Using ranging over C-V2X to supplement and enhance GPS performance
On-board equipment in a motor vehicle includes a C-V2X communication device receiving a first signal from road side equipment having a known position. The C-V2X communication device transmits a second signal having content that is dependent upon a length of time in which the first signal traveled from the road side equipment to the C-V2X communication device. A GPS device is communicatively coupled to the C-V2X communication device and receives the second signal from the C-V2X communication device. The GPS device estimates a position of the vehicle. The estimating is dependent upon the second signal from the C-V2X communication device.
1. On-board equipment in a motor vehicle, the on-board equipment comprising:
a C-V2X communication device configured to receive a first signal from road side equipment having a known position, the C-V2X communication device being configured to transmit a second signal having content that is dependent upon a length of time in which the first signal traveled from the road side equipment to the C-V2X communication device; and
a GPS device communicatively coupled to the C-V2X communication device and configured to:
receive the second signal from the C-V2X communication device; and
estimate a position of the vehicle, the estimating being dependent upon the second signal from the C-V2X communication device.
2. The on-board equipment of claim 1 wherein the second signal indicates a distance dependent upon the length of time in which the first signal traveled from the road side equipment to the C-V2X communication device.
3. The on-board equipment of claim 1 wherein the estimating is dependent upon an immediately previously estimated position of the vehicle.
4. The on-board equipment of claim 1 wherein the C-V2X communication device is configured to receive the first signal from a C-V2X base station.
5. The on-board equipment of claim 1 further comprising an electronic processor communicatively coupled to the GPS device and configured to determine, based upon the estimated position of the vehicle, a traffic lane in which the motor vehicle is traveling.
6. The on-board equipment of claim 1 wherein the estimated position of the vehicle is accurate to within less than one meter.
7. A global positioning method for a motor vehicle, the method comprising the following steps performed within the motor vehicle:
receiving a C-V2X signal from road side equipment having a known position;
transmitting a distance signal having content that is dependent upon a length of time in which the C-V2X signal traveled from the road side equipment to the motor vehicle;
receiving the distance signal; and
estimating a position of the vehicle, the estimating being dependent upon the distance signal.
8. The method of claim 7 wherein the distance signal indicates a distance dependent upon the length of time in which the C-V2X signal traveled from the road side equipment to the motor vehicle.
9. The method of claim 7 wherein the estimating is dependent upon an immediately previously estimated position of the vehicle.
10. The method of claim 7 wherein the receiving includes receiving the C-V2X signal from a C-V2X base station.
11. The method of claim 7 further comprising determining, based upon the estimated position of the vehicle, a traffic lane in which the motor vehicle is traveling.
12. The method of claim 7 wherein the estimated position of the vehicle is accurate to within less than one meter.
13. On-board equipment in a motor vehicle, the on-board equipment comprising:
a C-V2X communication device configured to receive a first signal from road side equipment having a known position, the C-V2X communication device being configured to transmit a second signal indicative of a length of time it took for the first signal to travel from the road side equipment to the C-V2X communication device; and
a GPS device communicatively coupled to the C-V2X communication device and configured to:
receive the second signal from the C-V2X communication device; and
estimate a position of the vehicle, the estimating being dependent upon the second signal from the C-V2X communication device.
14. The on-board equipment of claim 13 wherein the second signal indicates a distance dependent upon the length of time it took for the first signal to travel from the road side equipment to the C-V2X communication device.
15. The on-board equipment of claim 13 wherein the estimating is dependent upon an immediately previously estimated position of the vehicle.
16. The on-board equipment of claim 13 wherein the C-V2X communication device is configured to receive the first signal from a C-V2X base station.
17. The on-board equipment of claim 13 further comprising an electronic processor communicatively coupled to the GPS device and configured to determine, based upon the estimated position of the vehicle, a traffic lane in which the motor vehicle is traveling.
18. The on-board equipment of claim 13 wherein the estimated position of the vehicle is accurate to within less than one meter.