# US 11,910,280 B2 · Methods and systems for transmitting basic safety messages > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,910,280 B2 - Document ID: US11910280B2 - Status: Granted - Kind: B2 - Application number: 16/819,419 - Filed: 2020-03-16 - Published: 2021-09-16 - Granted: 2024-02-20 - Earliest claimed: 2020-03-16 - Assignees: DENSO International America, Inc.; Denso Corporation - Applicants: DENSO International America, Inc.; Denso Corporation - Inventors: Aaron D. Weinfield; Mark A. Wilson - Web page: https://patentgrep.com/patent/US11910280B2 ## CPC - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P] - G01C 21/30: Map- or contour-matching - G01S 19/243: {Demodulation of navigation message} - G01S 19/40: Correcting position, velocity or attitude - G06F 16/29: Geographical information databases - G08G 1/093: {Data selection, e.g. prioritizing information, managing message queues, selecting the information to be output} - G08G 1/096716: {where the received information does not generate an automatic action on the vehicle control} - G08G 1/09675: {where a selection from the received information takes place in the vehicle} - G08G 1/096791: {where the origin of the information is another vehicle} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - H04W 4/029: Location-based management or tracking services - G01C 21/3407: {specially adapted for specific applications} - G01S 5/0072: {Transmission between mobile stations, e.g. anti-collision systems} - G01S 19/14: specially adapted for specific applications - G01S 19/393: {Trajectory determination or predictive tracking, e.g. Kalman filtering} - 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}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - 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) - 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 - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A method for broadcasting a basic safety message (BSM) packet from a host vehicle includes storing at least one path history entry of the host vehicle. The method includes determining whether a global navigation satellite system (GNSS) position fix is available. The method includes performing a corrective action on the at least one path history entry in response to the GNSS position fix not being available. The method includes, in response to the GNSS position fix being available, calculating a path history entry to be stored among the at least one path history entry based on the GNSS position fix. The method includes generating and broadcasting the BSM packet based on the at least one path history entry. ## Claims ### Claim 1 A method for broadcasting a basic safety message (BSM) packet from a host vehicle, the method comprising: storing at least one path history entry of the host vehicle; determining whether a global navigation satellite system (GNSS) position fix is available; performing a corrective action on a previously obtained path history entry from among the at least one path history entry of a first portion of the BSM packet in response to the GNSS position fix not being available; in response to the GNSS position fix being available, calculating a path history entry to be stored among the at least one path history entry of the first portion of the BSM packet based on the GNSS position fix; and generating and broadcasting the BSM packet based on the at least one path history entry. ### Claim 2 (depends on 1) The method of claim 1 further comprising storing the at least one path history entry in a database of the host vehicle. ### Claim 3 (depends on 2) The method of claim 2, wherein performing the corrective action on the previously obtained path history entry further comprises deleting the previously obtained path history entry from the database. ### Claim 4 (depends on 2) The method of claim 2, wherein performing the corrective action on the previously obtained path history entry further comprises: initiating a timer; in response to initiating the timer, determining a value of the timer when a subsequent GNSS signal comprises information indicating the GNSS position fix is available; determining whether the value of the timer is greater than a threshold value; and in response to determining that the value of the timer is greater than the threshold value, deleting the previously obtained path history entry from the database. ### Claim 5 (depends on 2) The method of claim 2, wherein performing the corrective action on the previously obtained path history entry further comprises: obtaining a first timestamp of a first GNSS signal; in response to obtaining the first timestamp, obtaining a second timestamp of a subsequent GNSS signal when the subsequent GNSS signal comprises information indicating the GNSS position fix is available; determining a distance based on the first timestamp and the second timestamp; determining whether the distance is greater than a threshold distance; and in response to determining that the distance is greater than the threshold distance, deleting the previously obtained path history entry from the database. ### Claim 6 (depends on 5) The method of claim 5 further comprising determining the distance based on speed information generated by at least one sensor of the host vehicle. ### Claim 7 (depends on 2) The method of claim 2, wherein performing the corrective action on the previously obtained path history entry further comprises: determining whether a subsequent GNSS signal comprises information indicating the GNSS position is available; in response to determining the subsequent GNSS signal comprises information indicating that the GNSS position fix is available, generating a second path history entry as part of the at least one path history