CN117834659A - Method and system for providing positioning and time by V2X technology - Google Patents

Abstract

Methods and systems for providing positioning and time through V2X technology are provided. According to the aspects of the present disclosure, in the case of a GNSS cold start period, a poor GNSS antenna connection or a GNSS incapable of providing services, the current time of the current vehicle and the positioning of the current vehicle can be obtained through the V2X message sent by the trusted external source around the current vehicle, so that the vehicle-mounted service can provide services such as navigation, time and the like in time based on the current time, the satisfaction degree of the user is improved, and the probability of the occurrence risk of the vehicle is reduced.

Description

Method and system for providing positioning and time by V2X technology

Technical Field

The present invention relates to providing positioning and time, and more particularly, to a technique for providing positioning and time by V2X technology.

Background

Currently, vehicles often employ Global Navigation Satellite System (GNSS) technology for positioning. Meanwhile, the onboard PNT (positioning, navigation, time service) service also requires information from the GNSS. However, due to limited GNSS performance, the current vehicle satellite positioning system has a first positioning cold start time between 60 and 120 seconds. Furthermore, there may be poor connections to the GNSS antenna or situations where the GNSS is not well served at some locations. Therefore, in the cold start time and the above situation, the GNSS system cannot operate normally, so that the vehicle cannot obtain effective positioning and time information, and thus navigation and time services cannot be provided timely, which causes potential safety hazards, and also causes dissatisfaction of the user on delay of PNT service.

It follows that there is a need for a technique that can provide positioning and time information during cold start-up of a GNSS or during periods when service is not available.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

Aspects of the present disclosure provide methods and systems for providing positioning and time through V2X technology. According to the aspects of the present disclosure, in the case that the GNSS cannot provide services or the GNSS antenna is poorly connected during the cold start of the GNSS, the current time of the current vehicle and the positioning of the current vehicle can be obtained through the V2X message sent by the trusted external source around the current vehicle, so that the vehicle-mounted service can provide services such as navigation and time in time based on the current time, the satisfaction degree of users is improved, and the probability of risk occurrence of the vehicle is reduced.

According to one embodiment of the present invention, there is provided a method for providing positioning and time by V2X technology, comprising: obtaining a V2X message from an external source of a current vehicle, wherein the external source comprises other vehicles and/or roadside units; selecting one or more V2X messages from the acquired V2X messages based on a predetermined rule; and deriving a current time of the current vehicle and a location of the current vehicle from the selected one or more V2X messages.

According to another embodiment of the present invention, there is provided a system for providing positioning and time by V2X technology, comprising: a V2X message acquisition module configured to acquire a V2X message from an external source of a current vehicle, wherein the external source includes other vehicles and/or roadside units; a V2X message selection module configured to select one or more V2X messages from the acquired V2X messages based on a predetermined rule; a time calculation module configured to derive a current time of the current vehicle from the selected one or more V2X messages; and a location calculation module configured to derive a location of the current vehicle from the selected one or more V2X messages.

According to still another embodiment of the present invention, there is provided a vehicle including: a communication module configured to communicate V2X with other vehicles and/or roadside units, and a processing unit configured to perform the method for providing positioning and time by V2X technology as described above.

These and other features and advantages will become apparent upon reading the following detailed description and upon reference to the associated drawings. It is to be understood that both the foregoing general description and the following detailed description are explanatory only and are not restrictive of aspects as claimed.

Drawings

So that the manner in which the above recited features of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only certain typical aspects of this invention and are therefore not to be considered limiting of its scope, for the description may admit to other equally effective aspects.

FIG. 1 illustrates a block diagram of a system for providing position and time via V2X technology in accordance with one embodiment of the present invention;

FIG. 2 illustrates a flow chart of a method of providing position and time by V2X technology according to one embodiment of the invention; and

FIG. 3 illustrates a block diagram of an exemplary computing device, according to one embodiment of the invention.

FIG. 4 illustrates a block diagram of a vehicle providing positioning and time via V2X technology according to one embodiment of the invention.

Detailed Description

The features of the present invention will become more apparent from the detailed description set forth below when taken in conjunction with the drawings.

The following detailed description refers to the accompanying drawings that illustrate exemplary embodiments of the invention. The scope of the invention is not limited to the embodiments, however, but is defined by the appended claims. Accordingly, embodiments other than those shown in the figures, such as modified versions of the illustrated embodiments, are still encompassed by the present invention.

