CN116952260A - Vehicle position correction using roadside apparatus - Google Patents

Abstract

The present disclosure provides "vehicle position correction using roadside devices". A system includes a computer including a processor and a memory. The memory stores instructions executable by the processor to cause the processor to detect a roadside device via at least one vehicle sensor of a plurality of vehicle sensors; determining a location of a vehicle based on a fixed location of the roadside device; determining a position correction adjustment, wherein the position correction adjustment comprises a difference between an assumed position of the vehicle and the determined position of the vehicle, wherein the assumed position is obtained from a navigation system of the vehicle; and adjusting the hypothetical location based on the location correction adjustment.

Description

Vehicle position correction using roadside apparatus

Technical Field

The present disclosure relates to vehicle position correction.

Background

The vehicle may collect data while in operation using sensors including, for example, radar, lidar, vision systems, infrared systems, and ultrasonic transducers. The vehicle may actuate the sensor to collect data while traveling on the roadway. The sensor data may be used to operate the vehicle. For example, the sensor data may indicate an object relative to the vehicle.

Disclosure of Invention

A system includes a computer including a processor and a memory. The memory stores instructions executable by the processor to cause the processor to detect a roadside device via at least one vehicle sensor of a plurality of vehicle sensors; determining a location of a vehicle based on a fixed location of the roadside device; determining a position correction adjustment, wherein the position correction adjustment comprises a difference between an assumed position of the vehicle and the determined position of the vehicle, wherein the assumed position is obtained from a navigation system of the vehicle; and adjusting the hypothetical location based on the location correction adjustment.

In other features, the processor is further programmed to: a vehicle path of the vehicle is modified based on the position correction adjustment.

In other features, the processor is further programmed to: one or more vehicle actuators are actuated to alter the vehicle path.

In other features, the processor is further programmed to: the distance between the wayside device and the at least one vehicle sensor is calculated by measuring an Ultra Wideband (UWB) signal in the at least one vehicle sensor, wherein the UWB signal is transmitted from the wayside device.

In other features, the processor is further programmed to: the distance between the wayside device and the at least one vehicle sensor is calculated based on at least one of an angle of arrival (AoA) measurement, an angle of departure (AoD) measurement, or a time of flight (ToF) measurement of the UWB signal.

In other features, the processor is further programmed to: the position of the vehicle is determined by applying a triangulation model to the calculated distance between the roadside device and the at least one vehicle sensor.

In other features, the processor is further programmed to: determining a vehicle orientation relative to the roadside device; and determining the position of the vehicle based on the calculated distance and the vehicle orientation relative to the fixed position of the roadside device.

In other features, the processor is further programmed to: authenticating the roadside device after detecting the roadside device.

In other features, the roadside device is authenticated based on a V2X certificate of the roadside device.

In other features, the processor is further programmed to: the V2X certificate is authenticated via a Public Key Infrastructure (PKI) protocol.

In other features, the processor is further programmed to: determining whether the V2X certificate of the roadside device is included in a certificate revocation list; and rejecting a signal transmitted by the roadside device when the V2X certificate of the roadside device is included in the certificate revocation list.

In other features, the system further comprises a server in communication with the processor, wherein the server is programmed to: determining that the roadside device is transmitting error data based on a comparison of the determined location of the vehicle and base truth data; and adding the V2X certificate to the certificate revocation list based on the determination.

A method comprising: detecting, via the computer, a roadside device via at least one vehicle sensor of the plurality of vehicle sensors; determining a location of a vehicle based on a fixed location of the roadside device; determining a position correction adjustment, wherein the position correction adjustment comprises a difference between an assumed position of the vehicle and a determined position of the vehicle, wherein the assumed position is obtained from a navigation system of the vehicle; and adjusting the hypothetical location based on the location correction adjustment.

In other features, the method includes: a vehicle path of the vehicle is modified based on the position correction adjustment.

In other features, the method includes: one or more vehicle actuators are actuated to alter the vehicle path.

In other features, the method includes: the distance between the wayside device and the at least one vehicle sensor is calculated by measuring an Ultra Wideband (UWB) signal in the at least one vehicle sensor, wherein the UWB signal is transmitted from the wayside device.

In other features, the method includes: the distance between the wayside device and the at least one vehicle sensor is calculated based on at least one of an angle of arrival (AoA) measurement, an angle of departure (AoD) measurement, or a time of flight (ToF) measurement of the UWB signal.

