicles in oncoming lanes or cross roads, vehicles in front, vehicles behind, and / or vehicles on either side are likely to interact with the ego vehicle. For example, the vehicle may request that vehicles in adjacent lanes provide space for the ego vehicle to merge. For example, the vehicle may request that the vehicles in front and / or behind adjust the spacing between the ego vehicle and the vehicles in front and / or behind. For example, the vehicle may inform the vehicles behind that it will soon stop, slow down, or change lanes. For example, the vehicle may inform the vehicles behind that there is an upcoming road obstruction. In one embodiment, the vehicle may send commands or requests to surrounding vehicles for spacing adjustments, lane changes, and emergency maneuvers. The vehicle may also use the determined relative position to inform how to respond to requests and notifications from nearby vehicles.

[0119] FIG. 16 illustrates an embodiment of a vehicle interacting with a roadside unit within the roadside unit's influence area. In step 1610, the vehicle or other mobile device broadcasts location information and identification information. In a similar embodiment, a mobile phone or other pedestrian device may similarly broadcast or otherwise send location information and identification information, and it should be understood that the embodiments described below may also be implemented in a mobile phone and / or other pedestrian device. In various embodiments, the vehicle may also send location information and identification information directly to the roadside unit rather than broadcasting it. In a vehicle-roadside unit direct transmission scenario, the vehicle may be triggered to send location information and vehicle ID based on various triggers, such as entering an influence area that may be identified by metadata and / or a marked area on a map, or receiving a request from the roadside unit, for example, or receiving a request from a server that monitors the vehicle's position relative to the roadside unit influence area, or detecting a broadcast signal by the roadside unit (e.g., a broadcast signal from the roadside unit announcing the roadside unit controlling the approach to an intersection).

[0120] The roadside unit in one embodiment may broadcast or otherwise transmit its location and identification information. The roadside unit may also transmit requests for location information to mobile devices within transmission range. The requested location information may include latitude and longitude, phase offset, heading, speed, ability to stop or otherwise maneuver around an intersection or pedestrian, or other location related information. The roadside unit may also provide absolute positioning information or positioning information relative to the roadside unit to vehicles and pedestrians within the roadside unit's zone of influence. For example, the roadside unit may identify or update the location of automobiles and pedestrians located within the zone of influence (within a particular radius of the roadside unit or within a particular distance from an intersection or within a particular distance of a pedestrian crossing). This is particularly useful in tracking the movement of pedestrians and vehicles that do not advertise their location. The location of pedestrians and / or vehicles may be identified and / or verified using the broadcasted location of the pedestrian and / or vehicle if available, as well as sensor data such as cameras, RADAR, SONAR, LIDAR, infrared or other light-based ranging systems, road-based magnetic sensors, and / or other sensor inputs capable of identifying the location of objects within a zone of influence. The roadside unit may also be capable of actively querying vehicles and / or pedestrian devices such as smartphones for location information, which may include absolute information such as latitude and longitude or relative position information such as distance and heading or GNSS or other measurement information such as phase offset measurements.

[0121] In step 1620, the vehicle may receive a request from the roadside unit for periodic GNSS measurement data and / or sensor-based measurement data. The measurement data may include calculated latitude, longitude, heading, and / or speed, or may include raw measurement data such as pseudorange measurements and / or phase offset data for various satellite vehicles, or various combinations thereof. The measurement data may also include sensor measurement data such as vehicle acceleration and vehicle and / or wheel rotation information. In one embodiment, the wheel rotation data may be utilized by the roadside unit to determine road surface conditions. It should be understood that in various embodiments, sets of GNSS measurement data and / or other position measurement data may be requested and sent individually, or in one embodiment, the roadside unit may send a request to vehicles and / or other devices located within or near the affected area (and the vehicles and / or pedestrian devices respond to the request) to continuously turn on / broadcast GNSS measurement data and / or other position measurement data. The roadside unit may make repeated requests for GNSS information from the vehicle or pedestrian device, or the GNSS information may be sent directly from the vehicle or pedestrian device to the roadside unit in a point-to-point manner. The requested data may vary from request to request in some embodiments. For example, in some embodiments, an initial request may include a request for an absolute position such as latitude and longitude, while subsequent requests may request only phase offset information or pseudo-range information or relative position information or various combinations thereof; similarly, the vehicle or pedestrian device, in response to a request from the roadside unit, may in some embodiments include an absolute position such as latitude and longitude, and subsequent responses may provide phase offset information or pseudo-range information or relative position information or various combinations thereof that may or may not include absolute position information.