Reference in the specification to "one embodiment," "an example embodiment," etc., means that the embodiment may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the relevant art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

For convenience of explanation, only an embodiment of applying the technical solution of the present invention to a "vehicle" is described in detail herein, but it is fully understood by those skilled in the art that the technical solution of the present invention can be applied to any vehicle such as trains, subways, ships, etc. where a meeting situation may exist. The term "a or B" as used throughout this specification refers to "a and B" and "a or B" unless otherwise indicated, and does not mean that a and B are exclusive.

Introduction of terms:

global navigation satellite system (Global Navigation Satellite System, GNSS): it is an air-based radio navigation positioning system that can provide all-weather 3-dimensional coordinates and velocity and time information to a user at any location on the earth's surface or near-earth space.

Internet of vehicles (Vehicle to Everything, V2X): it is a key technology of intelligent transportation system. V2X mainly includes V2V (Vehicle to Vehicle, vehicle-to-vehicle), V2I (Vehicle to Infrastructure, vehicle-to-infrastructure), V2N (Vehicle to Network, vehicle-to-network), V2P (Vehicle to Pedestrian, vehicle-to-pedestrian). Therefore, the V2X technology enables communication between vehicles and a base station, and a series of information such as real-time road conditions, road information, pedestrian information and the like is obtained.

Cellular Internet of vehicles (Cellular-Vehicle to Everything, C-V2X:): the wireless communication system is based on a cellular network, can be multiplexed with the current 4G and 5G networks, and is a special wireless communication technology for the Internet of vehicles, which can ensure low time delay and high reliability.

Basic security message (Basic Safety Message, BSM): it is a message sent out by a vehicle that is widely used in V2X communications, and typically contains speed, heading, time, location, and rich status information of the vehicle.

Road Side Unit (RSU): the system is a unit installed on the road side, and has the main function of collecting the current road condition, traffic condition and other information, and can communicate with vehicles by adopting the technology such as DSRC (dedicated short range communication Dedicated Short Range Communication) and the like.

Roadside information (Road Side Information, RSI): it is a message sent by RSUs (road side units) to vehicles, mainly comprising traffic events and traffic signs.

As mentioned above, in the prior art, GNSS initialization typically takes 60 seconds to 120 seconds at cold start of the GNSS system, e.g. after the vehicle wakes up from sleep mode, during which the GNSS system (position/time) is disabled. Furthermore, GNSS systems also fail to provide positioning and time when a connection to a GNSS antenna is problematic or GNSS is out of service in a certain area. To solve the above problems, as V2X, particularly C-V2X, has grown in development, the present invention employs V2X communication to enable a vehicle to quickly acquire position and time from other external sources other than GNSS.

Currently, V2X communication can be established in 5 seconds and valid time and position is received from V2X messages in 1 second, so 6 seconds are typically required to obtain GNSS related information from V2X messages. In the present invention, the V2X message received by the current vehicle includes BSM (basic security message) from other vehicles; and/or RSI (roadside information) from an RSU (roadside unit). Thus, even if the current vehicle is in the running mode, the position and time can be quickly acquired from the other vehicles and the RSU. Since the V2X is targeted for connection and communication everything, while the bsi of other vehicles' BSMs or other RSUs can send the current correct time, the current vehicle can use the valid time instead of GNSS time through the V2X message. And based on the positioning information of other vehicles or RSUs in the V2X message, the positioning of the current vehicle can be calculated, so that navigation service is quickened, and better service is provided for users.

FIG. 1 illustrates a block diagram of a system 100 for providing position and time via V2X technology in accordance with one embodiment of the present invention. According to one embodiment of the invention, the system 100 may be integrated into an in-vehicle system. According to another embodiment of the invention, the system 100 may be implemented, for example, on a remote device, on a cloud service, or the like.

As shown in fig. 1, the system 100 may include a V2X message acquisition module 101, a V2X message selection module 102, a time calculation module 103, and a location calculation module 104. It will be fully understood by those skilled in the art that the above division of modules is illustrated for clarity purposes only. The functionality of one or more of the modules described above may be combined into a single module or split into multiple modules. Also, one or more of the above-described modules may be implemented in software, hardware, or a combination thereof. In addition, the manner in which data flows between the modules may be in a manner known in the art, which is not within the discussion of the present invention.

