Vehicle location correction using roadside devices

Patent metadata

Field	Value
Publication number	US-11718317-B2
Application number	US-202017072202-A
Country	US
Kind code	B2
Filing date	Oct 16, 2020
Priority date	Oct 16, 2020
Publication date	Aug 8, 2023
Grant date	Aug 8, 2023

Abstract

A system comprises a computer including a processor and a memory. The memory storing 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; determine a location of a vehicle based on a fixed location of the roadside device; determine a location correction adjustment, wherein the location correction adjustment comprises a difference between an assumed location of the vehicle and the determined location of the vehicle, wherein the assumed location is obtained from a navigation system of the vehicle; and adjust the assumed location based on the location correction adjustment.

First claim

What is claimed is:

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:
detect a roadside device via at least one sensor of a vehicle;
determine a location of the vehicle relative to a fixed location of the roadside device;
determine a location correction adjustment for the vehicle, wherein the location correction adjustment comprises a difference between an assumed location of the vehicle and the determined location of the vehicle, wherein the assumed location is obtained from a navigation system of the vehicle;
authenticate the roadside device with a V2X certificate of the roadside device;
reject signals transmitted by the roadside device when the V2X certificate of the roadside device is included in a certificate revocation list; wherein the certificate revocation list is received from a server that has included the V2X certificate on the certificate revocation based on determining that the roadside device is transmitting incorrect data based on a comparison of the determined location of the vehicle with ground truth data; and
adjust the assumed location based on the location correction adjustment when the signals transmitted by the roadside device are not ignored or rejected because the roadside device is included in the certificate revocation list.

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

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

4. The system of claim 1 , wherein the processor is further programmed to: calculate a distance between the roadside device and the at least one vehicle sensor by measuring an ultra-wideband (UWB) signal in at least one vehicle sensor, wherein the UWB signal is transmitted from the roadside device.

5. The system of claim 4 , wherein the processor is further programmed to: calculate the distance between the roadside device and the at least one vehicle sensor 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: determine the location of the vehicle 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:
determine a vehicle orientation relative to the roadside device; and
determine the location of the vehicle based on the calculated distance with respect to the fixed location of the roadside device and the vehicle orientation.

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

9. The system of claim 1 , wherein the processor is further programmed to: authenticate the V2X certificate via a public key infrastructure (PKI) protocol.

10. A method comprising:
detecting, via computer, a roadside device via at least one vehicle sensor;
determining a location of a vehicle relative to a fixed location of the roadside device;
determining a location correction adjustment, wherein the location correction adjustment comprises a difference between an assumed location of the vehicle and the determined location of the vehicle, wherein the assumed location is obtained from a navigation system of the vehicle;
authenticating the roadside device with a V2X certificate of the roadside device;
rejecting signals transmitted by the roadside device when the V2X certificate of the roadside device is included in a certificate revocation list; wherein the certificate revocation list is received from a server that has included the V2X certificate on the certificate revocation based on determining that the roadside device is transmitting incorrect data based on a comparison of the determined location of the vehicle with ground truth data; and
adjusting the assumed location based on the location correction adjustment when the signals transmitted by the roadside device are not ignored or rejected because the roadside device is included in the certificate revocation list.

11. The method of claim 10 , further comprising: altering a vehicle path of the vehicle based on the location correction adjustment.

12. The method of claim 11 , further comprising: actuating one or more vehicle actuators to alter the vehicle path.

13. The method of claim 10 , further comprising: calculating a distance between the roadside device and the at least one vehicle sensor by measuring an ultra-wideband (UWB) signal in at least one vehicle sensor, wherein the UWB signal is transmitted from the roadside device.

14. The method of claim 13 , further comprising: calculating the distance between the roadside device and the at least one vehicle sensor based on at least one of angle-of-arrival (AoA) measurement, an angle-of-departure (AoD) measurement, or a time-of-flight (ToF) measurement of the UWB signal.

15. The method of claim 13 , further comprising: determining the location of the vehicle by applying a triangulation model to the calculated distance between the roadside device and the at least one vehicle sensor.

16. The method of claim 15 , further comprising:
determining a vehicle orientation relative to the roadside device; and
determining the location of the vehicle based on the calculated distance with respect to the fixed location of the roadside device and the vehicle orientation.

Assignees

• Ford Global Tech Llc

Inventors

• Schubert Jochen
• Thivierge Timothy
• Elangovan Vivekanandh

Classifications

• B60W2420/408

  Radar; Laser, e.g. lidar · CPC title

• B60W60/001 Primary

  Planning or execution of driving tasks · CPC title

• G01S11/04

  using angle measurements · CPC title

• G01S13/0209

  Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband · CPC title

• H04L9/006

  involving public key infrastructure [PKI] trust models (network architecture or network communication protocol for supporting authentication of entities using certificates in a packet data network H04L63/0823) · CPC title