Generating a location in a vehicle-to-vehicle communication system
First Claim
1. A method generating a vehicle-to-vehicle (V2V) location, comprising:
- selecting a group of vehicles, the “
range set,”
within V2V wireless communication range of each other, wherein each vehicle in the range set comprises an operating V2V transceiver transmitting V2V messages comprising V2V location data and wherein the range set includes a self vehicle;
selecting at least two vehicles within the range set, “
the consensus set,”
wherein each non-self vehicle in the set is located, relative to the self vehicle, using one or more “
near vehicle sensors;
”
determining by use of the near vehicle sensor(s) the relative location of each non-self vehicle in the consensus set, the “
relative vehicle location;
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receiving a V2V location messages from at least one non-self vehicle in the range set, wherein the location message comprises V2V location data;
comparing the received location data of the vehicles in the range set to the relative vehicle locations in the consensus set;
creating a “
match list”
of all vehicles in the consensus set where the relative location reasonably matches the V2V location data;
generating an “
error list,”
comprising the difference in location, in at least two distinct axes, between the relative vehicle location and the V2V location data for at least one vehicle in the match list;
averaging the values in the error list, for each of the distinct axes, generating at least two distinct “
average error values;
”
determining a “
geo-position location”
of the self vehicle for each of the distinct axes;
transmitting a V2V message comprising location data for the self vehicle wherein, for each of the distinct axes;
wherein the transmitted data comprises the sum of the geo-position location and at least a portion of the average error value;
repeating the prior steps;
such that at least two of the vehicles in the consensus set converge toward average error values for the consensus set.
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Accused Products
Abstract
Device, system and method, in a vehicle communication system, of generating a location by the use of combining the rough locations of a “consensus set” of vehicles within wireless communication range to produce more accurate locations of the vehicles in the consensus set. Unique features of some embodiments include the continual re-computation and re-adjustment of both the vehicles in the consensus set and the more accurate locations. Embodiments use sensors on a first vehicle, such as cameras, sonar, radar and LIDAR to determine the relative location of the second vehicle to the first vehicle. Embodiments use this relative location in the computation of the more accurate locations. Algorithms are described for the computation, communication, convergence and updating of the more accurate locations. Algorithms are described for generation and update of the consensus set.
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Citations
17 Claims
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1. A method generating a vehicle-to-vehicle (V2V) location, comprising:
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selecting a group of vehicles, the “
range set,”
within V2V wireless communication range of each other, wherein each vehicle in the range set comprises an operating V2V transceiver transmitting V2V messages comprising V2V location data and wherein the range set includes a self vehicle;selecting at least two vehicles within the range set, “
the consensus set,”
wherein each non-self vehicle in the set is located, relative to the self vehicle, using one or more “
near vehicle sensors;
”determining by use of the near vehicle sensor(s) the relative location of each non-self vehicle in the consensus set, the “
relative vehicle location;
”receiving a V2V location messages from at least one non-self vehicle in the range set, wherein the location message comprises V2V location data; comparing the received location data of the vehicles in the range set to the relative vehicle locations in the consensus set; creating a “
match list”
of all vehicles in the consensus set where the relative location reasonably matches the V2V location data;generating an “
error list,”
comprising the difference in location, in at least two distinct axes, between the relative vehicle location and the V2V location data for at least one vehicle in the match list;averaging the values in the error list, for each of the distinct axes, generating at least two distinct “
average error values;
”determining a “
geo-position location”
of the self vehicle for each of the distinct axes;transmitting a V2V message comprising location data for the self vehicle wherein, for each of the distinct axes;
wherein the transmitted data comprises the sum of the geo-position location and at least a portion of the average error value;repeating the prior steps; such that at least two of the vehicles in the consensus set converge toward average error values for the consensus set. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A wireless V2V transceiver comprising:
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one or more near vehicle sensors; a V2V computation module operatively connected to the one or more near vehicle sensors; wherein the V2V computation module is configured to perform the following steps; selecting a group of vehicles, the “
range set,”
within V2V wireless communication range of each other, wherein each vehicle in the range set comprises an operating V2V transceiver transmitting V2V messages comprising V2V location data and wherein the range set includes a self vehicle;selecting at least two vehicles within the range set, “
the consensus set,”
wherein each non-self vehicle in the set is located, relative to the self vehicle, using the one or more near vehicle sensors;determining by use of the near vehicle sensor(s) the relative location of each non-self vehicle in the consensus set, the “
relative vehicle location;
”receiving a V2V location messages from at least one non-self vehicle in the range set, wherein the location message comprises V2V location data; comparing the received location data of the vehicles in the range set to the relative vehicle locations in the consensus set; creating a “
match list”
of all vehicles in the consensus set where the relative location reasonably matches the V2V location data;generating an “
error list,”
comprising the difference in location, in at least two distinct axes, between the relative vehicle location and the V2V location data for at least one vehicle in the match list;averaging the values in the error list, for each of the distinct axes, generating at least two distinct “
average error values;
”determining a “
geo-position location”
of the self vehicle for each of the distinct axes;transmitting a V2V message comprising location data for the self vehicle wherein, for each of the distinct axes;
wherein the transmitted data comprises the sum of the geo-position location and at least a portion of the average error value;repeating the prior steps; such that at least two of the vehicles in the consensus set converge toward average error values for the consensus set.
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17. A V2V anti-collision system comprising at least two transceivers in wireless communication wherein each transceiver is configured to implement the following steps:
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selecting a group of vehicles, the “
range set,”
within V2V wireless communication range of each other, wherein each vehicle in the range set comprises an operating V2V transceiver transmitting V2V messages comprising V2V location data and wherein the range set includes a self vehicle;selecting at least two vehicles within the range set, “
the consensus set,”
wherein each non-self vehicle in the set is located, relative to the self vehicle, using one or more “
near vehicle sensors;
”determining by use of the near vehicle sensor(s) the relative location of each non-self vehicle in the consensus set, the “
relative vehicle location;
”receiving a V2V location messages from at least one non-self vehicle in the range set, wherein the location message comprises V2V location data; comparing the received location data of the vehicles in the range set to the relative vehicle locations in the consensus set; creating a “
match list”
of all vehicles in the consensus set where the relative location reasonably matches the V2V location data;generating an “
error list,”
comprising the difference in location, in at least two distinct axes, between the relative vehicle location and the V2V location data for at least one vehicle in the match list;averaging the values in the error list, for each of the distinct axes, generating at least two distinct “
average error values;
”determining a “
geo-position location”
of the self vehicle for each of the distinct axes;transmitting a V2V message comprising location data for the self vehicle wherein, for each of the distinct axes;
wherein the transmitted data comprises the sum of the geo-position location and at least a portion of the average error value;repeating the prior steps; such that at least two of the vehicles in the consensus set converge toward average error values for the consensus set.
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Specification