According to one embodiment of the invention, the V2X message acquisition module 101 is configured to acquire V2X messages from sources external to the current vehicle so that the current vehicle can derive (e.g., directly obtain, computationally obtain, etc.) the current time of the current vehicle and the location of the current vehicle from the acquired V2X messages. In the context of the present application, the external source may for example comprise other vehicles surrounding the current vehicle, and/or road side units surrounding the current vehicle, and the V2X message may for example comprise a basic safety message 101-1 from the other vehicles and/or road side information 101-2 from the road side units.

In general, the basic security message 101-1 is a message that the vehicle broadcasts its own real-time status information, and may include, for example: time, vehicle ID, vehicle location, heading angle, speed, acceleration, braking information, vehicle emergency information, etc. From the basic safety message 101-1, the current time and the location of the vehicle that sent the basic safety message 101-1 can be derived or derived. In the context of the present application, the primary safety message 101-1 is received from other vehicles within a certain range from the current vehicle.

In general, the roadside information 101-2 is a message that the roadside unit broadcasts, for example, traffic event, traffic sign information to surrounding vehicles. From the roadside information 101-2, the current time and the location of the roadside unit that transmitted the roadside information 101-2 may be obtained or derived. In the context of the present application, the roadside information 101-2 is received from a roadside unit within a certain range from the current vehicle.

Those skilled in the art will appreciate that the above basic safety message 101-1 and roadside information 101-2 are merely illustrative, and in practice other types of V2X messages from which the location of the current vehicle and the current time of the current vehicle can be derived may also be employed, such as roadside safety messages (Roadside Safety Message, RSM) broadcast by roadside units (typically including the location, speed, etc. of surrounding vehicles, non-vehicles, pedestrians, etc.), MAP Messages (MAPs) (typically including intersection information for local areas, road segment information, lane information, connection relationships between roads, etc.), signal phase and timing messages (Signal Phase and Timing, SPAT) (typically including signal light status (red, yellow, green) time information for one or more intersections).

According to one embodiment of the invention, the V2X message selection module 102 may be configured to select an appropriate one or more from the V2X messages from the external source acquired by the V2X message acquisition module 101 for subsequent time and/or location calculation. In the context of the present invention, the current time derived from the V2X message selected by the V2X message selection module 102 may be used as a time source for subsequent time calculations, and the position (e.g., GPS coordinates) of the external source (e.g., other vehicle, roadside unit) derived from the V2X message selected by the V2X message selection module 102 may be used as a position source for subsequent position calculation.

For example, the V2X message selection module 102 may select according to predetermined rules. For example, the predetermined rule may specify one or more of the following: selecting a V2X message received first to obtain a time source; selecting a V2X message sent from an external source nearest to the current vehicle to obtain a time source; selecting only basic security messages or roadside information to obtain a time source or a positioning source; selecting a predetermined number (e.g., four) of V2X messages received first to obtain a positioning source; selecting a predetermined number of V2X messages sent from an external source nearest to the current vehicle to obtain a location source; averaging from multiple V2X messages to obtain a time source/positioning source, etc. Of course, the above rules are merely illustrative, and those skilled in the art will fully appreciate that other ways of selecting the appropriate V2X message to derive the time source and/or the location source may be employed.

According to one embodiment of the invention, the time calculation module 103 is configured to derive the current time of the current vehicle based on the V2X message selected by the V2X message selection module 102. First, the time calculation module 103 is configured to obtain a time source (for example, information indicating the current time included in the V2X message) from the V2X message, and, at the same time, calculate the current time of the current vehicle from the obtained time source in consideration of errors that may be caused in reality, by adopting the following manner:

current time of current vehicle = time source- (20 ms + noise cancellation factor);

the noise cancellation factor can be considered as a correction to the time source, which can be derived from previous experience. In addition, 20ms in the above formula is based on the C-V2X base communication protocol and is a delay value commonly recognized in the art. However, with the development of V2X technology, the subsequent 5G-V2X can reduce the delay value to 1ms, so that the noise cancellation factor adaptation can also perform expansion compensation.

