# US 11,451,955 B2 · V2X and vehicle localization by local map exchange in 5G or 6G > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,451,955 B2 - Document ID: US11451955B2 - Status: Granted - Kind: B2 - Application number: 17/582,243 - Filed: 2022-01-24 - Published: 2022-05-19 - Granted: 2022-09-20 - Earliest claimed: 2021-09-01 - Assignees: Autonomous Roadway Intelligence, LLC - Applicants: David E. Newman; R. Kemp Massengill - Inventors: David E. Newman; R. Kemp Massengill - Web page: https://patentgrep.com/patent/US11451955B2 ## CPC - G06K 7/1095: {the scanner comprising adaptations for scanning a record carrier that is displayed on a display-screen or the like} - H04W 8/26: Network addressing or numbering for mobility support - G01S 5/0063: {of measured values, i.e. measurement on base station and position calculation on mobile} - G01S 19/256: {relating to timing, e.g. time of week, code phase, timing offset} - G06K 19/06037: {multi-dimensional coding} - G06K 19/06112: {the marking being simulated using a light source, e.g. a barcode shown on a display or a laser beam with time-varying intensity profile} - G08G 1/0141: {for traffic information dissemination} - G08G 1/0145: {for active traffic flow control} - G08G 1/017: identifying vehicles (G08G1/015, G08G1/054 take precedence) - G08G 1/04: using optical or ultrasonic detectors - G08G 1/056: with provision for distinguishing direction of travel - G08G 1/091: {Traffic information broadcasting (broadcasting communication H04H)} - G08G 1/092: {Coding or decoding of the information} - G08G 1/094: {Hardware aspects; Signal processing or signal properties, e.g. frequency bands} - G08G 1/09623: {Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence)} - G08G 1/0965: responding to signals from another vehicle, e.g. emergency vehicle - G08G 1/137: the indicator being in the form of a map - G08G 1/161: {Decentralised systems, e.g. inter-vehicle communication} - G08G 1/162: {event-triggered} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - H04W 4/029: Location-based management or tracking services - H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P] - H04W 4/46: for vehicle-to-vehicle communication [V2V] - H04W 4/90: Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS] - G01S 5/0072: {Transmission between mobile stations, e.g. anti-collision systems} - H04W 88/06: adapted for operation in multiple networks {or having at least two operational modes}, e.g. multi-mode terminals - G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - 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 - 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 Autonomous vehicles may communicate with each other in 5G or 6G to avoid hazards, mitigate collisions, and facilitate the flow of traffic. However, for cooperative action, each vehicle must determine the wireless address of other vehicles in proximity, so that they can communicate directly with each other. It is not sufficient to know the wireless address alone; the wireless address must be associated with an actual vehicle in view. Methods disclosed herein enable vehicles to exchange messages that specify the distances and angles of other vehicles in view. Then, each vehicle compares the other vehicle's measurements with its own, along with each vehicle's wireless address. Using an AI-based map-merging algorithm, one or more vehicles can produce a full traffic map from the fragmentary local maps of each vehicle's viewpoint. ## Claims ### Claim 1 A method for a first vehicle to communicate with a second vehicle, the second vehicle proximate to a third vehicle, the method comprising: a. measuring a first plurality of angles, the first plurality of angles comprising an angle of the second vehicle and an angle of the third vehicle, as viewed by the first vehicle; b. transmitting a request message to the second vehicle, the request message requesting measurement data from the second vehicle; c. receiving, from the second vehicle, a reply message comprising a second plurality of angles, the second plurality of angles comprising an angle of the first vehicle and an angle of the third vehicle, as viewed by the second vehicle; and d. determining, according to the first plurality of angles and the second plurality of angles, a merged map, the merged map comprising a position of the first vehicle, a position of the second vehicle, and a position of the third vehicle. ### Claim 2 (depends on 1) The method of claim 1, wherein the request message and the reply messages are transmitted according to 5G or 6G technology. ### Claim 3 (depends on 1) The method of claim 1, wherein the angles are measured relative to a direction of a road occupied by the first and second vehicles. ### Claim 4 (depends on 1) The method of claim 1, further comprising: a. measuring a third plurality of