초록 ▼

An autonomous vehicle positioning system for determining a position of a remote vehicle relative to a mobile host vehicle based on safety alert messages broadcast from the remote vehicle relating to an event in a road of travel. A host vehicle communication unit communicates with the remote vehicle

An autonomous vehicle positioning system for determining a position of a remote vehicle relative to a mobile host vehicle based on safety alert messages broadcast from the remote vehicle relating to an event in a road of travel. A host vehicle communication unit communicates with the remote vehicle for receiving the broadcast messages from the remote vehicle. A host vehicle control unit identifies reference points along the road of travel. Each reference point identifies a position of the host vehicle and associated signal reception properties, for example time-of-arrival, angle-of-arrival and received signal strength when the host vehicle receives the broadcast message. The control unit of the host vehicle selects a set of the reference points having identified positions and associated times, angles and signal strength. The control unit determines a position of the remote vehicle as a function of the time difference-of-arrival, angle-of-arrival or received signal strength between each selected reference point in the set.

대표청구항 ▼

1. An autonomous vehicle positioning system of a mobile host vehicle identifying malicious communication activity broadcast by a remote vehicle involved in an accident, the system comprising: a host vehicle communication unit communicating with the remote vehicle for receiving safety alert broadcast

1. An autonomous vehicle positioning system of a mobile host vehicle identifying malicious communication activity broadcast by a remote vehicle involved in an accident, the system comprising: a host vehicle communication unit communicating with the remote vehicle for receiving safety alert broadcast messages from the remote vehicle, the safety alert broadcast messages including notification of the remote vehicle's involvement in the accident;a host vehicle control unit identifying reference points along the road of travel, each reference point identifying a position of the host vehicle and a signal reception property when the host vehicle receives the safety alert broadcast message from the remote vehicle involved in the accident; andwherein the host vehicle control unit selects a set of the reference points having identified positions and associated signal reception properties, wherein the host vehicle control unit utilizes the signal reception properties at each reference point associated with the received safety alert broadcast message, wherein the host vehicle control unit determines a position of the remote vehicle as a function of the signal reception properties at each selected reference point in the set, wherein each reference point identifies a position of the host vehicle and associated signal reception properties when the host vehicle receives the safety alert broadcast message, wherein the host vehicle control unit determines whether the remote vehicle involved in the accident broadcasting the safety alert message is either mobile or not in a vicinity of the accident based on the associated signal reception properties at each reference point, and wherein the host vehicle control unit determines misbehavior by the remote vehicle involved in the accident if the determination is made that the remote vehicle is either mobile or not in a vicinity of the accident. 2. The system of claim 1 wherein the signal reception property includes an angle-of-arrival of the safety alert broadcast message, wherein each reference point identifies a position of the host vehicle, an angle-of-arrival of the safety alert broadcast message, and an associated line-of-bearing when the host vehicle receives the safety alert broadcast message, wherein the control unit of the host vehicle selects a set of the reference points having identified positions, associated angles-of-arrival, and associated lines-of-bearing, wherein the control unit determines a point of intersection between two respective lines-of-bearing corresponding to two reference points associated with received safety alert broadcast messages, and wherein the control unit determines a position of the remote vehicle as the intersection point between two lines-of-bearing. 3. The system of claim 1 wherein the signal reception property includes a time-of-arrival of the safety alert broadcast message, wherein each reference point identifies a position of the host vehicle and an associated time-of-arrival when the host vehicle receives the safety alert broadcast message, wherein the host vehicle control unit selects a first set of the reference points having identified positions and associated times, wherein the control unit determines a time difference-of-arrival between each reference point associated with a received safety alert broadcast message, and wherein the host vehicle control unit determines the position of the remote vehicle as a function of the time difference-of-arrival between each selected reference point in the first set. 4. The system of claim 3 wherein the control unit selects a next set of reference points for determining a position of the remote vehicle based on a time difference-of-arrival between each received safety alert broadcast message of the next set of reference points, wherein the host vehicle control unit determines a position of the remote vehicle as a function of the time difference-of-arrival between each reference point of the next set of selected reference points, wherein the host vehicle control unit compares the position of the remote vehicle as determined by the first set of reference points with the position as determined by the next set of reference points, and wherein the host vehicle control unit determines misbehavior by the remote vehicle if the distance between determined positions is greater than a predetermined distance threshold. 5. The system of claim 3 wherein a next reference point is selected by the host vehicle control unit, wherein the location and time of arrival for the next reference point are identified, wherein the host vehicle control unit determines an expected time-of-arrival of the safety alert broadcast message at the next reference point position of the host vehicle, and wherein the host vehicle control unit determines a difference between the identified time-of-arrival of the safety alert broadcast message at the next reference point of the host vehicle and the actual time-of-arrival of the safety alert broadcast message at the next reference point of the host vehicle, and wherein the host vehicle control unit determines a misbehavior by the remote vehicle if the difference between the identified time-of-arrival and the expected time-of-arrival is greater than a predetermined threshold. 6. The system of claim 5 wherein the host vehicle control unit identifies additional reference points and associated times-of arrival, and wherein misbehavior by the remote vehicle is determined if the difference between the identified time-of-arrival and the expected time-of-arrival of any one of the additional reference points is greater than the predetermined threshold. 7. The system of claim 1 wherein a received signal strength indicator is determined for each safety alert broadcast message received by the host vehicle, wherein the host vehicle control unit selects each of the respective reference points based on a value of the received signal strength indicator. 8. The system of claim 7 wherein the host vehicle control unit selects each of the respective reference points based on the value of the received signal strength indicator being above predetermined signal strength. 