In other features, the method includes: the position of the vehicle is determined by applying a triangulation model to the calculated distance between the roadside device and at least one vehicle sensor.

In other features, the method includes: determining a vehicle orientation relative to the roadside device; and determining the position of the vehicle based on the calculated distance and the vehicle orientation relative to the fixed position of the roadside device.

In other features, the method includes: authenticating the roadside device after detecting the roadside device.

Some vehicles, such as autonomous vehicles, may increasingly employ vehicle-to-vehicle (V2V) communications and vehicle-to-infrastructure (V2I) communications, collectively referred to as V2X, for communication purposes. For example, V2X communication includes one or more communication networks in which a vehicle and a roadside device are communication nodes that provide information, such as safety warnings and traffic information, to each other. V2X communication allows the vehicle to use wireless communication technologies (such as, but not limited to, cellular,IEEE802.11, dedicated Short Range Communications (DSRC), ultra Wideband (UWB), and/or Wide Area Network (WAN)) with other vehicles, infrastructure, and/or pedestrians.

Satellite systems (e.g., global positioning system or GPS) are typically the primary source for providing vehicle location data to a vehicle navigation system. In dense urban environments, tunnels and/or covered parking lots, these satellite systems may be unreliable, resulting in potential interference with the vehicle navigation system.

Within an Intelligent Transportation System (ITS), roadside devices may be positioned along one or more roads to capture vehicle-generated traffic data and provide information, such as traffic advisories, from an infrastructure (e.g., roadside devices) to the vehicle to inform drivers and/or the vehicle of safety, mobility, and/or environmental related conditions. In some cases, roadside devices are located within a signal intersection to provide information to vehicles traveling near the signal intersection.

Thus, the vehicle may include one or more sensors in communication with the roadside device. In an exemplary embodiment, the vehicle and roadside device may include Ultra Wideband (UWB) transceivers that transmit and receive UWB signals. As discussed herein, the vehicle may position itself relative to the wayside device and determine a position correction adjustment to provide to the navigation system of the vehicle for compensation.

Drawings

FIG. 1 is a diagram of an exemplary system for generating path recommendations based on vehicle conditions.

Fig. 2 is a diagram of an exemplary roadside device within the system shown in fig. 1.

FIG. 3 is an exemplary diagram of an environment for determining a position correction adjustment based on a fixed position of a roadside device.

Fig. 4 is another exemplary diagram of an environment for determining a position correction adjustment based on a fixed position of a roadside device.

Fig. 5 is a flowchart illustrating an exemplary process for determining a position correction adjustment based on a fixed position of a roadside device.

Detailed Description

FIG. 1 is a block diagram of an example system 100 for determining a position correction adjustment. The system 100 includes a vehicle 105, which is a land vehicle such as a car, truck, or the like. However, it should be appreciated that the vehicle 105 may also include other types of vehicles, such as motorcycles, scooters, and the like. The vehicle 105 includes a computer 110, vehicle sensors 115, actuators 120 to actuate various vehicle components 125, and a vehicle communication module 130. The communication module 130 allows the computer 110 to communicate with a server 145 via a communication network 135. The system 100 also includes a roadside device 150, which may communicate with the server 145 and the vehicle 105 via the communication network 135.

The computer 110 includes a processor and a memory. The memory includes one or more forms of computer-readable media and stores instructions executable by the computer 110 to perform various operations, including operations as disclosed herein.

The computer 110 may operate the vehicle 105 in an autonomous mode, a semi-autonomous mode, or a non-autonomous (manual) mode. For purposes of this disclosure, autonomous mode is defined as a mode in which each of the propulsion, braking, and steering of the vehicle 105 is controlled by the computer 110; in semi-autonomous mode, the computer 110 controls one or both of propulsion, braking, and steering of the vehicle 105; in the non-autonomous mode, a human operator controls each of the vehicle 105 propulsion, braking, and steering.

The computer 110 may include one or more of programming to operate the vehicle 105 to brake, propel (e.g., control acceleration of the vehicle by controlling one or more of an internal combustion engine, an electric motor, a hybrid engine, etc.), turn, climate control, interior lights and/or exterior lights, etc., and to determine whether and when the computer 110 (and not a human operator) controls such operations. In addition, the computer 110 may be programmed to determine whether and when a human operator controls such operations.