distances, the third plurality of distances comprising a distance from the first vehicle to the second vehicle and a distance from the first vehicle to the third vehicle; b. receiving, from the second vehicle, a fourth plurality of distances, the fourth plurality of distances comprising a distance from the second vehicle to the first vehicle and a distance from the second vehicle to the third vehicle; and c. determining the merged map according to the first plurality of angles, the second plurality of angles, the third plurality of distances, and the fourth plurality of distances. ### Claim 5 (depends on 4) The method of claim 4, wherein the request message further indicates the first plurality of angles and the third plurality of distances, and the reply message further indicates the second plurality of angles and the fourth plurality of distances. ### Claim 6 (depends on 1) The method of claim 1, further comprising: a. determining, according to the reply message, a color or a vehicle type, or both, of the second vehicle; b. comparing the color or vehicle type, or both, of the second vehicle to each of the vehicles visible to the first vehicle; and c. determining the merged map according to the color or vehicle type, or both, of the second vehicle. ### Claim 7 (depends on 1) The method of claim 1, wherein: a. the request message further indicates a wireless address of the first vehicle and at least one of a GPS location, a vehicle type, a color, or a lane position of the first vehicle; and b. the reply message further indicates a wireless address of the second vehicle and at least one of a GPS location, a vehicle type, a color, or a lane position of the second vehicle. ### Claim 8 (depends on 1) The method of claim 1, wherein the merged map further comprises a wireless address of the first vehicle and a wireless address of the second vehicle. ### Claim 9 (depends on 1) The method of claim 1, further comprising transmitting the merged map to the second vehicle and the third vehicle. ### Claim 10 (depends on 1) The method of claim 1, further comprising: a. determining that a traffic collision with the second vehicle is imminent; b. determining, according to the merged map, which wireless address corresponds to the second vehicle; and c. transmitting, to the second vehicle, an emergency message. ### Claim 11 (depends on 1) The method of claim 1, wherein the merged map includes a fourth vehicle which is not visible to the first vehicle. ### Claim 12 (depends on 1) The method of claim 1, further comprising: a. measuring data comprising angles and distances of vehicles in traffic, relative to the first vehicle, and angles and distances of further vehicles in the traffic, relative to the second vehicle; b. providing the data to a computer containing an artificial intelligence model; and c. determining, according to the artificial intelligence model, a merged map comprising predicted positions of the vehicles. ### Claim 13 (depends on 11) The method of claim 11, further comprising: a. measuring further data comprising angles and distances of further vehicles in traffic; b. receiving at least one message from at least one proximate vehicle, the at least one message comprising additional data comprising angles and distances of vehicles visible to the proximate vehicle or vehicles; c. providing the further data and the additional data as input to the algorithm; and d. determining, as output from the algorithm, the merged map. ### Claim 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 request for geometric traffic data; b. determining one or more “visible” vehicles, the visible vehicles being visible to the second vehicle; c. measuring, for each of the visible vehicles, an angle of the visible vehicle and a distance of the visible vehicle from the second vehicle; d. transmitting, to the first vehicle, a message comprising the measured angles and the measured distances; and e. receiving, from the first vehicle, a merged map comprising positions of the first vehicle, the second vehicle, and the at least one other vehicle. ### Claim 15 (depends on 14) The media of claim 14, the method further comprising: a. determining, for each of the visible vehicles, a vehicle type or a vehicle color; and b. transmitting, to the first vehicle, a message comprising the determined vehicle types or vehicle colors. ### Claim 16 (depends on 14) The media of claim 14, the method further comprising transmitting, to the first vehicle, a wireless address of the second vehicle. ### Claim 17 (depends on 16) The media of claim 16, wherein: a. the merged map further indicates, in association with the position of the second vehicle, the wireless address of the second vehicle; and b. the merged map further indicates, in association with the position of the first vehicle, a wireless address of the first vehicle.