[0122] In one embodiment, a request for GNSS measurement data and / or other position measurement data from a roadside unit to a vehicle may specify that the GNSS measurement data and / or other position measurement data is sent over a specified period of time or within a particular geographic boundary. In one embodiment, a request for GNSS measurement data and / or other position measurement data from a roadside unit to a vehicle may specify that the GNSS measurement data and / or other position measurement data is sent at specified time intervals / frequency, which may be fixed or may vary depending on, for example, distance or position relative to the roadside unit or direction / heading relative to the roadside unit or other geographic reference point.

[0123] In one embodiment, a request for location information, e.g., periodic GNSS measurement data or absolute location information, may be accompanied by location information for vehicles and / or pedestrian devices (such as mobile devices) within the roadside unit's area of ​​influence. In one embodiment, the roadside unit may provide information about vehicles and / or pedestrian devices within the area of ​​influence to the vehicle or other mobile device as part of the request for information or recurringly, or a combination thereof. The location information for vehicles and / or pedestrian devices within the area of ​​influence may be unsolicited. The location information for vehicles and / or pedestrian devices within the area of ​​influence may be limited to information about vehicles and / or pedestrian devices within the area of ​​influence that are located near or may intersect the vehicle or other mobile device's direction of travel. In some embodiments, the location information for vehicles and / or pedestrian devices within the area of ​​influence may be broadcast by the roadside unit and received by vehicles and / or pedestrian devices within the area of ​​influence. In some embodiments, the location information sent by the roadside unit and received by the vehicle and / or mobile device may be limited to information about the vehicle and / or mobile device and / or objects and / or pedestrians that do not broadcast or otherwise self-advertise their location, e.g., the vehicle may be made aware of the location of pedestrians and / or animals and / or obstacles regardless of whether the pedestrians and / or animals and / or obstacles can and / or are currently sending and / or broadcasting their current location. Thus, the vehicle may receive the location of pedestrians and pets or other animals that are within an influence area and / or likely to affect the vehicle's travel, and may utilize the location information provided by the roadside unit to determine vehicle operation and travel control. For example, the vehicle may determine that it should stop for a pedestrian based on the pedestrian's walking direction and location provided or supplemented by the roadside unit.This can be particularly useful for pedestrians, bicyclists, pets, etc. that may not be detected by the vehicle due to darkness, occlusion by fixed objects such as buildings, fences, bushes, and / or hedges, lack of visual / camera contrast, or other missed detection scenarios.

[0124] In step 1630, the vehicle sends periodic GNSS measurement data and / or sensor-based measurement data and / or other position measurement data to the roadside unit. It should be appreciated that in various embodiments, each set of GNSS measurement data and / or other position measurement data may be requested and sent individually, or in one embodiment, the roadside unit may send a request to vehicles located within or near an area of ​​influence where the vehicle continuously turns on / broadcasts the GNSS measurement data and / or other position measurement data. In one embodiment, the GNSS measurement data and / or other position measurement data may be sent to the roadside unit for a specified period of time or may be sent within a particular geographic boundary. In one embodiment, the GNSS measurement data and / or other position measurement data may be sent at a particular time interval or frequency, which may be fixed or may vary depending, for example, on the distance or position relative to the roadside unit or the direction / heading relative to the roadside unit or other geographic reference point. The GNSS measurement data may, in various embodiments, include absolute position or phase offset data for the GNSS satellites or other signals, or may include pseudorange measurements for the GNSS satellites or other signals. The signal sources may include satellite signals, communication transceivers, and / or beacon signals and / or signals from the roadside units themselves. The signal measurement data may also include, in some embodiments, round trip time and / or angle of arrival measurements, particularly of signals sent by terrestrial signal sources.

