Automated vehicle GPS accuracy improvement using V2V communications

• US 10,094,933 B1
• Filed: 03/23/2017
• Issued: 10/09/2018
• Est. Priority Date: 03/23/2017
• Status: Active Grant

• Current Assignee: Motional AD, LLC (Aptiv PLC)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Ozbilgin, Guchan
• Primary Examiner(s): Wong, Yuen H
• Application Number:
  US15/467,707
• Publication Number:
  US 20180275282A1
• Time in Patent Office: 565 Days
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 19/05 providing aiding data
• CPC Class Codes: G01S 19/215 issues related to spoofing
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude

Abstract

A navigation system for use on an automated vehicle includes a global-positioning-system-receiver (GPS-receiver), a vehicle-to-vehicle-transceiver (V2V-transceiver), an object-detector, and a controller. The GPS-receiver indicates a receiver-coordinate of a host-vehicle. The receiver-coordinate is characterized by a receiver-error. The V2V-transceiver receives a GPS-coordinate from each of a plurality of other-vehicles proximate to the host-vehicle. The object-detector determines a distance and a direction relative to the host-vehicle to each of the plurality of other-vehicles. The controller is in communication with the GPS-receiver, the V2V-transceiver, and the object-detector. The controller is configured to adjust each GPS-coordinate from each of the plurality of other-vehicles based on the distance and the direction and thereby provide a plurality of adjusted-GPS-coordinates that coincide with the host-vehicle, and combine the plurality of adjusted-GPS-coordinates with the receiver-coordinate to determine a host-coordinate that is characterized by a location-error less than the receiver-error.

Claims

1. A navigation system for use on an automated vehicle, the system comprising:

a global-positioning-system-receiver (GPS-receiver) that indicates a receiver-coordinate of a host-vehicle, wherein the receiver-coordinate is characterized by a receiver-error;

a vehicle-to-vehicle-transceiver (V2V-transceiver) that receives a GPS-coordinate from each of a plurality of other-vehicles proximate to the host-vehicle;

an object-detector that determines a distance and a direction relative to the host-vehicle to each of the plurality of other-vehicles; and

a controller in communication with the GPS-receiver, the V2V-transceiver, and the object-detector, wherein the controller is configured to;

adjust each of the GPS-coordinate from each of the plurality of other-vehicles based on the distance and the direction and thereby provide a plurality of adjusted-GPS-coordinates that coincide with the host-vehicle,

combine the plurality of adjusted-GPS-coordinates with the receiver-coordinate to determine a host-coordinate that is characterized by a location-error less than the receiver-error,

reject an adjusted-GPS-coordinate from the plurality of adjusted-GPS-coordinates when the adjusted-GPS-coordinate differs from the receiver-error of the receiver-coordinate by greater than an error-threshold, and

operate the V2V-transceiver to broadcast and report an identity of an other-vehicle from which the adjusted-GPS-coordinate was rejected to the plurality of other-vehicles proximate to the host-vehicle for the navigation system for use on the automated vehicle.

2. The system in accordance with claim 1, wherein the object-detector includes one or more of a camera, a lidar, and a radar.