Granted Patent B2

US 12,689,876 · App. 18/442,863 · Granted Jul 21, 2026

Inventors: Niklas Puller (Braunschweig, DE); Johannes Hartog (Calberlah, DE)

Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT

H04W4/44

Abstract

Claims (47)

1 . A vehicle system comprising a vehicle and a server, the vehicle comprising:

at least one vehicle sensor configured for detecting vehicle sensor values;

a communication interface configured for wireless communication with a stationary road side unit (RSU) and the server, and

a controller, configured for:

receiving a first message from the stationary road side unit via the communication interface, the first message being based on a first sensor value obtained by a stationary sensor of the stationary road side unit, the first message comprising position information of the vehicle;

detecting a second vehicle sensor value via the at least one vehicle sensor, the second sensor value being correlated to the first sensor value and comprises position information of the vehicle;

determining a position deviation based on the first sensor value and the second sensor value;

transmitting a second message to the server via the communication interface, the second message being based on the first sensor value and the second sensor value and comprising the determined position deviation; wherein

the server is configured to calculate a mean position deviation from the second message and deviation data, stored in a database; and to

selectively initiate recalibration of the stationary road side unit based upon comparing the mean position deviation with a predefined threshold.

2 . The vehicle system of claim 1 , wherein the first message comprises a first derivative value based on the first sensor value and the controller is further configured to:

determine a second derivative value based on the second sensor value; and

determine the deviation as the difference between the first derivative value and the second derivative value.

3 . The vehicle system of claim 2 , wherein the first message comprises sensor-based information related to a plurality of vehicles and the controller is further configured to:

retrieve information related to the vehicle from the first message; and

determine the position deviation based on the information related to the vehicle and the second sensor value.

4 . The vehicle system of claim 2 , wherein the controller is further configured to:

determine an ID of the RSU based on the first message; and

transmitting the second message to the server, the second message comprising the position deviation and the ID of the RSU.

5 . The vehicle system of claim 1 , wherein the first message comprises sensor-based information related to a plurality of vehicles and the controller is further configured to:

retrieve information related to the vehicle from the first message; and

determine the deviation based on the information related to the vehicle and the second sensor value.

6 . The vehicle system of claim 5 , wherein the controller is further configured to:

determine an ID of the RSU based on the first message; and

transmitting the second message to the server, the second message comprising the position deviation and the ID of the RSU.

7 . The vehicle system of claim 1 , wherein the controller is further configured to:

determine an ID of the RSU based on the first message; and

transmitting the second message to the server, the second message comprising the position deviation and the ID of the RSU.

8 . The vehicle system of claim 7 , wherein the controller is further configured to:

receive a third message from the server via the communication interface, wherein the third message comprises the ID of the RSU and the mean position deviation and/or score associated with the RSU.

9 . The vehicle system of claim 8 , wherein the score relates to an estimation of the reliability of the RSU.

10 . The vehicle system of claim 9 , wherein the controller is further configured to perform a correction of further sensor values and/or derivative values received from the RSU based on the mean position deviation.

11 . The vehicle system of claim 9 , wherein the controller is further configured to evaluate further first messages only if the score exceeds a predefined threshold.

12 . The vehicle system of claim 8 , wherein the controller is further configured to perform a correction of further sensor values and/or derivative values received from the RSU based on the mean position deviation.

13 . The vehicle system of claim 8 , wherein the controller is further configured to evaluate further first messages only if the score exceeds a predefined threshold.

14 . A server, comprising:

a communication interface configured for wireless communication with a stationary road side unit (RSU) and a plurality of vehicles;

a database configured for storing a variety of data, and

a control circuit configured for:

receiving messages from the plurality of vehicles via the communication interface, each of the messages being based on a first sensor value detected by a stationary sensor of the stationary RSU and a correlated second sensor value detected by a sensor of a respective one of the plurality of vehicles, wherein the first sensor value and the second sensor value comprise position information of the respective one vehicle of the plurality of vehicles;

storing position deviation data in the database based on the received messages;

calculating a mean position deviation based on the position deviation data, stored in the database; and

selectively initiating recalibration of the stationary road side unit based upon comparing the mean position deviation with a predefined threshold.

15 . The server of claim 14 , wherein the control circuit is further configured to:

transmit a message to at least one of the plurality of vehicles and/or the RSU via the communication interface,

wherein the message is based on the position deviation data.

16 . The server of claim 14 , wherein the control circuit is further configured to trigger a maintenance of the RSU based on the mean position deviation.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (51)