Positioning quality filter for the V2X technologies

• US 10,591,608 B2
• Filed: 10/30/2017
• Issued: 03/17/2020
• Est. Priority Date: 01/24/2014
• Status: Active Grant

• Current Assignee: Harman International Industries Incorporated (Samsung Electronics Co. Ltd.)
• Original Assignee: Savari Inc. (Samsung Electronics Co. Ltd.)
• Inventors: Ibrahim, Faroog, Nobukawa, Kazutoshi
• Primary Examiner(s): Mahne, Kevin P
• Application Number:
  US15/797,907
• Publication Number:
  US 20180045832A1
• Time in Patent Office: 869 Days
• Field of Search: None
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 19/21 Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G08G 1/005 including pedestrian guidance indicator
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/0141 for traffic information dissemination
• CPC Class Codes: G08G 1/08 according to detected number or speed of vehicles
• CPC Class Codes: G08G 1/162 event-triggered
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

This provides methods and systems for V2X applications, such as forward collision warning, electronic emergency brake light, left turn assist, work zone warning, signal phase timing, and others, mainly relying on a GNSS positioning solution transmitted via the Dedicated Short-Range Communications (DSRC) to/from the roadside units and onboard units in other V2X-enabled vehicles. However, the positioning solution from a GNSS may be deteriorated by noise and/or bias due to various error sources, e.g., time delay, atmospheric effect, ephemeris effect, and multipath effect. This offers a novel quality filter that can detect noise and the onset of drift in GNSS signals by evaluating up to four metrics that compare the qualities of kinematic variables, speed, heading angle change, curvature, and lateral displacement, obtained directly or derived from GNSS and onboard vehicle sensors. This is used for autonomous cars and vehicle safety, with various examples/variations.

Claims

1. A method for positioning quality filter for a global navigation system for a vehicle, said method comprising:

a central computer receiving global positioning system location data;

said central computer receiving sensors data from vehicle sensors;

said sensors data from said vehicle sensors comprises data from a vehicle speed sensor, a vehicle direction sensor, and a vehicle yaw rate sensor on said vehicle;

said central computer calculating a first metric value based on said sensors data from said vehicle sensors, based on said vehicle speed, said vehicle direction, and said vehicle yaw rate;

a processor receiving a first threshold;

said processor comparing said first metric value with said first threshold;

after determining that said first metric value is larger than or equal to said first threshold, said processor receiving a second threshold;

a) said central computer calculating a second metric value;

b) said processor comparing said second metric value with said second threshold;

c) after determining that said second metric value is smaller than said second threshold, said processor receiving a third threshold;

a. said central computer calculating a third metric value;

b. said processor comparing said third metric value with said third threshold;

c. after determining that said third metric value is larger than or equal to said third threshold, said processor receiving a fourth threshold;

a. said central computer calculating a fourth metric value;

b. said processor comparing said fourth metric value with said fourth threshold;

c. after determining that said fourth metric value is smaller than said fourth threshold, said processor setting said global navigation system value as valid;

said central computer validating said global positioning system location data 9 using said global navigation system value, for safety, operation, or navigation of said vehicle;

said central computer sending a notice to a vehicle warning device;

said central computer correcting a navigation of said vehicle;

said central computer adjusting direction of said vehicle.

2. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, wherein said first threshold is not greater than 1.

3. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

warning an operator.

4. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

warning an driver.

5. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

warning headquarters.

6. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

warning a central server.

7. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

warning another driver.

8. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

warning another car.

9. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

communicating with pedestrians.

10. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

communicating with cloud.

11. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

communicating with server farms.

12. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

communicating with police.

13. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

communicating with a grid, a secured network, or outside car sensors.

14. The method for positioning quality filter for a global navigation system for a vehicle, as recited in claim 1, said method comprises:

resolving conflict between sensors and/or received data.