The computer 110 may include or be communicatively coupled to more than one processor, such as included in an Electronic Controller Unit (ECU) or the like (e.g., powertrain controller, brake controller, steering controller, etc.) included in the vehicle 105 for monitoring and/or controlling various vehicle components 125, such as via a communication module 130 of the vehicle 105 as further described below. In addition, the computer 110 may communicate with a navigation system 155 using a Global Positioning System (GPS) via a communication module 130 of the vehicle 105. As an example, the computer 110 may request and receive the location of the vehicle 105. The location may be in a known form, such as geographic coordinates (latitude and longitude coordinates).

The computer 110 is typically arranged to communicate by means of the vehicle 105 communication module 130 and also by means of a wired and/or wireless network inside the vehicle 105 (e.g. a bus in the vehicle 105, etc., such as a Controller Area Network (CAN), etc.) and/or other wired and/or wireless mechanisms.

Via the vehicle 105 communication network, the computer 110 may transmit and/or receive messages to and/or from various devices in the vehicle 105, such as vehicle sensors 115, actuators 120, vehicle components 125, human-machine interfaces (HMI), and the like. Alternatively or additionally, in situations where the computer 110 actually includes multiple devices, the vehicle 105 communication network may be used for communication between the devices represented in this disclosure as the computer 110. Further, as mentioned below, various controllers and/or vehicle sensors 115 may provide data to the computer 110.

The vehicle sensors 115 may include a variety of devices such as are known for providing data to the computer 110. For example, the vehicle sensors 115 may include light detection and ranging (LIDAR) sensors 115 or the like disposed on top of the vehicle 105, behind a front windshield of the vehicle 105, around the vehicle 105, etc., that provide relative positions, sizes, and shapes of objects around the vehicle 105, and/or conditions of the surroundings. As another example, one or more radar sensors 115 secured to the bumper of the vehicle 105 may provide data to provide speed of an object (possibly including the second vehicle 106) or the like relative to the position of the vehicle 105 and ranging. The vehicle sensors 115 may also include one or more camera sensors 115 (e.g., front view, side view, rear view, etc.) that provide images from a field of view inside and/or outside the vehicle 105.

The vehicle 105 actuators 120 are implemented via circuits, chips, motors, or other electronic and/or mechanical components that may actuate various vehicle subsystems according to appropriate control signals as is known. The actuators 120 may be used to control components 125, including braking, acceleration, and steering of the vehicle 105.

In the context of the present disclosure, the vehicle component 125 is one or more hardware components adapted to perform mechanical or electromechanical functions or operations, such as moving the vehicle 105, decelerating or stopping the vehicle 105, steering the vehicle 105, and the like. Non-limiting examples of components 125 include propulsion components (which include, for example, an internal combustion engine and/or an electric motor, etc.), transmission components, steering components (which may include, for example, one or more of a steering wheel, a steering rack, etc.), braking components (as described below), parking assist components, adaptive cruise control components, adaptive steering components, movable seats, etc.

In addition, the computer 110 may be configured to communicate with devices external to the vehicle 105 via a vehicle-to-vehicle communication module or interface 130, for example, by vehicle-to-vehicle (V2V) or vehicle-to-infrastructure (V2X) wireless communication with another vehicle, a remote server 145 (typically via a communication network 135). Module 130 may include one or more mechanisms by which computer 110 may communicate, including any desired combination of wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms, and any desired network topology (or topologies when multiple communication mechanisms are utilized). Exemplary communications provided via module 130 include a cellular network providing data communication services,IEEE802.11, ultra Wideband (UWB), dedicated Short Range Communications (DSRC), and/or Wide Area Networks (WANs), including the internet.

The communication network 135 may be one or more of a variety of wired or wireless communication mechanisms, including any desired combination of wired (e.g., cable and fiber) and/or wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any desired network topology (or topologies where multiple communication mechanisms are utilized). Exemplary communication networks include wireless communication networks (e.g., using bluetooth, bluetooth Low Energy (BLE), IEEE802.11, UWB, vehicle-to-vehicle (V2V), such as Dedicated Short Range Communication (DSRC), etc.), local Area Networks (LANs), and/or Wide Area Networks (WANs), including the internet, that provide data communication services.