entry; and modifying the at least one path history of the database to remove each path history entry of the at least one path history entry obtained prior to the second path history entry. ### Claim 8 (depends on 7) The method of claim 7 further comprising: determining whether the second path history entry is different from the at least one path history entry obtained prior to the second path history entry; and in response to determining the second path history entry is different from the at least one path history entry obtained prior to the second path history entry, modifying the at least one path history of the database to remove each path history entry obtained prior to the second path history entry. ### Claim 9 (depends on 1) The method of claim 1 further comprising: generating connection information indicating a degree of connection associated with a received GNSS signal; and generating the BSM packet based on the connection information. ### Claim 10 (depends on 9) The method of claim 9, wherein the connection information indicates at least one of a partial GNSS position fix and an unavailable GNSS position fix. ### Claim 11 A system for broadcasting a basic safety message (BSM) packet from a host vehicle, the system comprising: a processor; and a non-transitory computer-readable medium comprising instructions that are executable by the processor, wherein the instructions comprise: storing at least one path history entry of the host vehicle; determining whether a global navigation satellite system (GNSS) position fix is available; performing a corrective action on a previously obtained path history entry from among the at least one path history entry of a first portion of the BSM packet in response to the GNSS position fix not being available; in response to the GNSS position fix being available, calculating a path history entry to be stored among the at least one path history entry of the first portion of the BSM packet based on the GNSS position fix; and generating and broadcasting the BSM packet based on the at least one path history entry. ### Claim 12 (depends on 11) The system of claim 11 further comprising a database configured to store the at least one path history entry. ### Claim 13 (depends on 12) The system of claim 12, wherein the instructions for performing the corrective action on the previously obtained path history entry further comprise deleting the previously obtained path history entry from the database. ### Claim 14 (depends on 12) The system of claim 12, wherein the instructions for performing the corrective action on the previously obtained path history entry further comprise: initiating a timer; in response to initiating the timer, determining a value of the timer when a subsequent GNSS signal comprises information indicating the GNSS position fix is available; determining whether the value of the timer is greater than a threshold value; and in response to determining that the value of the timer is greater than the threshold value, deleting the previously obtained path history entry from the database. ### Claim 15 (depends on 12) The system of claim 12, wherein the instructions for performing the corrective action on the previously obtained path history entry further comprise: obtaining a first timestamp of a first GNSS signal; in response to obtaining the first timestamp, obtaining a second timestamp of a subsequent GNSS signal when the subsequent GNSS signal comprises information indicating the GNSS position fix is available; determining a distance based on the first timestamp and the second timestamp; determining whether the distance is greater than a threshold distance; and in response to determining that the distance is greater than the threshold distance, deleting the previously obtained path history entry from the database. ### Claim 16 (depends on 15) The system of claim 15, wherein the instructions further comprise determining the distance based on speed information generated by at least one sensor of the host vehicle. ### Claim 17 (depends on 12) The system of claim 12, wherein the instructions for performing the corrective action on the previously obtained path history entry further comprise: determining whether a subsequent GNSS signal comprises information indicating the GNSS position is available; in response to determining the subsequent GNSS signal comprises information indicating that the GNSS position fix is available, generating a second path history entry as part of the at least one path history entry; and modifying the at least one path history of the database to remove each path history entry obtained prior to the second path history entry. ### Claim 18 (depends on 17) The system of claim 17, wherein the instructions for performing the corrective action on the at least one path history entry further comprise: determining whether the second path history entry is different from the at least one path history entry obtained prior to the second path history entry; and in response to determining the second path history entry is different from the at least one path history entry obtained prior to the second path history entry, modifying the at least one path history of the database to remove each path history entry obtained prior to the second path history entry. ### Claim 19 (depends on 11) The system of claim 11, wherein the instructions further comprise: generating connection information indicating a degree of connection associated with a received GNSS signal; and generating the BSM packet based on the connection information. ### Claim 20 (depends on 19) The system of claim 19, wherein the connection information indicates at least one of a partial GNSS position fix and an unavailable GNSS position fix.