According to one embodiment of the invention, the position calculation module 104 is configured to derive the position of the current vehicle based on the V2X message selected by the V2X message selection module 102. First, the position calculation module 104 is configured to derive the position (e.g., GPS coordinates) of the external source that sent the corresponding V2X message from the selected V2X message, and to derive the position of the current vehicle based on:

wherein the above formula adopts the positioning of four external sources, the positioning of external source A is (A _x ，A _y ) The external source B is located as (B _x ，B _y ) The external source C is located as (C _x ，C _y ) And the external source D is located as (D _x ，D _y ). Wherein D is _A Indicating the distance of the external source A from the current vehicle, D _B Represents the distance of the external source B from the current vehicle, D _C Represents the distance of the external source C from the current vehicle, and D _D Indicating the distance of the external source D from the current vehicle. In practice, D _A 、D _B 、D _C And D _D The time difference between the two continuous V2X packet intervals can be calculated by the average difference of the two continuous V2X packet intervals, or the time difference of the two continuous V2X packet intervals can be calculated based on the received messages of the two vehicles and the current time. Of course, other ways in the art may be employed to calculate the distance between the current vehicle and the external source. Through the four formulas, the calculated (x, y) is the current vehicle positioning. It will be fully understood by those skilled in the art that the formula shown above, while employing four external sources, may employ other numbers of external sources or employ other means to calculate the current vehicle's position.

FIG. 2 illustrates a flow chart of a method 200 of providing position and time by V2X technology according to one embodiment of the invention. The method 200 may be implemented by the system 100 of fig. 1.

In step 201, a V2X message from an external source of the current vehicle is acquired. Wherein the external source may include other vehicles and/or roadside units. And, the V2X message may include information from which the current time can be derived and/or information from which the location of the external source that sent the V2X message can be derived. For example, the V2X message may be a basic safety message from other vehicles and/or roadside information from a roadside unit.

At step 202, one or more V2X messages are selected from the acquired V2X messages according to predetermined rules for use in subsequent time calculations and positioning calculations. According to one embodiment of the invention, the V2X message received first may be selected to derive therefrom a time source for time calculation. According to another embodiment of the invention, a predetermined number (e.g., 4) of V2X messages may be selected to derive therefrom a location source for location calculation.

At step 203, the current time of the current vehicle and the location of the current vehicle are derived from the selected one or more V2X messages. According to one embodiment of the invention, the current time of the current vehicle may be calculated from information in the selected V2X message indicating the current time. According to another embodiment of the present invention, the position of the current vehicle may be calculated from the GPS position of the external source indicating the transmission of the corresponding V2X message in the selected predetermined number of V2X messages. For example, the location of the current vehicle may be calculated based at least in part on the location of the external source and the distance of the current vehicle from the external source.

After obtaining the current time and location of the current vehicle, the in-vehicle system may provide navigation services and/or time services, or other related services, based thereon.

The current time and the current vehicle positioning are obtained from the V2X information obtained from the trusted external source, the duration of obtaining the effective time and the positioning during the cold start of the GNSS can be reduced from 1-2 minutes to 5-10 seconds, and the effective time and the positioning can be timely obtained when the GNSS system cannot work normally, so that the vehicle can still rapidly provide navigation and time service for the user when the GNSS system is started or when the GNSS data cannot be obtained, the user experience is improved, and the probability of the occurrence risk of the vehicle is reduced.

FIG. 3 illustrates a block diagram of an exemplary computing device, which is one example of a hardware device that may be used with aspects of the invention, according to one embodiment of the invention.

With reference to FIG. 3, a computing device 300, which is one example of a hardware device that may be used with aspects of the invention, will now be described. Computing device 300 may be any machine that may be configured to implement processing and/or computing and may be, but is not limited to, a workstation, a server, a desktop computer, a laptop computer, a tablet computer, a personal digital assistant, a smart phone, an in-vehicle computer, or any combination thereof. The various methods/apparatus/servers/client devices described above may be implemented, in whole or in part, by computing device 300 or a similar device or system.

Computing device 300 may include components that may be connected or in communication via one or more interfaces and bus 302. For example, computing device 300 may include a bus 302, one or more processors 304, one or more input devices 306, and one or more output devices 308. The one or more processors 304 may be any type of processor and may include, but are not limited to, one or more general purpose processors and/or one or more special purpose processors (e.g., special processing chips). Input device 306 may be any type of device capable of inputting information to a computing device and may include, but is not limited to, a mouse, keyboard, touch screen, microphone, and/or remote controller. Output device 308 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Computing device 300 may also include or be connected to a non-transitory storage device 310, which may be a non-transitory and capable of data storage, and which may include, but is not limited to, a disk drive, an optical storage device, a solid state memory, a floppy disk, a hard disk, a magnetic tape, or any other magnetic medium, an optical disk or any other optical medium, a ROM (read only memory), a RAM (random access memory), a cache memory, and/or any memory chip or cartridge, and/or any other medium from which a computer may read data, instructions, and/or code. The non-transitory storage device 310 may be separated from the interface. The non-transitory storage device 310 may have data/instructions/code for implementing the methods and steps described above. Computing device 300 may also include communication device 312. The communication device 312 may be any type of device or system capable of enabling communication with an internal apparatus and/or with a network and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication device, and/or a chipset, such as a bluetooth device, an IEEE 1302.11 device, a WiFi device, a WiMax device, a cellular communication device, and/or the like.

