# US 11,029,155 B2 · High-precision position determination for vehicles

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,029,155 B2
- Document ID: US11029155B2
- Status: Granted
- Kind: B2
- Application number: 15/977,156
- Filed: 2018-05-11
- Published: 2018-11-15
- Granted: 2021-06-08
- Earliest claimed: 2017-05-12
- Assignees: Siemens Mobility GmbH
- Applicants: Siemens Aktiengesellschaft
- Inventors: Fritz Kasslatter; Thomas Ritter; Roland Wunder
- Web page: https://patentgrep.com/patent/US11029155B2

## CPC

- G01S 5/02: using radio waves (using satellite radio beacon systems for determining position G01S19/00)
- G01S 5/0284: {Relative positioning}
- G01C 21/30: Map- or contour-matching
- G01S 3/14: Systems for determining direction or deviation from predetermined direction {(aerial arrangements for changing or varying the orientation or the shape of the directional pattern H01Q3/00; combinations of different interacting aerial units for giving a desired directional characteristic H01Q21/29; aerials or aerial systems providing at least two radiation patterns H01Q25/00)}
- G01S 2205/01: specially adapted for specific applications
- G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]}
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A method for high-precision position determination for vehicles, wherein the vehicles include devices for wireless communication with intelligent infrastructure devices, the precise position of the intelligent infrastructure device being known and the vehicles exchange status information with the intelligent infrastructure devices at predefined time intervals, and wherein the intelligent infrastructure devices have devices for determining the direction of the received signals carrying the status information, in which the status information sent from the vehicles to the intelligent infrastructure devices includes at least the vehicle identifier and information about the speed and the direction of the vehicle, and in which the position of the vehicles is determined via trigonometric methods from consecutive sets of status information, the associated known time intervals, the direction of the signals carrying the status information and the position of the intelligent infrastructure devices.

## Claims

### Claim 1

A method for increased high-precision position determination of of vehicles including devices for wireless communication with intelligent infrastructure devices, a precise position of the intelligent infrastructure device being known and the vehicles exchanging status information with the intelligent infrastructure devices at predefined time intervals, and the intelligent infrastructure devices have devices for determining a direction of the received signals carrying the status information, the method comprising:
sending status information from the vehicles to the intelligent infrastructure devices based on wireless access in vehicular environments (WAVE)/Intelligent Transportation Systems (ITS) standards, said status information comprising at least a vehicle identifier and information about a speed and the direction of the vehicle;
determining the position of the vehicles via trigonometric methods from consecutive sets of status information, the associated known time intervals, a direction of signals carrying the status information and the position of the intelligent infrastructure devices to provide the increased high-precision position determination of the vehicles;
determining a distance traveled by the vehicle in a time interval from at least two sets of transmitted status information; determining a direction of the consecutive signals carrying the status information;
determining a position of the vehicles relative to the intelligent infrastructure devices via the trigonometric methods from the directions of the consecutive signals, and from the distance traveled; and
determining an absolute position of the vehicles from an absolute position of the intelligent infrastructure devices and the relative position of the vehicles.

### Claim 2 (depends on 1)

The method as claimed in claim 1, wherein position data specified via satellite navigation is sent from the vehicles as additional status information; and wherein the distance traveled by the vehicle in the time interval is determined from at least two sets of transmitted position data specified via satellite navigation.

### Claim 3 (depends on 1)

The method as claimed in claim 1, wherein data from a digital road map is taken into consideration during position determination.

### Claim 4 (depends on 2)

The method as claimed in claim 2, wherein data from a digital road map is taken into consideration during position determination.