[0125] In step 1640, the vehicle receives at least one action request sent by the roadside unit. For example, the vehicle may receive commands or requests to the roadside unit to affect and / or control actions and movements within the vehicle's area of ​​influence. In one embodiment, the vehicle may receive driving commands and / or approach permissions, such as permission to approach an intersection or lane, or a request to change speed or travel at a particular speed, or a request to change lanes or travel in a particular lane, or a request to change direction, turn or stop, or other maneuver. In one embodiment, the requested action may be associated with one or more coordinates, such as a stop location, and / or a distance and / or a measurement and / or a number and vector of lanes to travel or a direction of travel or lane change (e.g., left or right or angle). In one embodiment, the stop location may be an absolute location, such as specified by latitude and longitude (or other location designation or marking), or the stop location may be a location relative to another vehicle, person, mobile device, stationary device, and / or object. In one embodiment, the vehicle may receive action requests to coordinate lane changes, stops, starts, and other actions directly with other vehicles and / or devices, and may receive identities of other vehicles and / or other devices, such as mobile phones or Internet of Things devices, whose movements should be coordinated, thereby maintaining and / or optimizing traffic flow safety and / or allowing pedestrians to safely cross through passing areas, regardless of the presence or absence of crosswalks or indicator lights. This coordination may be determined by the roadside unit, or by the individual devices, or may be a combination of both, where some actions are delegated by the roadside unit to the vehicle and / or other mobile devices.In one embodiment, the at least one action request may be acknowledged to the roadside unit, which may include whether the vehicle or other mobile device complies with and / or is able to comply with the action request, or whether the roadside unit requests an action from another vehicle and / or pedestrian / mobile device to compensate for the vehicle or other device's inability to comply with the action request. For example, a truck moving at high speed may not be able to stop before reaching an intersection and may issue a non-compliance response to the at least one action request, whereby the roadside unit instead commands crossing traffic to stop if possible, or commands an evasive maneuver by the vehicle and / or device that may potentially collide or potentially have a dangerous interaction with the truck or other vehicle that issued the non-compliance response. The vehicle or other device may determine that it is able to comply and may issue a compliance response. In one embodiment, a vehicle that may not be able to follow the roadside unit may issue a request to not follow the action request and await permission to not follow from the roadside unit, for example, for priority or urgent passage reasons, such as for an emergency vehicle (ambulance, fire engine, or other emergency vehicle) or a person needing urgent passage to a hospital or other urgent destination. The roadside unit may send a determined alternative action request to other vehicles requesting a change in action or revocation of permission (such as permission to pass through an intersection) depending on the likely non-compliance requested and / or occurring by the other vehicles.

[0126] In step 1650, the vehicle may perform at least one requested action, such as, but not limited to, those described in step 1640. For example, the vehicle may stop, or approach an intersection, or start moving in a particular direction, or accelerate or decelerate, or change lanes, or start coordinating with other vehicles to change lanes or pass through the intersection, or take other vehicle actions. In one embodiment, in response to the action request, the vehicle (or other device) may interact and / or coordinate with other nearby vehicles and / or devices to, for example, make adjustments in the lane to provide space for the requested lane change. In one embodiment, the mobile phone may act as a pedestrian device and issue an audible request to the pedestrian to take a particular action, such as to stop, cross the road, or stay on the sidewalk or back off the road, such requests may be made in response to avoiding oncoming vehicles, or to safely cross the road, or to provide an additional buffer from the road, for example to avoid splashing through puddles, or to provide an additional safety buffer from the control vehicle in slippery road conditions. In one embodiment, the vehicle or other mobile device, pedestrian device, and / or device may also provide a status response to the roadside unit while an action is requested or after the requested action is completed.

[0127] Figure 17 shows three vectors between three vehicles, where the three vectors may be used to mathematically constrain the solution for the positions of the three vehicles. As mentioned above, with three GNSS receivers, there are three baselines between any two receivers, i.e.

[0128]

number

[0129] ,

[0130]

number

[0131] ,

[0132]

number

[0133] and thus the three corresponding dual phase difference ambiguities can be resolved. The ambiguities are constrained according to

[0134]

number

[0135] The above formula may be utilized for integer ambiguity resolution, thereby reducing the time and increasing the reliability of the resolution. Similarly, if measurements from three GNSS receivers are processed together, three position vectors are generated between the three receivers (1, 2, and 3), i.e.

[0136]

number

[0137] ,

[0138]

number

[0139] ,

[0140]

number

[0141] where:

[0142]

number

[0143] This vector relationship is clearly shown in Figure 17. This position vector constraint may be used to speed up and increase the reliability of baseline and / or ambiguity resolution.

[0144] It will be appreciated that various embodiments may be utilized to implement the processes and methods disclosed above, and that the disclosed processes and methods may be implemented using various means, which may include various combinations of hardware and software.

[0145] In various embodiments, as described above, vehicle 100 may determine its location using a location system, and this location may be communicated to adjacent and / or nearby vehicles in a location data element. Vehicle 100 may use the location when determining vehicle movement, for example, when merging or determining spacing between vehicles. Vehicle 100 may exchange location information with adjacent or nearby vehicles to negotiate and adjust movements, such as when changing lanes and adjusting spacing between vehicles, or when setting vehicle speed or target vehicle position.

