Method and apparatus to determine relative location using GNSS carrier phase
Techniques are provided which may be implemented using various methods and/or apparatuses in a vehicle to determine location relative to a roadside unit (RSU) or other nearby point of reference. Vehicles within a pre-designated range or within broadcast distance or otherwise geographically proximate to a roadside unit, through the use of broadcast or other messages sent by the vehicles and/or the RSU may share carrier GNSS phase measurement data, wherein the shared GNSS carrier phase measurement data may be utilized to control and coordinate vehicle movements, velocity and/or position by the RSU and/or to determine location of each vehicle relative to the RSU and/or to other vehicles or determine the absolute location of each vehicle. An RSU may coordinate vehicle access to an intersection, manage vehicle speeds and coordinate or control vehicle actions such as slowing, stopping, and changing lanes or sending a vehicle to a particular location.
1. A method of interaction between a vehicle and a device, comprising:
broadcasting, from the vehicle, location information and identification information;
receiving, at the vehicle from the device, a first Global navigation satellite system (GNSS) measurement data request;
selecting first GNSS measurement data in response to the first GNSS measurement data request based on a set of selection criteria; and
sending, from the vehicle to the device, the first GNSS measurement data.
2. The method of claim 1 , wherein the selection of the first GNSS measurement data is based on a set of selection criteria designated via the first GNSS measurement data request.
3. The method of claim 2 , wherein the set of selection criteria includes:
one or more designated sets of GNSS measurement data designated by the first GNSS measurement data request, or
a GNSS measurement data type designated by the first GNSS measurement data request, or
a fixed GNSS measurement data reporting periodicity designated by the first GNSS measurement data request, or
a dynamic GNSS measurement data reporting periodicity designated by the first GNSS measurement data request, or
a GNSS measurement data reporting time window, or
a combination thereof.
4. The method of claim 3 , wherein the set of selection criteria includes the GNSS measurement data type.
5. The method of claim 4 , wherein the GNSS measurement data type comprises absolute location data, phase offset information, pseudorange information, relative location information, or any combination thereof.
6. The method of claim 3 , wherein the set of selection criteria includes the dynamic GNSS measurement data reporting periodicity designated by the first GNSS measurement data request.
7. The method of claim 6 , wherein the dynamic GNSS measurement data reporting periodicity varies based on:
a distance or location of the vehicle relative to another device or geographical point of reference, or
a direction or heading of the vehicle relative to the another device or the geographical point of reference.
8. The method of claim 1 , wherein the first GNSS measurement request requests a first GNSS measurement type and the first GNSS measurement data corresponds to the first GNSS measurement type, further comprising:
receiving, at the vehicle from the device, a second GNSS measurement data request that requests a second GNSS measurement type;
selecting second GNSS measurement data of the second GNSS measurement type in response to the second GNSS measurement data request; and
sending, from the vehicle to the device, the second GNSS measurement data.
9. The method of claim 1 , wherein the device corresponds to a roadside unit (RSU).
10. The method of claim 1 , further comprising:
receiving, at the vehicle from the device, at least one action request configured to request at least one action; and
performing the at least one action.
11. The method of claim 10 , wherein the at least one action request comprises a request to stop and a stopping location.
12. The method of claim 11 ,
wherein the stopping location is relative to another vehicle, to a pedestrian or to an object, or
wherein the stopping location is relative to an intersection.
13. The method of claim 10 , wherein the at least one action request comprises a request to change lanes and a direction of lane change.
14. The method of claim 10 , wherein the at least one action request comprises a request to coordinate actions with at least one vehicle or to drive at a specified velocity or combination thereof.
15. A vehicle configured to interact with a device, comprising:
one or more memories;
one or more transceivers; and
one or more processors communicatively coupled to the one or more memories and the one or more transceivers, the one or more processors, either alone or in combination, configured to:
broadcast, from the vehicle, location information and identification information;
receive, via the one or more transceivers, at the vehicle from the device, a first Global navigation satellite system (GNSS) measurement data request;
select first GNSS measurement data in response to the first GNSS measurement data request based on a set of selection criteria; and
send, via the one or more transceivers, from the vehicle to the device, the first GNSS measurement data.
16. The vehicle of claim 15 , wherein the selection of the first GNSS measurement data is based on a set of selection criteria designated via the first GNSS measurement data request.
17. The vehicle of claim 16 , wherein the set of selection criteria includes:
one or more designated sets of GNSS measurement data designated by the first GNSS measurement data request, or
a GNSS measurement data type designated by the first GNSS measurement data request, or
a fixed GNSS measurement data reporting periodicity designated by the first GNSS measurement data request, or
a dynamic GNSS measurement data reporting periodicity designated by the first GNSS measurement data request, or
a GNSS measurement data reporting time window, or
a combination thereof.
18. The vehicle of claim 17 , wherein the set of selection criteria includes the GNSS measurement data type.
19. The vehicle of claim 18 , wherein the GNSS measurement data type comprises absolute location data, phase offset information, pseudorange information, relative location information, or any combination thereof.
20. The vehicle of claim 17 , wherein the set of selection criteria includes the dynamic GNSS measurement data reporting periodicity designated by the first GNSS measurement data request.
21. The vehicle of claim 20 , wherein the dynamic GNSS measurement data reporting periodicity varies based on:
a distance or location of the vehicle relative to another device or geographical point of reference, or
a direction or heading of the vehicle relative to the another device or the geographical point of reference.
22. The vehicle of claim 15 , wherein the first GNSS measurement request requests a first GNSS measurement type and the first GNSS measurement data corresponds to the first GNSS measurement type, further comprising:
receive, via the one or more transceivers, at the vehicle from the device, a second GNSS measurement data request that requests a second GNSS measurement type;
select second GNSS measurement data of the second GNSS measurement type in response to the second GNSS measurement data request; and
send, via the one or more transceivers, from the vehicle to the device, the second GNSS measurement data.
23. The vehicle of claim 15 , wherein the device corresponds to a roadside unit (RSU).
24. The vehicle of claim 15 , wherein the one or more processors, either alone or in combination, are further configured to:
receive, via the one or more transceivers, at the vehicle from the device, at least one action request configured to request at least one action; and
perform the at least one action.
25. The vehicle of claim 24 , wherein the at least one action request comprises a request to stop and a stopping location.
26. The vehicle of claim 25 ,
wherein the stopping location is relative to another vehicle, to a pedestrian or to an object, or
wherein the stopping location is relative to an intersection.
27. The vehicle of claim 24 , wherein the at least one action request comprises a request to change lanes and a direction of lane change.
28. The vehicle of claim 24 , wherein the at least one action request comprises a request to coordinate actions with at least one vehicle or to drive at a specified velocity or combination thereof.
29. A vehicle configured to interact with a device, comprising:
means for broadcasting, from the vehicle, location information and identification information;
means for receiving, at the vehicle from the device, a first Global navigation satellite system (GNSS) measurement data request;
means for selecting first GNSS measurement data in response to the first GNSS measurement data request based on a set of selection criteria; and
means for sending, from the vehicle to the device, the first GNSS measurement data.
30. A non-transitory computer-readable medium storing computer-executable instructions that, when executed by a vehicle configured to interact with a device, cause the vehicle to:
broadcast, from the vehicle, location information and identification information;
receive, at the vehicle from the device, a first Global navigation satellite system (GNSS) measurement data request;
select first GNSS measurement data in response to the first GNSS measurement data request based on a set of selection criteria; and
send, from the vehicle to the device, the first GNSS measurement data.