The computer 110 may receive and analyze data from the sensors 115 substantially continuously, periodically, and/or when instructed by the server 145, etc. Furthermore, object classification or identification techniques may be used to identify the type of object (e.g., vehicle, person, rock, pothole, bicycle, motorcycle, etc.) and the physical characteristics of the object based on data of the lidar sensor 115, the camera sensor 115, etc., in the computer 110, for example.

Roadside device 150 may be positioned along a roadside and/or at a roadside intersection, and may be in communication with one or more vehicles 105 traversing the roadside or located within the roadside intersection. Roadside device 150 may communicate with vehicle 105 via communication network 135. As discussed in more detail herein, the vehicle 105 may communicate with the wayside device 150 and determine a position correction adjustment for the navigation system 155 of the vehicle 105.

Fig. 2 is a block diagram of an exemplary roadside device 150. Roadside apparatus 150 includes computer 235 and communication module 240. The computer 235 includes a processor and a memory. The memory includes one or more computer-readable media and stores instructions executable by the computer 235 for performing various operations, including operations as disclosed herein. The communication module 240 allows the computer 235 to communicate with other devices, such as the vehicle 105, other vehicles, the server 145, and/or other roadside devices 150, typically according to conventional wireless techniques.

Fig. 3 illustrates an exemplary environment 300 including a vehicle 105 traversing a roadway 302. As shown, the wayside device 150 may be positioned along the roadway 302. It should be appreciated that the location of the wayside device 150 may vary. For example, the wayside device 150 may be located on either side of the roadway 302. In an exemplary embodiment, the wayside device 150 may be located within the signal intersection. The wayside device 150 has a fixed (i.e., non-moving or stationary) position that is an absolute position defined by a fixed coordinate system of the wayside device 150 relative to the earth (i.e., geographic coordinates specifying latitude and longitude). The roadside device 150 may store data specifying its fixed location, i.e., geographic coordinates (latitude and longitude coordinates). As discussed in more detail below, the vehicle 105 may use the fixed location of the wayside device 150 to determine a location correction adjustment.

As the vehicle 105 traverses the roadway 302, the vehicle 105 may establish a communication link with the wayside device 150. For example, when the vehicle 105 is within a communication distance range of the roadside device 150, the vehicle 105 may establish a communication link with the roadside device 150. The communication distance range is determined by the communication mechanism and/or the type of communication network used to establish the communication link.

The vehicle 105 and the roadside device 150 may each have corresponding credentials for authentication purposes. In an exemplary embodiment, the vehicle 105 and the roadside device 150 may each include V2X credentials, such as conventional authentication credentials, for authentication. The V2X certificate may be issued by a regulatory agency to the vehicle 105 and roadside device 150. Each entity (e.g., vehicle 105 and roadside device 150) may use V2X certificates to verify the identity of the entity with which it is attempting to communicate. When the vehicle 105 enters the communication distance range of the roadside device 150, the vehicle 105 and/or the roadside device 150 may initially detect each other. In an exemplary embodiment, the vehicle 105 includes a plurality of UWB sensors 115 located around the vehicle 105. Once the vehicle 105 is within communication distance, the UWB sensor 115 may detect the presence of UWB signals transmitted by the communication module 240 of the wayside device 150. In accordance with established communication protocols, roadside devices 150 and/or vehicles 105 may authenticate themselves using V2X certificates. In an exemplary embodiment, a Public Key Infrastructure (PKI) protocol may be used to authenticate and securely establish a communication link.

Referring to fig. 4, the computer 110 of the vehicle 105 may determine a position correction adjustment based on the fixed location of the wayside device 150, the determined location of the vehicle 105 based on the fixed location, and the assumed location of the vehicle 105 (e.g., GPS positioning from the navigation system 155). The position correction adjustment may be used to adjust the assumed position of the vehicle 105. The position correction adjustment may be defined as a difference between an assumed position of the vehicle 105 and a determined position of the vehicle 105 based on a fixed position of the roadside device 150.