[0146] It should be understood that in this document, the terms ID and identification information may be used interchangeably.

[0147] In various embodiments, as described above, vehicles 100, e.g., vehicle A 480 and vehicle B 490, may have circuitry and processing resources that enable them to obtain position-related measurements (e.g., of signals received from GPS, GNSS, or other Satellite Positioning System (SPS) satellites 410, WAN wireless transceiver 420, or WLAN or PAN local transceiver 430) and, in some cases, calculate a position fix or estimated position of vehicle 100 based on these position-related measurements. In the currently illustrated example, the position-related measurements obtained by vehicle 100 may include measurements of signals (412) received from satellites belonging to a global navigation satellite system (GNSS) (410), such as SPS or GPS, GLONASS, Galileo, or Beidou, and / or may include measurements of signals (422 and / or 432, etc.) received from terrestrial transmitters (e.g., WAN wireless transceiver 420, etc.) fixed at known locations. Vehicle 100 or location server 460 may then obtain a location estimate for vehicle 100 based on these location-related measurements using any one of several positioning methods, such as, for example, GNSS, Assisted GNSS (A-GNSS), Advanced Forward Link Trilateration (AFLT), Observed Time Difference of Arrival (OTDOA), or Enhanced Cell ID (E-CID), network triangulation, received signal strength indicator (RSSI), or a combination thereof. In some of these techniques (e.g., A-GNSS, AFLT, and OTDOA, RSSI), pseudoranges or timing differences may be measured at vehicle 100 to three or more ground transmitters at known locations, or to four or more satellites whose orbit data are precisely known, or a combination thereof, based at least in part on pilot, positioning reference signal (PRS), or other positioning-related signals transmitted by the transmitters or satellites and received at vehicle 100.The server may provide positioning assistance data to the vehicle 100 including, for example, information about the signals to be measured (e.g., signal timing and / or signal strength), terrestrial transmitter locations and IDs, and / or signal, timing, and orbit information for GNSS satellites to facilitate positioning techniques such as A-GNSS, AFLT, OTDOA, and E-CID. For example, the location server 460 may include an almanac indicating the locations and IDs of wireless transceivers and / or local transceivers in a particular area, such as a particular venue, and may provide information describing signals transmitted by cellular base stations or APs or mobile terrestrial transceivers, such as transmit power and signal timing. In the case of E-CID, the vehicle 100 may obtain signal strength measurements for signals received from the WAN wireless transceiver 420 and / or wireless local area network (WLAN) or PAN local transceiver 430, and / or obtain round-trip signal propagation times (RTT) between the vehicle 100 and the WAN wireless transceiver 420 or wireless local transceiver 430. The vehicle 100 may use these measurements together with assistance data received from the position server 460 (e.g., terrestrial almanac data or GNSS satellite data such as GNSS almanac and / or GNSS ephemeris information) to determine the position of the vehicle 100, or may forward the measurements to the position server 460 to perform the same determination.

[0148] In various embodiments, the location may be determined through various means as described above. For example, in one embodiment, the vehicle 100 may determine the location of the vehicle 100 using GNSS satellite signal measurements, terrestrial transmitter signal measurements, or some combination thereof. In one embodiment, the vehicle 100 may determine the location of the vehicle 100 using LIDAR, RADAR, GNSS, sensors, and various combinations thereof. In one embodiment, the vehicle 100 may determine the location of the vehicle 100 using an accelerometer and / or gyro and various sensors (wheel tick, steering direction, etc.) to determine the distance traveled and the direction traveled from the last determined location via dead reckoning. In one embodiment, the vehicle 100 may determine the location of the vehicle 100 using a combination of signals and sensors, for example, the location may be determined using various signal measurements from the GNSS and terrestrial transmitters and then updated using dead reckoning. From the determined location, various signal measurements may be obtained from visible transmitters to obtain an indication of the distance of the transmitter from the determined location. The indication of distance may include signal strength or round trip time or time of arrival or other distance estimation methods. New signal measurements may be obtained at the new identified location. By combining the distance indications from multiple locations for any given transmitter, whether by one device or multiple devices, the location of the transmitter, such as the WAN wireless transceiver 420 or the WLAN or PAN local transceiver 430, may be identified. The location of the transmitter may be identified on the vehicle 100 or on a crowdsourcing server or on a location server 460 or other network-based server.

