V2X messaging in 5G/6G with simultaneous GPS reception
Wireless communication in 5G or 6G, between vehicles (V2V) and other entities (V2X), offers vast opportunities for collision avoidance and improved traffic flow. Many of these opportunities depend on localizing and identifying particular wireless entities (vehicle, pedestrian, base station, toll booth, security gate, among innumerable others). However, due to vehicle motion, the spatial resolution achievable with satellite signals such as GPS, is generally too poor (several meters) to reliably localize a particular wireless entity, inhibiting many applications. Greatly improved localization may be achieved by arranging for multiple vehicles to acquire the satellite signals at the same time from the same satellites. They then transmit parameters of the satellite signals to a calculating entity (such as one of the vehicles) which then processes the data differentially, determining the relative distances between vehicles. Many errors and uncertainties may thereby cancel. The calculating entity can then broadcast a message indicating the coordinates and wireless addresses of the vehicles. With sub-meter spatial resolution, vehicle localization may be improved, cooperation between vehicles may be enabled, and many collisions may be avoided, saving countless lives, according to some embodiments.
1. A method for a first vehicle to determine a location of a second vehicle, the method comprising:
a. broadcasting a planning message specifying a particular time for acquisition of navigation satellite signals;
b. at the particular time, acquiring a first set of navigation satellite signals and determining a first value of a parameter of the signals;
c. receiving, from the second vehicle, a data message comprising a second value of the parameter, the second value determined according to a second set of navigation satellite signals acquired by the second vehicle at the particular time; and
d. determining, according to the first value and the second value, a location of the second vehicle relative to the first vehicle.
2. The method of claim 1 , wherein the planning message and the data message are transmitted according to 5G or 6G technology.
3. The method of claim 1 , further comprising receiving, from the second vehicle, a wireless address of the second vehicle.
4. The method of claim 1 , further comprising transmitting or broadcasting a location message indicating the location of the second vehicle relative to the first vehicle.
5. The method of claim 4 , wherein the location message further comprises a wireless address of the first vehicle and the wireless address of the second vehicle.
6. The method of claim 1 , wherein the first vehicle and the second vehicle are traveling on a road, the road having a road direction, the location of the second vehicle comprising a first coordinate value in the road direction and a second coordinate value in a direction perpendicular to the road direction.
7. The method of claim 1 , further comprising:
a. receiving, from a third vehicle, an additional data message comprising a third value of the parameter, the third value determined according to a third set of navigation satellite signals acquired by the third vehicle at the particular time; and
b. determining, according to the second value and the third value, a distance between the second vehicle and the third vehicle.
8. The method of claim 7 , further comprising:
a. determining, according to a first difference between the first set of navigation satellite signals and the second set of navigations satellite signals, a first candidate location of the second vehicle;
b. determining, according to a second difference between the second set of navigation satellite signals and the third set of navigations satellite signals, a second candidate location of the second vehicle; and
c. determining the location of the second vehicle by mathematically combining the first candidate location and the second candidate location.
9. The method of claim 1 , further comprising:
a. determining a differential comprising the second value minus the first value; and
b. determining a distance between the first vehicle and the second vehicle according to the differential.
10. The method of claim 1 , wherein the determining the location of the second vehicle relative to the first vehicle is configured to be independent of a motion of the first vehicle, and independent of a motion of the second vehicle, and independent of a motion of the navigation satellite.
11. The method of claim 1 , wherein the particular time is specified as a delay following the planning message, the specified delay in the range of 10 microseconds to 1 second.
12. The method of claim 1 , wherein the particular time is configured according to a transmission schedule of one or more navigation satellites.
13. The method of claim 1 , wherein the location of the second vehicle relative to the first vehicle is determined with an uncertainty of less than one meter.
14. Non-transitory computer-readable media in a second vehicle in traffic comprising a first vehicle and at least one other vehicle, the media containing instructions that when implemented by a computing environment cause a method to be performed, the method comprising:
a. receiving, from the first vehicle, a planning message specifying a particular time at which navigation satellite signals are to be acquired;
b. acquiring the navigation satellite signals at the particular time;
c. determining, from the navigation satellite signals, a value of a parameter;
d. transmitting or broadcasting a data message indicating the value of the parameter; and
e. receiving, from the first vehicle, a location message indicating a location of the second vehicle relative to the first vehicle.
15. The media of claim 14 , wherein the data message comprises a wireless address of the second vehicle.
16. The media of claim 14 , the method further comprising determining, from the location message, a wireless address of the first vehicle.
17. The media of claim 16 , further comprising:
a. determining that a collision is imminent; and
b. transmitting, to the first vehicle, an emergency message addressed to the first vehicle, the emergency message indicating a collision-avoidance action that the first vehicle can implement.
18. A roadside access point of a wireless network, the access point configured to:
a. broadcast a planning message, the planning message specifying a particular time; the planning message further requesting that at least one vehicle receiving the planning message acquire navigation satellite signals at the particular time;
b. acquire, at the particular time, a first set of the navigation satellite signals;
c. receive a data message transmitted by the vehicle, the data message comprising data related to a second set of the navigation satellite signals, the second set of the navigation satellite signals acquired by the vehicle; and
d. determine, according to the first set of navigation satellite signals and the data related to the second set of navigation satellite signals, a location of the vehicle at the particular time, the location being determined relative to the access point.
19. The access point of claim 18 , further configured to determine, from the data message, a wireless address of the vehicle.
20. The access point of claim 19 , further configured to broadcast a location message comprising the location of the vehicle and the wireless address of the vehicle.