Vehicle positioning using V2X RSU messaging and vehicular sensors

Patent metadata

Field	Value
Publication number	US-11940544-B2
Application number	US-202117509780-A
Country	US
Kind code	B2
Filing date	Oct 25, 2021
Priority date	Oct 25, 2021
Publication date	Mar 26, 2024
Grant date	Mar 26, 2024

Abstract

Position enhancement for vehicle positioning is provided. Vehicle-to-everything (V2X) messages are received from a roadside unit (RSU) to an onboard unit (OBU) of a vehicle via a transceiver of the vehicle, the V2X messages indicating a location of the RSU. Image sensors of the vehicle are utilized to capture sensor data of the RSU. A current position of the vehicle is updated to a corrected current position of the vehicle based the RSU as shown in the sensor data and the location of the RSU indicated in the V2X messages.

First claim

What is claimed is:

1. A vehicle for performing vehicle positioning, comprising:
a transceiver;
sensors; and
an onboard unit (OBU), programmed perform a position enhancement including to
track a first heading of a vehicle received via a global navigation satellite system (GNSS);
receive, via the transceiver, vehicle-to-everything (V2X) messages from a roadside unit (RSU), the V2X messages indicating a location of the RSU,
track a second heading of the vehicle according to the V2X messages;
perform a heading match between the first heading and the second heading; and
triggering performing the position enhancement to determine a corrected current position of the vehicle responsive to the headings differing by at least a threshold amount, the position enhancement including to:
utilize the sensors to capture sensor data of the RSU, and
update a current position of the vehicle to be the corrected current position of the vehicle based on the RSU as shown in the sensor data and the location of the RSU indicated in the V2X messages.

2. The vehicle of claim 1 , wherein the sensors include image sensors, and the sensor data includes image data.

3. The vehicle of claim 1 , wherein the sensors include LIDAR sensors, and the sensor data includes LIDAR data.

4. The vehicle of claim 1 , wherein the OBU is further programmed to:
determine an offset between the current position of the vehicle and a position of the vehicle indicated by the V2X messages and sensor data; and
utilize the offset to adjust the current position of the vehicle to the corrected current position of the vehicle responsive to the corrected current position being within a threshold confidence.

5. The vehicle of claim 1 , wherein the OBU is further programmed to trigger the position enhancement responsive to the OBU detecting sensor occlusion based on data received from the sensors.

6. The vehicle of claim 1 , wherein the OBU is further programmed to:
maintain a position history of the vehicle; and
trigger the position enhancement responsive to the current position of the vehicle failing to match the position history of the vehicle.

7. The vehicle of claim 1 , wherein the OBU is further programmed to send V2X messages using the transceiver, the sent V2X messages including the corrected current position of the vehicle.

8. A method for performing vehicle heading analysis and position enhancement for vehicle positioning, comprising:
tracking a first heading of a vehicle received via a global navigation satellite system (GNSS);
receiving, to an onboard unit (OBU) of a vehicle via a transceiver of the vehicle, vehicle-to-everything (V2X) messages from a roadside unit (RSU), the V2X messages indicating a location of the RSU;
tracking a second heading of the vehicle according to the V2X messages;
performing a heading match between the first heading and the second heading; and
triggering performing position enhancement to determine the corrected current position of the vehicle responsive to the headings differing by at least a threshold amount, the position enhancement including:
utilizing sensors of the vehicle to capture sensor data of the RSU; and
updating a current position of the vehicle to a corrected current position of the vehicle based on the RSU as shown in the sensor data and the location of the RSU indicated in the V2X messages.

9. The method of claim 8 , further comprising:
determining an offset between the current position of the vehicle and a position of the vehicle indicated by the V2X messages and sensor data; and
utilizing the offset to adjust the current position of the vehicle to the corrected current position of the vehicle responsive to the corrected current position being within a threshold confidence.

10. The method of claim 9 , wherein the threshold confidence includes confirming that the corrected current position is along a roadway as defined by map data included in the V2X messages.

11. The method of claim 8 , further comprising triggering the position enhancement responsive to the OBU detecting sensor occlusion based on data received from the sensors.

12. The method of claim 8 , further comprising:
maintaining a position history of the vehicle; and
triggering the position enhancement responsive to the current position of the vehicle failing to match the position history of the vehicle.

13. The method of claim 8 , further comprising sending V2X messages using the transceiver, the sent V2X messages including the corrected current position of the vehicle.

14. A non-transitory computer-readable medium comprising instructions for performing position enhancement for vehicle positioning, that, when executed by a processor of an onboard unit (OBU) of a vehicle cause the OBU to perform operations comprising to:
track a first heading of a vehicle received via a global navigation satellite system (GNSS);
receive, to the OBU via a transceiver of the vehicle, vehicle-to-everything (V2X) messages from a roadside unit (RSU), the V2X messages indicating a location of the RSU;
track a second heading of the vehicle according to the V2X messages;
perform a heading match between the first heading and the second heading; and
trigger performing position enhancement to determine the corrected current position of the vehicle responsive to the headings differing by at least a threshold amount, the position enhancement including to:
utilize image sensors of the vehicle to capture sensor data of the RSU;
determine a current position of the vehicle to a corrected current position of the vehicle based on the RSU as shown in the sensor data and the location of the RSU indicated in the V2X messages;
confirm that the corrected current position is along a roadway as defined by map data included in the V2X messages; and
update the current position to be the corrected current position responsive to the corrected current position being along the roadway.

15. The medium of claim 14 , further comprising instructions that when executed by the OBU, cause the OBU to perform operations comprising to:
determine an offset between the current position of the vehicle and a position of the vehicle indicated by the V2X messages and sensor data; and
utilize the offset to adjust the current position of the vehicle to the corrected current position of the vehicle responsive to the corrected current position being within a threshold confidence.

16. The medium of claim 14 , further comprising instructions that when executed by the OBU, cause the OBU to perform operations comprising to trigger the position enhancement responsive to the OBU detecting sensor occlusion based on data received from the image sensors.

17. The medium of claim 14 , further comprising instructions that when executed by the OBU, cause the OBU to perform operations comprising to:
maintain a position history of the vehicle; and
trigger the position enhancement responsive to the current position of the vehicle failing to match the position history of the vehicle.

18. The medium of claim 14 , further comprising instructions that when executed by the OBU, cause the OBU to perform operations comprising to send V2X messages using the transceiver, the sent V2X messages including the corrected current position of the vehicle.

Assignees

• Ford Global Tech Llc

Inventors

• Bandi Krishna
• Ibrahim Samer
• Hamilton Brennan
• Palakonda Sathyanarayana Chary

Classifications

• G01S19/45 Primary

  by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement · CPC title

• G01S17/931

  of land vehicles · CPC title

• G08G1/0116

  from roadside infrastructure, e.g. beacons · CPC title

• G08G1/0129

  for creating historical data or processing based on historical data · CPC title

• G08G1/056

  with provision for distinguishing direction of travel · CPC title