[0149] Vehicles (e.g., vehicle 100 of FIG. 2, e.g., vehicle A 480 and vehicle B 490) may also be referred to as devices, automobiles, trucks, motorcycles, flying devices such as airplanes or drones, wireless devices, mobile terminals, terminals, mobile stations (MS), user equipment (UE), SUPL-enabled terminals (SET). In general, but not necessarily, vehicles may support wireless communications, such as by using V2X, GSM, WCDMA, LTE, CDMA, HRPD, Wi-Fi, BT, WiMAX, Long Term Evolution (LTE), fifth generation wireless (5G) or new radio access technology (NR), V2X communications protocols, and the like. Vehicles may also support wireless communications, for example, using wireless LAN (WLAN), personal area network (PAN) such as Bluetooth or ZigBee, DSL or packet cable. In one embodiment, the vehicles may support transmission of Basic Safety Messages (BSM) including various data elements, such as a data element representing that the respective vehicle is driven autonomously. In one embodiment, the vehicles may support transmission of ETSI Cooperative Awareness Messages (CAMs), in an embodiment that includes various data elements, such as, for example, a data element representing that each vehicle is driven autonomously.

[0150] An estimate of a vehicle's (e.g., vehicle 100) location may be referred to as a location, location estimate, location fix, fix, position, position estimate, or position fix, and provides location coordinates (e.g., latitude and longitude) for the vehicle that may or may not include an altitude component (e.g., elevation, height or depth above ground, floor, or underground). Alternatively, the vehicle's location may be represented as an urban location (e.g., as an address or designation of a point or small area somewhere in a building, such as a particular room or floor). The vehicle's location may be represented as an area or volume (defined either geographically or in urban terms) within which the vehicle is expected to be located with some probability or confidence level (e.g., 67% or 95%). The vehicle's location may also be a relative location including distance and direction or relative X, Y (and Z) coordinates defined relative to some origin in a known location, which may be defined, for example, geographically, or in architectural terms, or by reference to a point, area, or volume shown on a map, floor plan, or building plan. In the descriptions contained herein, use of the term location may include any of these variants unless otherwise indicated.

[0151] References throughout this specification to "one example," "one example," "some examples," "one embodiment," or "exemplary implementation" mean that a particular feature, structure, or characteristic described with respect to a feature and / or example may be included in at least one feature and / or example of the claimed subject matter. Thus, appearances of the phrases "in one example," "an example," "some examples," or "in some implementations," or "in one embodiment," or other similar phrases in various places throughout this specification do not necessarily all refer to the same feature, example, and / or limitation. Furthermore, particular features, structures, or characteristics may be combined or modified in one or more examples and / or features, as well as combined or modified across various embodiments. Furthermore, references to carrier phase, GNSS carrier phase, and / or GNSS phase measurements may apply to GNSS carrier phase and GNSS carrier phase measurements in various embodiments. However, these techniques may also be applied in an embodiment to other signal sources, such as terrestrial base stations and access points. Additionally, in various embodiments, other phase differences, such as code phase differences, may be used instead or in combination with carrier phase. The illustrated embodiments are not limiting on implementations that may vary in detail, and those skilled in the art will recognize that other non-illustrated embodiments may also be used with or to modify the described embodiments.

[0152] Some portions of the detailed description contained herein are presented in terms of algorithms or symbolic representations of operations on binary digital signals stored in a memory of a specific apparatus or a dedicated computing device or platform. In the context of this particular specification, the term specific apparatus or the like includes a general-purpose computer after it has been programmed to perform certain operations according to instructions from program software. Algorithmic descriptions or symbolic representations are examples of techniques used by those skilled in the signal processing or related arts to convey the substance of their work to others skilled in the art. An algorithm is herein, and generally, considered to be a self-consistent sequence of operations or similar signal processing that leads to a desired result. In this context, operations or processing involve physical manipulations of physical quantities. Typically, although not necessarily, such quantities can take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, or otherwise manipulated. It has proven convenient at times, primarily for reasons of common usage, to refer to such signals as bits, data, values, steps, symbols, characters, terms, numbers, values, or the like. It should be understood, however, that all of these or similar terms are to be associated with the appropriate physical quantities and are merely convenient labels. Unless otherwise indicated, and as will be apparent from the description herein, it should be appreciated that throughout this specification, descriptions utilizing terms such as "processing," "calculating," "computing," "determining," and the like refer to the actions or processes of a particular apparatus, such as a special purpose computer, a special purpose computing apparatus, or a similar special purpose electronic computing device. Thus, in the context of this specification, a special purpose computer or a similar special purpose electronic computing device is capable of manipulating or transforming signals, which are typically represented as physical electronic or magnetic quantities in the memory, registers, or other information storage, transmission, or display devices of the special purpose computer or similar special purpose electronic computing device.