After establishing a communication link with the wayside device 150, the computer 110 of the vehicle 105 may determine the location of the vehicle 105 relative to the wayside device 150. The computer 110 of the vehicle 105 may initiate a ranging operation to calculate a distance between the sensor 115 of the vehicle 105 and the roadside device 150 via one or more positioning measurements. The ranging operation may be defined as the computer 110 calculating the distance between the sensors 115 of one or more vehicles 105 and the wayside device 150. As shown, in fig. 4, computer 110 causes sensor 115 to emit a Radio Frequency (RF) signal, such as a UWB signal, and to detect the RF signal returned from wayside device 150 during a ranging operation. The computer 110 may calculate the distance between each sensor 115 and the roadside device 150 during a ranging operation by using at least one of an angle of arrival (AoA) measurement, a time of flight (ToF) measurement, and/or an angle of departure (AoD) measurement. For example, during a ToF measurement, computer 110 calculates the distance based on a time measurement between the transmission of the RF signal and its return to sensor 115. In another example, during an AoA measurement, the computer 110 may position the vehicle 105 relative to the roadside device 150 by determining a direction of propagation of RF signals incident on the sensors 115 of one or more vehicles 105 and measuring a time-of-arrival distance between the RF signals at the sensors 115 of each vehicle 105. In this example, the RF signal may be transmitted by roadside device 150.

The computer 110 may determine the vehicle location via triangulation techniques. The computer 110 may determine the vehicle location by applying one or more triangulation models to the calculated distances to estimate the location of the vehicle 105. The computer 110 of the vehicle 105 may determine the vehicle orientation based on the internal compass data of the vehicle 105 from the internal compass sensor 115. The measured distance may be defined as the distance of each sensor 115 from the wayside device 150, e.g., as determined according to the techniques described above, and the internal compass data may provide an orientation of the vehicle 105 relative to a geographic cardinal direction, e.g., a vehicle heading relative to true north.

For example, as shown in FIG. 4, using the techniques described above, the computer 110 may determine that the front passenger side UWB sensor 115 is oriented at an angle of minus 342 degrees (-342 deg.) with respect to the wayside device 150, and that the rear driver side UWB sensor 115 is oriented at an angle of minus 301 degrees (-301 deg.) with respect to the wayside device 150. The computer 110 may also use one or more triangulation techniques to determine vehicle orientation. For example, the computer 110 may apply one or more conventional triangulation techniques to the determined distance of each sensor 115 from the roadside device 150. Although described in the context of UWB sensor 115, it should be understood that other RF sensors 115 may be used to implement the techniques described herein.

The computer 110 may calculate the location of the vehicle 105 based on the calculated distance data and the vehicle orientation. The computer 110 may calculate the position of the vehicle 105 by determining the difference between the fixed position of the wayside device 150 and the calculated distance data and the vehicle orientation to determine the position coordinates of the vehicle 105 relative to the fixed position.

The computer 110 may determine the position correction adjustment by calculating the difference between the hypothesized position coordinates and the determined coordinates relative to the fixed position. The computer 110 may provide position correction adjustments to the navigation system 155 to compensate for differences between the hypothesized position coordinates and the determined coordinates. In some implementations, the position correction adjustment may be applied to a lidar spot diagram generated by the vehicle 105 for navigation.

In some cases, the wayside device 150 may be transmitting a false fixed location or UWB range signal. In these cases, other vehicles that previously communicated with the roadside device 150 may have determined that the roadside device 150 is transmitting erroneous data. For example, data received from other vehicles (e.g., determined location data calculated by a particular roadside device 150) may be compared with the base truth data at the server 145. If the data received from the other vehicles does not match the data of the roadside device 150 stored in the server 145, the server 145 may determine that the roadside device 150 is transmitting erroneous data. These vehicles may generate notifications indicating that the roadside device 150 is transmitting erroneous data. The notification may be uploaded to the server 145 via the network 135 or to the vehicle 105 via vehicle-to-vehicle communication. Based on the notification, the computer 110 of the vehicle 105 may add the certificate of the roadside device 150 (e.g., the V2X certificate) to a Certificate Revocation List (CRL) maintained by the computer 110. Thus, if the vehicle 105 enters the communication distance range of the roadside device 105, the computer 110 may ignore or reject the signal transmitted by the roadside device 150.

Fig. 5 illustrates an exemplary flow chart of a process 500 for determining a position correction adjustment. The blocks of process 500 may be performed by computer 110 of vehicle 105. The process 500 begins at block 505, where it is determined whether a roadside device 150 has been detected. For example, as the vehicle 105 travels through an environment (e.g., on a roadway 302), the computer 110 of the vehicle 105 may detect radio frequency signals, such as UWB signals, emitted by the wayside device 150. If roadside device 150 has not been detected, process 500 returns to block 505.

