Using ranging over C-V2X to supplement and enhance GPS performance
On-hoard 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, 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 dead reckoning engine 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 wherein the road side equipment has a known position.
6. The on-board equipment of claim 1 further comprising an electronic processor communicatively coupled to the dead reckoning engine and configured to determine, based upon the estimated position of the vehicle, a traffic lane in which the motor vehicle is traveling.
7. The on-board equipment of claim 1 wherein the estimated position of the vehicle is accurate to within less than one meter.
8. 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;
producing 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;
and
estimating a position of the vehicle, the estimating being dependent upon the content.
9. The method of claim 8 wherein the content 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.
10. The method of claim 8 wherein the estimating is dependent upon an immediately previously estimated position of the vehicle.
11. The method of claim 8 wherein the receiving includes receiving the C-V2X signal from a C-V2X base station.
12. The method of claim 8 wherein the road side equipment has a known position.
13. The method of claim 8 further comprising determining, based upon the estimated position of the vehicle, a traffic lane in which the motor vehicle is traveling.
14. The method of claim 8 wherein the estimated position of the vehicle is accurate to within less than one meter.
15. 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, 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 dead reckoning engine 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.
16. The on-board equipment of claim 15 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.
17. The on-board equipment of claim 15 wherein the estimating is dependent upon an immediately previously estimated position of the vehicle.
18. The on-board equipment of claim 15 wherein the C-V2X communication device is configured to receive the first signal from a C-V2X base station.
19. The on-board equipment of claim 15 wherein the road side equipment has a known position.
20. The on-board equipment of claim 15 further comprising an electronic processor communicatively coupled to the dead reckoning engine and configured to determine, based upon the estimated position of the vehicle, a traffic lane in which the motor vehicle is traveling.