[0153] The wireless communication techniques described herein may be connected to various wireless communication networks, such as a wireless wide area network ("WAN"), a wireless local area network ("WLAN"), a wireless personal area network (PAN), etc. The terms "network" and "system" may be used interchangeably herein. A WAN may be a code division multiple access ("CDMA") network, a time division multiple access ("TDMA") network, a frequency division multiple access ("FDMA") network, an orthogonal frequency division multiple access ("OFDMA") network, a single carrier frequency division multiple access ("SC-FDMA") network, a long term evolution ("LTE"), a fifth generation ("5G"), or any combination of the above networks, etc. A CDMA network may implement one or more radio access technologies ("RATs"), such as cdma2000, wideband-CDMA ("W-CDMA"), etc., as just a few examples of wireless technologies. Here, cdma2000 may include technologies implemented according to IS-95, IS-2000, and IS-856 standards. The TDMA network may implement Global System for Mobile Communications (GSM), Digital Advanced Mobile Phone System (D-AMPS), or some other RAT. GSM and W-CDMA are described in documents from an organization named "3rd Generation Partnership Project" ("3GPP"). CDMA2000 is described in documents from an organization named "3rd Generation Partnership Project 2" ("3GPP2"). 3GPP and 3GPP2 documents are publicly available. In accordance with the claimed subject matter in an aspect, a 4G Long Term Evolution ("LTE") communication network may also be implemented. For example, the WLAN may comprise an IEEE 802.11x network, the PAN may comprise a Bluetooth network, and the IEEE 802.15X may comprise a Zigbee network. The wireless communication implementations described herein may also be used with any combination of a WAN, a WLAN, or a PAN.

[0154] In another aspect, as previously described, a wireless transmitter or access point may comprise a wireless transceiver device utilized to extend cellular telephone service to a business or home or vehicle. In such an implementation, one or more vehicles may communicate with the wireless transceiver via, for example, a Code Division Multiple Access ("CDMA") cellular communications protocol.

[0155] The techniques described herein may be used with several global satellite positioning systems (such as the Global Positioning System "GPS", the Russian GLONASS system, and the European Union's Galileo system, as well as the Chinese BeiDou and BeiDou-2 systems, "GNSS") and / or combinations of GNSS. Additionally, such techniques may be used with positioning systems that utilize ground transmitters acting as "pseudolites", or a combination of SVs and such ground transmitters. The ground transmitters may include, for example, ground-based transmitters that broadcast PN codes or other ranging codes (e.g., similar to GPS or CDMA cellular signals). Such transmitters may be assigned unique PN codes to enable identification by remote receivers. Ground transmitters may be useful, for example, to augment SPS in situations where SPS signals from orbiting SVs are not available, such as tunnels, mines, buildings, urban canyons, or other enclosed areas. Another implementation of pseudolites is called a radio beacon. The term "SV" is intended herein to include terrestrial transmitters acting as pseudolites, equivalents of pseudolites, and possibly others. The terms "SPS signals" and / or "SV signals" are intended herein to include SPS-like signals from terrestrial transmitters, including terrestrial transmitters acting as pseudolites or equivalents of pseudolites.

[0156] In the above detailed description, numerous specific details have been set forth to provide a thorough understanding of the claimed subject matter. However, it will be understood by those skilled in the art that the claimed subject matter may be practiced without these specific details. In other instances, methods and apparatuses that would be known to those skilled in the art have not been described in detail so as not to obscure the claimed subject matter.

[0157] The terms "and," "or," and "and / or" as used herein may include a variety of meanings that are expected to depend at least in part on the context in which such terms are used. Typically, when "or" is used to link a list such as A, B, or C, it is intended to mean A, B, and C, which are used herein in an inclusive sense, as well as A, B, or C, which are used herein in an exclusive sense. In addition, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular, or may be used to describe a plurality of features, structures, or characteristics, or some other combination of features, structures, or characteristics. It should be noted, however, that this is merely an illustrative example, and claimed subject matter is not limited to this example.