If a roadside device 150 is detected, at block 510, the computer 110 attempts to authenticate the roadside device 150. In an exemplary embodiment, the roadside device 150 provides its V2X certificate to the computer 110 of the vehicle 105. The computer 110 may then verify the digital signature associated with the V2X certificate. As discussed above, the roadside device 150 may authenticate via the PKI protocol. At block 515, it is determined whether the roadside device 150 is authenticated. If the wayside device 150 is not authenticated, the process 500 ends.

Otherwise, at block 520, the computer 110 causes the sensor 115 to enter a ranging operation. As discussed above, computer 110 causes sensor 115 to emit Radio Frequency (RF) signals and detects RF signals returned from wayside device 150 during ranging operations. At block 525, the computer 110 calculates the distance between each sensor 115 and the wayside device 150 based on the signals measured during the ranging operation. For example, the computer 110 calculates the distance via an angle of arrival (AoA) measurement, a time of flight (ToF) measurement, an angle of departure (AoD) measurement, and the like.

At block 530, the computer 110 determines a vehicle position of the vehicle 105 relative to the fixed position based on the calculated distance. At block 535, the computer 110 determines the vehicle orientation relative to the wayside device 150. The computer 110 may determine the vehicle orientation by applying one or more conventional triangulation techniques to the calculated distances to determine the vehicle orientation. The computer 110 may use the internal compass data and the measured distance to determine the relative angle of the UWB sensor 115 with respect to the wayside device 150.

At block 540, a position of the vehicle 105 relative to the fixed position is determined based on the calculated distance and the vehicle orientation. The computer 110 calculates the position of the vehicle 105 by determining the difference between the fixed position of the roadside device 150 and the calculated distance data and the vehicle orientation to determine the position coordinates of the vehicle 105 relative to the fixed position. At block 545, the computer 110 determines a position correction adjustment by calculating the difference between the received position coordinates and the determined coordinates relative to the fixed position. At block 550, the computer applies the position correction adjustment to the navigation system 155 of the vehicle 105.

At block 555, a determination is made as to whether to alter the vehicle path based on the position correction adjustment. The computer 110 may determine that the current vehicle path should be altered based on the position correction adjustments applied to the navigation system 155 of the vehicle 105. For example, if the position correction is greater than a predetermined threshold, the computer 110 may determine that the vehicle path should be altered. If the vehicle path should be altered, one or more vehicle actuators are actuated to alter the vehicle path at block 560. Process 500 then ends. If the vehicle path is not altered, process 500 ends.

In general, the described computing systems and/or devices may employ any of a variety of computer operating systems, including, but in no way limited to, the following versions and/or categories: ford (force)An application program; the AppLink/intelligent device is connected with the middleware; microsoft->An operating system; microsoft->An operating system; unix operating systems (e.g., promulgated by Oracle Corporation on the rosewood coast, california>An operating system); an AIX UNIX operating system issued by International Business machines corporation of Armonk, N.Y.; a Linux operating system; mac OSX and iOS operating systems published by apple Inc. of Copico, calif.; blackberry operating systems issued by blackberry limited of smooth iron, canada; android operating systems developed by google corporation and open cell phone alliance; or +.>And the vehicle-mounted entertainment information platform. Examples of computing devices include, but are not limited to, an in-vehicle computer, a computer workstation, a server, a desktop, a notebook, a laptop or handheld computer, or some other computing system and/or device.

Computers and computing devices typically include computer-executable instructions that may be capable of being executed by one or more computing devices, such as those listed above. Computer-executable instructions may be compiled or interpreted from a computer program created using a variety of programming languages and/or techniques, including, but not limited to, java, alone or in combination ^TM C, C ++, matlab, simulink, stateflow, visual Basic, java Script, perl, HTML, etc. Some of these applications may be compiled and executed on virtual machines such as Java virtual machines, dalvik virtual machines, and the like. In general, a processor (e.g., a microprocessor) receives instructions from, for example, a memory, a computer-readable medium, etc., and executes the instructions, thereby performing one or more processes, including one or more of the processes described herein. Such instructions and other data may be stored and transmitted using a variety of computer-readable media. Files in a computing device are typically a collection of data stored on a computer readable medium such as a storage medium, random access memory, or the like.