9. The system of claim 7 wherein the host vehicle control unit prioritizes the safety alert broadcast messages based on the values of the received signal strength indicators, wherein the host vehicle control unit selects each of the respective reference points based on the reference points having a highest value of signal strength indicator among the identified reference points along the road of travel. 10. The system of claim 1 wherein the vehicle communication system is a vehicle-to-vehicle communication system. 11. The system of claim 10 wherein the vehicle-to-vehicle communication system is a dedicated short range communication system. 12. The system of claim 1 wherein the set of reference points includes at least three reference points. 13. The system of claim 1 wherein the next set of reference points includes at least three reference points. 14. The system of claim 1 wherein the remote vehicle broadcasting unit broadcasts safety alert messages at timed intervals. 15. The system of claim 14 wherein the remote vehicle broadcasting unit broadcasts safety alert messages at ten times per second. 16. The system of claim 1 wherein the safety alert message is a post crash notification message. 17. A method of identifying malicious communication activity broadcast by a remote vehicle involved in an accident along a road of travel, the method comprising the steps of: receiving, by a mobile host vehicle, safety alert broadcast messages from a remote vehicle, the safety alert broadcast messages relating to the remote vehicle's involvement in the accident;identifying, by the host vehicle control unit, reference points along the road of travel, each reference point identifying a position of the host vehicle and an associated time-of-arrival when the host vehicle receives the safety alert broadcast message;the host vehicle control unit selecting a set of the reference points having identified positions and associated times; andthe host vehicle control unit determining a time difference-of-arrival between each reference point associated with a received safety alert broadcast message, wherein the host vehicle control unit determines a position of the remote vehicle as a function of the time difference-of-arrival between each selected reference points in the set, wherein the host vehicle control unit determines whether the remote vehicle involved in the accident broadcasting the safety alert messages is either mobile or not in a vicinity of the accident, and wherein the host vehicle control unit determines misbehavior by the remote vehicle involved in the accident if the determination is made that the remote vehicle is either mobile or not in a vicinity of the accident. 18. The method of claim 17 further comprising the steps of: the host vehicle control unit selecting a next set of reference points for determining a position of the remote vehicle based on a time difference-of-arrival between each received safety alert broadcast message of the next set of reference points;determining a position of the remote vehicle as a function of the time difference-of-arrival between each reference point of the next set of selected reference points;comparing the position of the remote vehicle as determined by the first set of reference points with the position as determined by the next set of reference points; andthe control unit determining misbehavior of the remote vehicle if the distance between determined positions is greater than a predetermined distance threshold. 19. The method of claim 17 further comprising the steps of: selecting a next reference point by the control unit;identifying a location and time of arrival for the next reference point;determining an expected time-of-arrival of the safety alert broadcast message at the next reference point position of the host vehicle;determining a difference between the identified time-of-arrival of the broadcast message at the next reference point of the host vehicle and the actual time-of-arrival of the safety alert broadcast message at the next reference point of the host vehicle;determining a misbehavior of the remote vehicle by the host vehicle control unit if the difference between the identified time-of-arrival and the expected time-of-arrival is greater than a predetermined threshold. 20. The system of claim 19 further comprising the steps of: identifying additional reference points and associated times-of arrival by the control unit; anddetermining misbehavior of the remote vehicle determined if the difference between the identified time-of-arrival and the expected time-of-arrival of any one of the additional reference points is greater than the predetermined threshold. 21. The method of claim 17 further comprising the steps of: determining a received signal strength indicator for each safety alert message received by the host vehicle;selecting each of the respective reference points by the control unit based on a value of the received signal strength indicator. 22. A method for determining a position of a remote vehicle relative to a mobile host vehicle based on safety alert messages broadcast from the remote vehicle relating to an event in a road of travel, the method comprising the steps of: the host vehicle receiving safety alert broadcast messages from a remote vehicle, the safety alert broadcast message relating to a safety related event in the road of travel;a host vehicle control unit identifying reference points along the road of travel, each reference point identifying a position of the host vehicle and an associated angle-of-arrival when the host vehicle receives the safety alert broadcast message;the host vehicle control unit selecting a set of reference points having identified positions; andthe host vehicle control unit determining an angle-of-arrival and line-of-bearing at each reference point associated with a received safety alert broadcast message, wherein the host vehicle control unit determines whether the remote vehicle involved in the accident broadcasting the safety alert message is either mobile or not in a vicinity of the accident, and wherein the host vehicle control unit determines misbehavior by the remote vehicle involved in the accident if the determination is made that the remote vehicle is either mobile or not in a vicinity of the accident. 23. The method of claim 22 further comprising the steps of: identifying, by the host vehicle control unit, a position of the host vehicle, an angle-of-arrival of the safety alert broadcast message, and an associated line-of-bearing for each reference point when the host vehicle receives the safety alert broadcast message;selecting, a set of the reference points having identified positions, associated angles-of-arrival, and associated lines-of-bearing;determining a point of intersection between two respective lines-of-bearing corresponding to two reference points associated with received safety alert broadcast messages; anddetermining a position of the remote vehicle as the intersection point between two lines-of-bearing. 24. The method of claim 22 further comprising the steps of: selecting a next reference point by the host vehicle control unit;identifying a position of the host vehicle, an angle-of-arrival of the safety alert broadcast message, and an associated line-of-bearing when the host vehicle receives the safety alert broadcast message at the next reference point;determining whether the line-of-bearing for the next reference point intersects the intersection point determined by the set of reference points for evaluating a reliability of the position of the remote vehicle;determining misbehavior by the remote vehicle involved in the accident if the determination is made that the remote vehicle is not at the substantially same position based the next reference point not intersecting the intersection point determined for the set of reference points the next reference point and the intersection point set of reference points.