# US 12,193,114 B2 · Vehicle localization by artificial intelligence and 5G/6G messaging > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,193,114 B2 - Document ID: US12193114B2 - Status: Granted - Kind: B2 - Application number: 18/772,203 - Filed: 2024-07-14 - Published: 2024-11-14 - Granted: 2025-01-07 - Earliest claimed: 2021-09-01 - Applicants: David E. Newman; R. Kemp Massengill - Inventors: David E. Newman; R. Kemp Massengill - Web page: https://patentgrep.com/patent/US12193114B2 ## 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 Modern collision-avoidance systems are capable of cooperating with other vehicles in an emergency, but only if the vehicle processors already know the locations and 5G/6G wireless addresses of the other at-risk vehicles. This is an unsolved problem. Therefore, methods are disclosed for a “planning” vehicle to solicit angle and distance measurements from each “cooperating” vehicle in proximity, and their wireless addresses. The planning vehicle can then process those measurements, determining the relative coordinates of each vehicle in view, and then broadcasting a results message with all the coordinates and, when known, wireless addresses. The vehicles can then quickly arrange coordinated evasions for collision avoidance. Optionally, an artificial intelligence model may process the angle and distance measurements, deriving the best-fit two-dimensional distribution. Optionally, the planning vehicle can determine its orientation and geographical coordinates, and then include the geographical coordinates of the other vehicles in the results message. ## Claims ### Claim 1 A method for a “planning” vehicle to localize other vehicles in traffic, the method comprising: a) broadcasting a planning message requesting “cooperating” vehicles to measure angles and distances of other vehicles in view of each cooperating vehicle at a particular time; b) at the particular time, measuring angles and distances of other vehicles in view of the planning vehicle; c) receiving data messages from the cooperating vehicles, indicating angles and distances of other vehicles in view of each cooperating vehicle; d) providing the angles and distances as input to an artificial intelligence (AI) model; e) determining, as output from the AI model, a table or list of coordinates of the viewed vehicles. ### Claim 2 (depends on 1) The method of claim 1, wherein the planning message is transmitted according to 5G or 6G technology. ### Claim 3 (depends on 1) The method of claim 1, further comprising receiving, from each cooperating vehicle, a wireless address of the cooperating vehicle. ### Claim 4 (depends on 3) The method of claim 3, further comprising providing, as further input to the AI model, the wireless addresses of the cooperating vehicles, and an indication which angles and distances were determined by the planning vehicle. ### Claim 5 (depends on 4) The method of claim 4, wherein the output from the AI model further indicates the wireless address of each cooperating vehicle, associated with the coordinates of the cooperating vehicle. ### Claim 6 (depends on 1) The method of claim 1, wherein the coordinates are relative to the planning vehicle in a two-dimensional coordinate system with a first axis parallel to a road and a second axis perpendicular to the first axis. ### Claim 7 (depends on 1) The method of claim 1, further comprising determining, according to satellite signals, geographical coordinates of the planning vehicle. ### Claim 8 (depends on 7) The method of claim 7, wherein the data message of at least one of the cooperating vehicles includes geographical coordinates of the at least one cooperating vehicle. ### Claim 9 (depends on 8) The method of claim 8, further comprising providing, as further input to the AI model, the geographical coordinates of the planning vehicle and the at least one cooperating vehicle, and determining, as further output from the AI model, geographical coordinates of each vehicle in the table or list. ### Claim 10 (depends on 7) The method of claim 7, further comprising: a) determining, according to a compass in the planning vehicle, a geographical orientation of the planning vehicle; and b) providing, in the results message, geographical coordinates of each viewed vehicle. ### Claim 11 A method for a first vehicle to assist in determining a map of vehicles proximate to the first vehicle, the method comprising: a) receiving a planning message from a planning vehicle, the planning message requesting that cooperating vehicles measure angles and distances of vehicles in view of each cooperating vehicle at a particular time, and that each cooperating vehicle transmit a data message indicating those angles and distances; b) at the particular time, measuring an angle and a distance of each vehicle in view of the first vehicle, the angle relative to a road direction, and the distance from the first vehicle; c) after determining that a wireless channel is clear, transmitting a data message to the planning vehicle indicating the angles and distances measured by the first vehicle, and further indicating a wireless address of the first vehicle; and d) receiving, from the planning vehicle, a results message comprising a list or table of coordinates of vehicles in traffic, and further indicating at least a wireless address of the planning vehicle and the wireless address of the first vehicle. ### Claim 12 (depends on 11) The method of claim 11, wherein the planning message and the data messages are transmitted on a frequency band allocated for sidelink communications. ### Claim 13 (depends on 11) The method of claim 11, wherein the coordinates of vehicles in traffic are relative to the planning vehicle. ### Claim 14 (depends on 11) The method of claim 11, wherein the coordinates of vehicles in traffic are geographical coordinates comprising latitude and longitude values. ### Claim 15 (depends on 11) The method of claim 11, wherein the coordinates of vehicles in traffic are determined by an artificial intelligence model. ### Claim 16 A method for a base station or access point to determine a distribution of vehicles, the method comprising: a) broadcasting a planning message to vehicles in traffic, requesting that each cooperating vehicle measure an angle and a distance of each other vehicle in view of the cooperating vehicle at a particular time, and to transmit the measured angles and distances, with a wireless address of the cooperating vehicle, to the base station or access point in a data message; b) receiving data messages from two or more cooperating vehicles; c) providing the received data messages, or the angles and distances and wireless addresses indicated therein, as input to an artificial intelligence (AI) model; and d) determining, as output from the AI model, a traffic map comprising coordinates of the two or more cooperating vehicles and of other vehicles in view of the two or more cooperating vehicles, and further comprising the wireless addresses of the cooperating vehicles. ### Claim 17 (depends on 16) The method of claim 16, further comprising broadcasting a results message indicating the coordinates and wireless addresses of the cooperating vehicles, and the coordinates of the other vehicles in view of the cooperating vehicles. ### Claim 18 (depends on 16) The method of claim 16, further comprising transmitting, to each of the cooperating vehicles individually, a unicast message indicating the coordinates and wireless addresses of the cooperating vehicles, and the coordinates of the other vehicles in view of the cooperating vehicles. ### Claim 19 (depends on 16) The method of claim 16, wherein the coordinates are relative to the access point or base station. ### Claim 20 (depends on 16) The method of claim 16, wherein the coordinates comprise a geographical latitude and longitude of each vehicle.