The memory may include computer-readable media (also referred to as processor-readable media) including any non-transitory (e.g., tangible) media that participates in providing data (e.g., instructions) that may be read by a computer (e.g., by a processor of a computer). Such a medium may take many forms, including but not limited to, non-volatile media and volatile media. Non-volatile media may include, for example, optical or magnetic disks, and other persistent memory. Volatile media may include, for example, dynamic Random Access Memory (DRAM), which typically constitutes a main memory. Such instructions may be transmitted by one or more transmission media, including coaxial cables, copper wire and fiber optics, including the wires that comprise a system bus coupled to a processor of the ECU. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, RAM, PROM, EPROM, a flash EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.

Databases, data stores, or other data stores described herein may include various mechanisms for storing, accessing, and retrieving various data, including hierarchical databases, file sets in file systems, application databases in proprietary formats, relational database management systems (RDBMSs), and the like. Each such data storage device is typically included within a computing device employing a computer operating system (such as one of those mentioned above) and is accessed via a network in any one or more of a variety of ways. The file system may be accessed from a computer operating system and may include files stored in various formats. In addition to languages used to create, store, edit, and execute stored programs, such as the PL/SQL language described above, RDBMS also typically employ Structured Query Language (SQL).

In some examples, system elements may be implemented as computer-readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.), stored on a computer-readable medium (e.g., disk, memory, etc.) associated therewith. The computer program product may include such instructions stored on a computer-readable medium for performing the functions described herein.

With respect to the media, processes, systems, methods, heuristics, etc. described herein, it should be understood that, while the steps of such processes, etc. have been described as occurring in a certain ordered sequence, such processes may be practiced by executing the steps in an order different than that described herein. It should also be understood that certain steps may be performed concurrently, other steps may be added, or certain steps described herein may be omitted. In other words, the description of the processes herein is provided for the purpose of illustrating certain embodiments and should not be construed as limiting the claims in any way.

Accordingly, it is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The scope of the invention should be determined, not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. It is contemplated and anticipated that future developments will occur in the arts discussed herein, and that the disclosed systems and methods will be incorporated into such future embodiments. In summary, it is to be understood that the invention is capable of modification and variation and is limited only by the following claims.

Unless specifically indicated to the contrary herein, all terms used in the claims are intended to be given ordinary and accustomed meanings as understood by those skilled in the art. In particular, the use of singular articles such as "a," "an," "the," and the like are to be construed to recite one or more of the indicated elements unless a claim recites an explicit limitation to the contrary.

According to the present invention there is provided a system having a computer comprising a processor and a memory, the memory storing instructions executable by the processor to cause the processor to: detecting roadside devices via at least one sensor of the vehicle; determining a location of the vehicle based on a fixed location of the roadside device; determining a position correction adjustment for the vehicle, wherein the position correction adjustment comprises a difference between an assumed position of the vehicle and the determined position of the vehicle, wherein the assumed position is obtained from a navigation system of the vehicle; and adjusting the hypothetical location based on the location correction adjustment.

According to one embodiment, the processor is further programmed to: a vehicle path of the vehicle is modified based on the position correction adjustment.

According to one embodiment, the processor is further programmed to: one or more vehicle actuators are actuated to alter the vehicle path.

According to one embodiment, the processor is further programmed to: the distance between the wayside device and the at least one vehicle sensor is calculated by measuring an Ultra Wideband (UWB) signal in the at least one vehicle sensor, wherein the UWB signal is transmitted from the wayside device.

According to one embodiment, the processor is further programmed to: the distance between the wayside device and the at least one vehicle sensor is calculated based on at least one of an angle of arrival (AoA) measurement, an angle of departure (AoD) measurement, or a time of flight (ToF) measurement of the UWB signal.

According to one embodiment, the processor is further programmed to: the position of the vehicle is determined by applying a triangulation model to the calculated distance between the roadside device and the at least one vehicle sensor.

According to one embodiment, the processor is further programmed to: determining a vehicle orientation relative to the roadside device; and determining the position of the vehicle based on the calculated distance and the vehicle orientation relative to the fixed position of the roadside device.

According to one embodiment, the processor is further programmed to: authenticating the roadside device after detecting the roadside device.

According to one embodiment, the roadside device is authenticated based on a V2X certificate of the roadside device.

According to one embodiment, the processor is further programmed to: the V2X certificate is authenticated via a Public Key Infrastructure (PKI) protocol.

According to one embodiment, the processor is further programmed to: determining whether the V2X certificate of the roadside device is included in a certificate revocation list; and rejecting a signal transmitted by the roadside device when the V2X certificate of the roadside device is included in the certificate revocation list.