When the computing device 300 is used as an in-vehicle device, it may also be connected with external devices (e.g., a GPS receiver, a sensor for sensing different environmental data (such as an acceleration sensor, a wheel speed sensor, a gyroscope, etc.)). In this way, computing device 300 may receive, for example, positioning data and sensor data indicative of a vehicle-form condition. When the computing device 300 is used as an in-vehicle device, it may also be connected with other devices (e.g., an engine system, a wiper, an antilock brake system, etc.) for controlling the running and operation of the vehicle.

Further, the non-transitory storage device 310 may have map information and software components so that the processor 604 may implement route guidance processing. Further, the output device 306 may include a display for displaying a map, displaying a positioning mark of the vehicle, and displaying an image indicating a running condition of the vehicle. The output device 306 may also include a speaker or headphone interface for audio guidance.

Bus 302 may include, but is not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an Enhanced ISA (EISA) bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus. In particular, for in-vehicle devices, bus 302 may also include a Controller Area Network (CAN) bus or other architecture designed for use in automotive applications.

Computing device 300 may also include a working memory 314, which working memory 314 may be any type of working memory capable of storing instructions and/or data that facilitate the operation of processor 304 and may include, but is not limited to, random access memory and/or read-only memory devices.

Software components may reside in working memory 314 including, but not limited to, an operating system 316, one or more application programs 318, drivers, and/or other data and code. Instructions for implementing the above-described methods and steps may be included in the one or more applications 318, and modules/units/components of the various foregoing apparatus/servers/client devices may be implemented by the processor 304 reading and executing the instructions of the one or more applications 318.

FIG. 4 illustrates a block diagram of a vehicle 400 providing positioning and time via V2X technology according to one embodiment of the invention.

According to one embodiment of the invention, the vehicle 400 includes a communication module 401, which communication module 401 may be configured to communicate V2X with other vehicles and/or roadside units, thereby receiving V2X messages from external sources and/or broadcasting V2X messages of the vehicle 400 outwards. Those skilled in the art will appreciate that V2X communication (e.g., C-V2X) of the vehicle 400 with other vehicles and V2X communication (e.g., DSRC) of the vehicle 400 with roadside units may be accomplished in a manner commonly used in the art, and that the specific manner of communication is not within the scope of the present invention.

Further, the V2X message acquisition module 101 described with reference to fig. 1 may be configured to acquire V2X messages from the communication module 401. For example, the V2X message acquisition module 101 may communicate with the communication module 401 in the event that GNSS is unavailable or cold start of GNSS to acquire V2X messages that the communication module 401 receives from an external source.

According to one embodiment of the invention, the vehicle 400 further comprises a processing unit 402, which processing unit 402 may be configured to perform the method described in fig. 2. For example, the processing unit 402 may be configured to: obtaining a V2X message from an external source of the current vehicle, wherein the external source includes other vehicles and/or roadside units; selecting one or more V2X messages from the acquired V2X messages based on a predetermined rule; and deriving a current time of the current vehicle and a location of the current vehicle from the selected one or more V2X messages.

It should also be appreciated that variations may be made according to particular needs. For example, custom hardware may also be used, and/or particular components may be implemented in hardware, software, firmware, middleware, microcode, hardware description voices, or any combination thereof. In addition, connections to other computing devices, such as network input/output devices, etc., may be employed. For example, some or all of the disclosed methods and apparatus may be implemented with programming hardware (e.g., programmable logic circuits including Field Programmable Gate Arrays (FPGAs) and/or Programmable Logic Arrays (PLAs)) having an assembly language or hardware programming language (e.g., VERILOG, VHDL, C ++).