[0158] While what are presently believed to be exemplary features have been illustrated and described, it would be understood by those skilled in the art that various other modifications could be made and equivalents substituted without departing from the claimed subject matter. Additionally, many modifications may be made to adapt a particular situation to the teachings of the claimed subject matter without departing from the central concept described herein.

[0159] It is therefore intended that the claimed subject matter not be limited to the particular examples disclosed, but that such claimed subject matter include all embodiments falling within the scope of the appended claims and equivalents thereof.

[0160] For implementations involving firmware and / or software, the methods may be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described herein. Any machine-readable medium tangibly embodying instructions may be used in implementing the methods described herein. For example, software code may be stored in a memory and executed by a processor unit. The memory may be implemented within the processor unit or external to the processor unit. The term "memory" as used herein refers to any kind of long-term memory, short-term memory, volatile memory, non-volatile memory, or other memory, and should not be limited to any particular type of memory or any particular number of memories, nor should it be limited to any particular type of medium on which the memory is stored.

[0161] If implemented in firmware and / or software, the functions may be stored as one or more instructions or code on a computer-readable storage medium. Examples include computer-readable media encoded with data structures and computer-readable media encoded with a computer program. Computer-readable media include physical computer storage media. A storage medium may be any available medium that can be accessed by a computer. By way of example and not limitation, such computer readable media may comprise RAM, ROM, FLASH, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage, semiconductor storage, or other storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer, where disk and disc as used herein include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically and discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer readable media.

[0162] The instructions and / or data may be provided as signals on a transmission medium included in a communication device in addition to being stored on a computer-readable storage medium. For example, the communication device may include a transceiver having signals representing the instructions and data. The instructions and data are configured to cause one or more processors to implement the functions outlined in the claims. That is, the communication device includes a transmission medium having signals indicating information for performing the disclosed functions. The first time, the transmission medium included in the communication device may include a first portion of information for performing the disclosed functions, and the second time, the transmission medium included in the communication device may include a second portion of information for performing the disclosed functions. [Explanation of symbols]

[0163] 100 vehicles 110 Processor 120 DSP 130 Wireless Transceiver 132 Wireless Antenna 134 Wireless Communication Links 135 Camera 140 Accelerometer, Gyro, and Magnetometer 145 Sensors 150 LIDAR 153 RADAR 155 System 160 Memory 170 GNSS receiver 174 GNSS signals 175 Power Drive Systems and Related Systems 202 Shark Fin 204 LIDAR System 206 Camera 208 RADAR System 210 SONAR 212 Wheels 302 Vehicle External Sensor 304 Vehicle interior sensor 306 Vehicle Capacity 308 External Wireless Information 310 Vehicle movement status 330 Input Functions 400 Mobile Devices 410 GNSS satellites 412 GNSS signals 420 Wireless Base Transceiver Subsystem 423 Link 425 Roadside machine 425A Processor 425B Network Interface 425C Traffic Control Unit 425D Roadside sensor information 425E Wireless Transceiver 430 Access Points 440 Environmental Data Server 445 Root Server 450 Map Server 455 Vehicle Information Server 460 Location Server 465 Traffic Optimization Server 470 Network 480 Vehicle A 490 Vehicle B 710, 720, 730 Rings 910, 920 Ring 1006 Camera mounted on rearview mirror 1302 V1 1304 V2 1306 V3 1402 V1 1404 V2 1406 Roadside machine R1, R2, R3 vehicles R1 First Frequency R3 Third Frequency T1 First Threshold T2 Second Threshold

Claims

1. 1. A method for updating a position of a target vehicle using GNSS phase measurement data, comprising: Identifying a position of the vehicle; receiving, at the host vehicle, a broadcast message from a first neighboring vehicle, the broadcast message including a first location of the first neighboring vehicle and a vehicle ID of the first neighboring vehicle; determining that the first adjacent vehicle is located within a threshold distance of a plurality of threshold distances from the ego vehicle based at least in part on a distance between the position of the ego vehicle and the first position of the first adjacent vehicle; determining within which of the plurality of threshold distances the first adjacent vehicle is located; obtaining first adjacent vehicle GNSS phase measurement data for the first adjacent vehicle; determining ego-vehicle GNSS phase measurement data for the ego-vehicle; calculating a difference between a carrier phase measurement value indicated by the first nearby vehicle GNSS phase measurement value data and a carrier phase measurement value indicated by the host vehicle GNSS phase measurement value data to obtain a first phase difference; determining a second position of the first adjacent vehicle by canceling the first phase difference from a difference between the position of the vehicle and the first position of the first adjacent vehicle, the first adjacent vehicle GNSS phase measurement data being processed at different frequencies depending on the threshold distance at which the first adjacent vehicle is located; The second position of the first adjacent vehicle includes a relative position of the first adjacent vehicle with respect to the host vehicle. method.

