System and method for translating roadside device position data according to differential position data

• US 10,332,395 B1
• Filed: 12/21/2017
• Issued: 06/25/2019
• Est. Priority Date: 12/21/2017
• Status: Active Grant

• Current Assignee: Denso International America Incorporated (DENSO Corporation)
• Original Assignee: Denso International America Incorporated (DENSO Corporation)
• Inventors: Berg, Roger
• Primary Examiner(s): Wilson, Brian
• Application Number:
  US15/849,895
• Publication Number:
  US 20190197893A1
• Time in Patent Office: 551 Days
• Field of Search: 340906-9321, 701445, 701469, 701471, 701485, 701495, 701520
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 2205/002 for traffic control, mobile tracking, guidance, surveillance or anti-collision
• CPC Class Codes: G08G 1/0116 from roadside infrastructure, e.g. beacons
• CPC Class Codes: G08G 1/0141 for traffic information dissemination
• CPC Class Codes: G08G 1/096708 where the received information might be used to generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element
• CPC Class Codes: H04W 4/44 for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Abstract

In an example, a roadside device is disclosed. In one or more implementations, the roadside device includes a deviation determination module that is configured to determine a difference between a determined current position of the roadside device and a predefined position of the roadside device. The roadside device also includes a modification module that is configured to modify geometry data representing an intersection environment based upon the difference, and a vehicle-to-everything (V2X) communication module that is configured to broadcast the modified geometry data within the intersection environment.

Claims

1. A roadside device comprising:

a position determining module that is configured to determine a current position of the roadside device based on signals received from Global Navigation Satellite System satellites;

a deviation determination module that is configured to compare the determined current position of the roadside device with a predefined position of the roadside device to determine a differential vector representing a difference between the determined current position of the roadside device and the predefined position of the roadside device;

a modification module that is configured to modify geometry data that includes position coordinates of an intersection environment to generate modified position coordinates of the intersection environment according to the differential vector; and

a vehicle-to-everything (V2X) communication module that is configured to broadcast the modified position coordinates of the intersection environment to at least one vehicle within the intersection environment.

2. The roadside device as recited in claim 1, wherein the position determining module includes a Global Navigation Satellite Systems transceiver.

3. The roadside device as recited in claim 1, wherein vehicle-to-everything communication module is further configured to broadcast the modified position coordinates within the intersection environment via a wireless communications protocol.

4. The roadside device as recited in claim 1, wherein the differential vector includes at least one of a) a difference in latitude between a latitude coordinate of the current position and a latitude coordinate of the predefined position;

b) a difference in longitude between a longitude coordinate of the current position and a longitude coordinate of the predefined position;

or c) a difference in an altitude between an altitude coordinate of the current position and an altitude coordinate of the predefined position.

5. The roadside device as recited in claim 1, further comprising a memory that is configured to store the predefined position and the geometry data.

6. The roadside device as recited in claim 1, wherein the intersection environment includes a signalized intersection environment and the predefined position includes surveyed parameters of the roadside device and the geometry data includes surveyed parameters corresponding to the signalized intersection environment.

7. The roadside device as recited in claim 1, wherein the position coordinates of the intersection environment include position coordinates of at least one of a portion of a roadway of the intersection environment, a stop line of the intersection environment, and a traffic signal of the intersection environment.

8. A method comprising:

determining a current position of a roadside device based on signals received from Global Navigation Satellite System satellites;

comparing the determined current position of the roadside device with a predefined position of the roadside device to determine a differential vector representing a difference between the determined current position of the roadside device and the predefined position of the roadside device;

modifying geometry data that includes position coordinates of an intersection environment to generate modified position coordinates of the intersection environment according to the differential vector; and

broadcasting the modified position coordinates of the intersection environment to at least one vehicle within the intersection environment.

9. The method as recited in claim 8, wherein the signals from the Global Navigation Satellite System satellites are received with a Global Navigation Satellite Systems transceiver.

10. The method as recited in claim 8, wherein broadcasting the modified position coordinates within the intersection environment is performed via a wireless communications protocol.

11. The method as recited in claim 8, wherein the a differential vector includes at least one of a) a difference in latitude between a latitude coordinate of the current position and a latitude coordinate of the predefined position;

b) a difference in longitude between a longitude coordinate of the current position and a longitude coordinate of the predefined position;

or c) a difference in an altitude between an altitude coordinate of the current position and an altitude coordinate of the predefined position.

12. The method as recited in claim 8, further comprising accessing the predefined position and the geometry data from a memory.

13. The method as recited in claim 8, wherein intersection environment includes a signalized intersection environment and the predefined position includes surveyed parameters of the roadside device and the geometry data includes surveyed parameters corresponding to the signalized intersection.

14. The method as recited in claim 8, wherein the position coordinates of the intersection environment include position coordinates of at least one of a portion of a roadway of the intersection environment, a stop line of the intersection environment, and a traffic signal of the intersection environment.

15. A system comprising:

a roadside device configured to be positioned proximate to a signalized intersection, the roadside device including;

a position determining module that is configured to determine a current position of the roadside device based on signals received from Global Navigation Satellite System satellites;

a deviation determination module that is configured to compare the determined current position of the roadside device with a predefined position of the roadside device to determine a differential vector representing a difference between the determined current position of the roadside device and the predefined position of the roadside device;

a modification module that is configured to modify geometry data that includes position coordinates of the signalized intersection to generate modified position coordinates of the signalized intersection according to the differential vector; and

a vehicle-to-everything (V2X) communication module that is configured to broadcast the modified position coordinates of the signalized intersection to at least one vehicle within the signalized intersection,

wherein the modified position coordinates of the signalized intersection are received a vehicle-to-everything (V2X) communication module of the at least one vehicle.

16. The system as recited in claim 15, wherein the vehicle further includes:

a vehicle control module that is configured to identify a lane that the vehicle is traveling within based upon a determined current position of the vehicle and the modified geometry coordinates, wherein the vehicle control module is further configured to identify a signal phase and timing signal corresponding to the identified lane that is broadcast from a traffic signal of the signalized intersection.

17. The system as recited in claim 16, wherein the vehicle control module is further configured to actuate a vehicle system of the vehicle based upon the signal phase and timing signal.

18. The system as recited in claim 16, wherein the vehicle control module is further configured to cause a display of the vehicle to display traffic signal information based upon the signal phase and timing signal.

19. The system as recited in claim 15, wherein the position coordinates of the signalized intersection include position coordinates of at least one of a portion of a roadway of the signalized intersection, a stop line of the signalized intersection, and a traffic signal of the signalized intersection.