AUTONOMOUS VEHICLE POSITIONING SYSTEM FOR MISBEHAVIOR DETECTION
First Claim
1. An autonomous vehicle positioning system for determining a position of a remote vehicle relative to a mobile host vehicle based on safety alert messages broadcast from the remote vehicle relating to an event in a road of travel, the system comprising:
- a host vehicle communication unit communicating with the remote vehicle for receiving the broadcast messages from the remote vehicle;
a host vehicle control unit for identifying reference points along the road of travel, each reference point identifying a position of the host vehicle and a signal reception property when the host vehicle receives the broadcast message; and
wherein the control unit of the host vehicle selects a set of the reference points having identified positions and associated signal reception properties, wherein the control unit utilizes the signal reception properties at each reference point associated with a received broadcast message, and wherein the control unit determines a position of the remote vehicle as a function of the signal reception properties at each selected reference point in the set.
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0 Petitions
Accused Products
Abstract
An autonomous vehicle positioning system for determining a position of a remote vehicle relative to a mobile host vehicle based on safety alert messages broadcast from the remote vehicle relating to an event in a road of travel. A host vehicle communication unit communicates with the remote vehicle for receiving the broadcast messages from the remote vehicle. A host vehicle control unit identifies reference points along the road of travel. Each reference point identifies a position of the host vehicle and associated signal reception properties, for example time-of-arrival, angle-of-arrival and received signal strength when the host vehicle receives the broadcast message. The control unit of the host vehicle selects a set of the reference points having identified positions and associated times, angles and signal strength. The control unit determines a position of the remote vehicle as a function of the time difference-of-arrival, angle-of-arrival or received signal strength between each selected reference point in the set.
47 Citations
24 Claims
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1. An autonomous vehicle positioning system for determining a position of a remote vehicle relative to a mobile host vehicle based on safety alert messages broadcast from the remote vehicle relating to an event in a road of travel, the system comprising:
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a host vehicle communication unit communicating with the remote vehicle for receiving the broadcast messages from the remote vehicle; a host vehicle control unit for identifying reference points along the road of travel, each reference point identifying a position of the host vehicle and a signal reception property when the host vehicle receives the broadcast message; and wherein the control unit of the host vehicle selects a set of the reference points having identified positions and associated signal reception properties, wherein the control unit utilizes the signal reception properties at each reference point associated with a received broadcast message, and wherein the control unit determines a position of the remote vehicle as a function of the signal reception properties at each selected reference point in the set. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for determining a position of a remote vehicle relative to a mobile host vehicle based on safety alert messages broadcast from the remote vehicle relating to an event in a road of travel, the method comprising the steps of:
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the host vehicle receiving broadcast messages from a remote vehicle, the broadcast message relating to a safety related event in the road of travel; the host vehicle control unit identifying reference points along the road of travel, each reference point identifying a position of the host vehicle and an associated time-of-arrival when the host vehicle receives the broadcast message; the control unit selecting a set of the reference points having identified positions and associated times; and the control unit determining a time difference-of-arrival between each reference point associated with a received broadcast message, wherein the control unit determines a position of the remote vehicle as a function of the time difference-of-arrival between each selected reference points in the set. - View Dependent Claims (18, 19, 20, 21)
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22. A method for determining a position of a remote vehicle relative to a mobile host vehicle based on safety alert messages broadcast from the remote vehicle relating to an event in a road of travel, the method comprising the steps of:
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the host vehicle receiving broadcast messages from a remote vehicle, the broadcast message relating to a safety related event in the road of travel; the host vehicle control unit identifying reference points along the road of travel, each reference point identifying a position of the host vehicle and an associated angle-of-arrival when the host vehicle receives the broadcast message; the control unit selecting a set of reference points having identified positions; and the control unit determining an angle-of-arrival and line-of-bearing at each reference point associated with a received broadcast message, wherein the control unit determines a position of the remote vehicle as a function of an intersection between at least two lines-of-bearing. - View Dependent Claims (23, 24)
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Specification