2. The method of claim 1 , wherein the second position of the first proximate vehicle comprises an absolute position of the first proximate vehicle.

3. The method of claim 1 , wherein the broadcast message is a Basic Safety Message (BSM) or a Cooperative Awareness Message (CAM).

4. The method of claim 1 , further comprising the step of requesting, by the ego vehicle, the first proximate vehicle GNSS phase measurement data from the first proximate vehicle.

5. 5. The method of claim 4, wherein the step of requesting the first proximate vehicle GNSS phase measurement data from the first proximate vehicle by the self-vehicle includes a step of requesting that the first proximate vehicle periodically send the first proximate vehicle GNSS phase measurement data.

6. The method of claim 4 , further comprising the step of requesting, by the ego vehicle, from the first proximate vehicle a measurement time for the first proximate vehicle GNSS phase measurement data.

7. The method of claim 1 , wherein the own vehicle GNSS phase measurement data for the own vehicle, the GNSS phase measurement data for the first nearby vehicle, or a combination thereof, includes GNSS phase measurements from multiple frequency bands.

8. 2. The method of claim 1, wherein the own-vehicle GNSS phase measurement data for the own vehicle, the first proximate-vehicle GNSS phase measurement data for the first proximate vehicle, or a combination thereof includes GNSS phase measurements for a plurality of GNSS satellite constellations.

9. receiving, from a second adjacent vehicle, a broadcast message at the host vehicle, the broadcast message including a third position of the second adjacent vehicle and a vehicle ID of the second adjacent vehicle; obtaining second adjacent vehicle GNSS phase measurement data for the second adjacent vehicle; calculating a difference between a carrier phase measurement value indicated by the second nearby vehicle GNSS phase measurement value data and a carrier phase measurement value indicated by the host vehicle GNSS phase measurement value data to obtain a second phase difference; calculating a difference between a carrier phase measurement value indicated by the first adjacent vehicle GNSS phase measurement data and a carrier phase measurement value indicated by the second adjacent vehicle GNSS phase measurement data to obtain a third phase difference; obtaining a first vector between the host vehicle and the first adjacent vehicle based on the first phase difference; obtaining a second vector between the host vehicle and the second adjacent vehicle based on the second phase difference; obtaining a third vector between the first adjacent vehicle and the second adjacent vehicle based on the third phase difference; and updating the position of the second proximate vehicle to satisfy a constraint that a sum of the first vector and the third vector is equal to a sum of the second vector.

10. A wireless transceiver; A GNSS receiver; Memory, one or more processors communicatively coupled to the wireless transceiver, the GNSS receiver, and the memory; the one or more processors: Identifying the location of the vehicle; receiving a broadcast message from a first neighboring vehicle at the host vehicle, the broadcast message including a first location of the first neighboring vehicle and a vehicle ID of the first neighboring vehicle; determining that the first proximate vehicle is within a threshold distance of a plurality of threshold distances from the ego vehicle based at least in part on a distance between the position of the ego vehicle and the first position of the first proximate vehicle; determining within which of the plurality of threshold distances the first adjacent vehicle is located; obtaining first proximate vehicle GNSS phase measurement data for the first proximate vehicle; determining ego-vehicle GNSS phase measurement data for the ego-vehicle; Calculating a difference between a carrier phase measurement value indicated by the first nearby vehicle GNSS phase measurement value data and a carrier phase measurement value indicated by the host vehicle GNSS phase measurement value data to obtain a first phase difference; determining a second position of the first adjacent vehicle by canceling the first phase difference from a difference between the position of the vehicle itself and the first position of the first adjacent vehicle, the first adjacent vehicle GNSS phase measurement data being processed with different frequencies depending on the threshold distance at which the first adjacent vehicle is located; The second position of the first adjacent vehicle includes a relative position of the first adjacent vehicle with respect to the host vehicle. vehicle.

11. The one or more processors are further configured to execute the method of any one of claims 1 to 9.

11. A vehicle as claimed in claim 10.

12. 10. A non-transitory computer-readable storage medium having computer-readable instructions stored thereon, the computer-readable instructions causing one or more processors on a vehicle to perform a method according to any one of claims 1 to 9.

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