Although aspects of the present invention have been described so far with reference to the accompanying drawings, the above-described methods, systems and apparatuses are merely examples, and the scope of the present invention is not limited to these aspects but is limited only by the appended claims and equivalents thereof. Various components may be omitted or replaced with equivalent components. In addition, the steps may also be implemented in a different order than described in the present invention. Furthermore, the various components may be combined in various ways. It is also important that as technology advances, many of the described components can be replaced by equivalent components that appear later.

Claims (15)

1. A method for providing positioning and time by V2X technology, comprising:

obtaining a V2X message from an external source of a current vehicle, wherein the external source comprises other vehicles and/or roadside units;

selecting one or more V2X messages from the acquired V2X messages based on a predetermined rule; and

the current time of the current vehicle and the location of the current vehicle are obtained from the selected one or more V2X messages.

2. The method of claim 1, wherein the V2X message includes information from which a current time can be derived and/or includes information from which a location of an external source that sent the V2X message can be derived.

3. The method of claim 2, wherein the V2X message is a base safety message from the other vehicle and/or roadside information from the roadside unit.

4. The method of claim 1, wherein the predetermined rules include one or more of: selecting a first received V2X message for use in deriving the current time of the current vehicle; selecting a V2X message sent from an external source nearest to a current vehicle to obtain the current time of the current vehicle; selecting only basic safety messages or roadside information to obtain the current time of the current vehicle or a location of the current vehicle; selecting a predetermined number of V2X messages received first to obtain a location of the current vehicle; selecting a predetermined number of V2X messages sent from an external source nearest to a current vehicle to obtain a position of the current vehicle; averaging from a plurality of V2X messages to obtain the current time of the current vehicle or a position of the current vehicle.

5. The method of claim 2, wherein deriving the current time of the current vehicle and the location of the current vehicle from the selected one or more V2X messages further comprises:

the current time of the current vehicle is calculated from the current time indicated in the selected V2X message and a noise cancellation factor.

6. The method of claim 2, wherein deriving the current time of the current vehicle and the location of the current vehicle from the selected one or more V2X messages further comprises:

obtaining from the selected predetermined number of V2X messages a location of each respective external source that sent each of the predetermined number of V2X messages;

the location of the current vehicle is calculated based at least in part on the location of each respective external source and the distance of the current vehicle from each respective external source.

7. The method of claim 6, wherein the predetermined number is 4.

8. A system for providing positioning and time through V2X technology, comprising:

a V2X message acquisition module configured to acquire a V2X message from an external source of a current vehicle, wherein the external source includes other vehicles and/or roadside units;

a V2X message selection module configured to select one or more V2X messages from the acquired V2X messages based on a predetermined rule;

a time calculation module configured to derive a current time of the current vehicle from the selected one or more V2X messages; and

a location calculation module configured to derive a location of the current vehicle from the selected one or more V2X messages.

9. The system of claim 8, wherein the V2X message includes information from which a current time can be derived and/or information from which a location of an external source that sent the V2X message can be derived.

10. The system of claim 9, wherein the V2X message is a base safety message from the other vehicle and/or roadside information from the roadside unit.

11. The system of claim 8, wherein the predetermined rules include one or more of: selecting a first received V2X message for use in deriving the current time of the current vehicle; selecting a V2X message sent from an external source nearest to a current vehicle to obtain the current time of the current vehicle; selecting only basic safety messages or roadside information to obtain the current time of the current vehicle or a location of the current vehicle; selecting a predetermined number of V2X messages received first to obtain a location of the current vehicle; selecting a predetermined number of V2X messages sent from an external source nearest to a current vehicle to obtain a position of the current vehicle; averaging from a plurality of V2X messages to obtain the current time of the current vehicle or a position of the current vehicle.

12. The system of claim 9, wherein deriving the current time of the current vehicle and the location of the current vehicle from the selected one or more V2X messages further comprises:

the current time of the current vehicle is calculated from the current time indicated in the selected V2X message and a noise cancellation factor.

13. The system of claim 9, wherein deriving the current time of the current vehicle and the location of the current vehicle from the selected one or more V2X messages further comprises:

obtaining from the selected predetermined number of V2X messages a location of each respective external source that sent each of the predetermined number of V2X messages;

the location of the current vehicle is calculated based at least in part on the location of each respective external source and the distance of the current vehicle from each respective external source.

14. The system of claim 13, wherein the predetermined number is 4.

15. A vehicle, comprising:

a communication module configured to communicate with other vehicles and/or roadside units in V2X, and

a processing unit configured to perform the method of any of claims 1-7.