V2X Object Positioning With RSU Time-of-Flight Ranging
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Solution Overview
Problem
Existing positioning systems, such as GNSS, face challenges in urban environments due to multi-path extensions and fail to provide accurate position estimation in undercover scenarios, leading to increased measurement errors over time, which is critical for autonomous vehicles.
Innovation Solution
A method and system using V2X communication between vehicles and Road Side Units (RSUs) to estimate position by receiving service messages, determining virtual heading, and calculating range based on round trip time, combined with additional information like road angles and GNSS data, to enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GNSS is used for positioning, then position estimation is provided, but accuracy deteriorates in urban environments due to multi-path extensions and undercover scenarios
Solution Approach 1:
The patent introduces Road Side Units (RSUs) as intermediary devices to mediate positioning in environments where GNSS fails. RSUs deploy virtual sensors that simulate physical sensor measurements, providing positioning data in urban canyons and undercover scenarios where satellite signals are blocked or reflected
Solution Approach 2:
The patent replaces reliance on physical GNSS satellite signals with a virtual positioning system using V2X communication and virtual sensors. This substitution enables positioning functionality in environments where the physical GNSS system cannot operate
2Adaptability or versatility
If inertial sensors are used for dead reckoning, then positioning is provided in challenging scenarios, but measurement errors accumulate over time
Solution Approach 1:
The patent implements a feedback mechanism where virtual sensor data from RSUs is continuously fed back to correct accumulated inertial navigation errors. This feedback loop resets drift accumulation by providing external reference points through V2X communication
Solution Approach 2:
The system performs preliminary positioning using inertial sensors when GNSS is unavailable, then applies corrections from virtual sensor data before errors accumulate significantly. This preliminary action followed by correction minimizes overall position drift
3Measurement precision
If V2X communication with multiple RSUs is implemented, then position estimation accuracy is improved in challenging environments, but system complexity increases
Solution Approach 1:
The patent makes RSUs multi-functional by combining their native sensing capabilities with virtual sensor functionality. This allows a single RSU deployment to serve both traditional traffic management functions and enhanced positioning, reducing overall system complexity
Solution Approach 2:
The patent segments the positioning function into independent virtual sensors deployed at different RSU locations. Each virtual sensor provides localized positioning data that can be independently processed and combined, simplifying the overall system architecture
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Provides accurate and continuous position estimation in challenging environments, reducing measurement errors and ensuring safety in autonomous vehicle systems.
Implementation Method 1
estimating a range between the object and each of the at least two units based on a round trip time computed from the times of transmitting the previous V2X message from the object and receiving the previous set of V2X response messages at the object
Data Source
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AI summary
Methods and systems for estimating the position of an object are disclosed. The method comprises transmitting a first V2X message from the object (11a, 12a, 13a, 14a) to several spaced apart units (15a, 16a); and receiving a set of V2X response messages from at least two units (15a, 16a) in response to the first V2X message. Each response message comprises an identifier of the object (11a, 12a, 13a, 14a), an identifier of the unit (15a, 16a) from which the response message was sent, and temporal information associated with the times of receiving previous V2X message and transmitting previous V2X response message. The position of the object is estimated based on the information contained in the set of V2X response messages and transmitting times of previous V2X message from the object (11a, 12a, 13a, 14a) and receiving the previous set of V2X response messages at the object (11a, 12a, 13a, 14a).