According to one embodiment, the invention is further characterized in that: a server in communication with the processor, wherein the server is programmed to: determining that the roadside device is transmitting error data based on a comparison of the determined location of the vehicle and base truth data; and adding the V2X certificate to the certificate revocation list based on the determination.

According to the invention, a method comprises: detecting, via the computer, the roadside device via the at least one vehicle sensor; determining a location of a vehicle based on a fixed location of the roadside device; determining a position correction adjustment, wherein the position correction adjustment comprises a difference between an assumed position of the vehicle and the determined position of the vehicle, wherein the assumed position is obtained from a navigation system of the vehicle; and adjusting the hypothetical location based on the location correction adjustment.

In one aspect of the invention, the method comprises: a vehicle path of the vehicle is modified based on the position correction adjustment.

In one aspect of the invention, the method comprises: one or more vehicle actuators are actuated to alter the vehicle path.

In one aspect of the invention, the method comprises: the distance between the wayside device and the at least one vehicle sensor is calculated by measuring an Ultra Wideband (UWB) signal at the at least one vehicle sensor, wherein the UWB signal is transmitted from the wayside device.

In one aspect of the invention, the method comprises: the distance between the wayside device and the at least one vehicle sensor is calculated based on at least one of an angle of arrival (AoA) measurement, an angle of departure (AoD) measurement, or a time of flight (ToF) measurement of the UWB signal.

In one aspect of the invention, the method comprises: the position of the vehicle is determined by applying a triangulation model to the calculated distance between the roadside device and the at least one vehicle sensor.

In one aspect of the invention, the method comprises: determining a vehicle orientation relative to the roadside device; and determining the position of the vehicle based on the calculated distance and the vehicle orientation relative to the fixed position of the roadside device.

In one aspect of the invention, the method comprises: authenticating the roadside device after detecting the roadside device.

Claims (12)

1. A system comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to cause the processor to:

detecting roadside devices via at least one sensor of the vehicle;

determining a location of the vehicle based on a fixed location of the roadside device;

determining a position correction adjustment for the vehicle, wherein the position correction adjustment comprises a difference between an assumed position of the vehicle and the determined position of the vehicle, wherein the assumed position is obtained from a navigation system of the vehicle; and

the hypothetical location is adjusted based on the location correction adjustment.

2. The system of claim 1, wherein the processor is further programmed to: a vehicle path of the vehicle is modified based on the position correction adjustment.

3. The system of claim 2, wherein the processor is further programmed to: one or more vehicle actuators are actuated to alter the vehicle path.

4. The system of claim 1, wherein the processor is further programmed to: the distance between the wayside device and the at least one vehicle sensor is calculated by measuring an Ultra Wideband (UWB) signal in the at least one vehicle sensor, wherein the UWB signal is transmitted from the wayside device.

5. The system of claim 4, wherein the processor is further programmed to: the distance between the wayside device and the at least one vehicle sensor is calculated based on at least one of an angle of arrival (AoA) measurement, an angle of departure (AoD) measurement, or a time of flight (ToF) measurement of the UWB signal.

6. The system of claim 4, wherein the processor is further programmed to: the position of the vehicle is determined by applying a triangulation model to the calculated distance between the roadside device and the at least one vehicle sensor.

7. The system of claim 6, wherein the processor is further programmed to:

determining a vehicle orientation relative to the roadside device; and

the position of the vehicle is determined based on the calculated distance and the vehicle orientation relative to the fixed position of the roadside device.

8. The system of claim 1, wherein the processor is further programmed to: authenticating the roadside device after detecting the roadside device.

9. The system of claim 8, wherein the roadside device is authenticated based on a V2X certificate of the roadside device.

10. The system of claim 9, wherein the processor is further programmed to: the V2X certificate is authenticated via a Public Key Infrastructure (PKI) protocol.

11. The system of claim 9, wherein the processor is further programmed to:

determining whether the V2X certificate of the roadside device is included in a certificate revocation list; and

when the V2X certificate of the roadside apparatus is included in the certificate revocation list, a signal transmitted by the roadside apparatus is denied.

12. The system of claim 11, further comprising:

a server in communication with the processor, wherein the server is programmed to:

determining that the roadside device is transmitting error data based on a comparison of the determined location of the vehicle and base truth data; and

the V2X certificate is added to the certificate revocation list based on the determination.