# US 12,603,013 B2 · Methods of route directing unmanned aerial vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,603,013 B2 - Document ID: US12603013B2 - Status: Granted - Kind: B2 - Application number: 16/309,744 - Filed: 2016-06-21 - Published: 2019-05-09 - Granted: 2026-04-14 - Earliest claimed: 2016-06-21 - Assignees: Telefonaktiebolaget LM Ericsson (publ) - Applicants: Telefonaktiebolaget LM Ericsson (publ) - Inventors: Andreas Nilsson; Jonas Fridén; Fredrik Harrysson; Lars Manholm - Web page: https://patentgrep.com/patent/US12603013B2 ## CPC - G08G 5/55: for a single aircraft - G05D 1/106: {Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones} - G08G 5/22: located on the ground - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G08G 5/34: for flight plan modification - G08G 5/57: for unmanned aircraft - G08G 5/59: in accordance with predefined flight zones, e.g. to avoid prohibited zones - B64U 2101/20: for use as communications relays, e.g. high-altitude platforms - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - 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}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A method (50) of route directing performed in an unmanned aerial vehicle (8a) is provided. The unmanned aerial vehicle (8a) comprises a communication module (9a) for wireless communication with an access node (2a, 2b) of a communications system (1). The method (50) comprises receiving (51), from a network entity (11), warning signaling about a restricted area, and withdrawing (52) from the restricted area in response to receiving the warning signaling. A method (20) in a network entity (11) is also provided, as well as an unmanned aerial vehicle (8a), a network entity (11), computer programs and computer program products. ## Claims ### Claim 1 A method of directing an unmanned aerial vehicle (UAV) flying in a particular direction towards a destination, the method being performed in a network entity of a communications system, wherein the network entity is separate from the UAV, and comprising: the network entity determining a location of the UAV; based on the determined location of the UAV, the network entity determining whether a criteria is satisfied; as a result of determining that the criteria is satisfied, the network entity transmitting to the UAV a warning message for indicating to the UAV that the UAV must change its velocity; obtaining position information identifying the UAV's current position; obtaining information identifying the destination for the UAV; defining a plurality of three dimensional roads, wherein each of the three dimensional roads corresponds to a different volume of airspace; selecting one of the plurality of three dimensional roads; and calculating a route along which the unmanned aerial vehicle is to travel using: the position information, the destination information, and the volume of airspace corresponding to the selected three dimensional road. ### Claim 2 (depends on 1) The method of claim 1, further comprising: obtaining information on a current position and an intended destination of the unmanned aerial vehicle; determining, based on the obtained information, a route to the destination, the route excluding a restricted area; and signaling information on the route to the unmanned aerial vehicle. ### Claim 3 (depends on 1) The method of claim 1, further comprising: receiving, from the unmanned aerial vehicle, a request for geographical information on a restricted area; and sending, in response to the request, the geographical information on the restricted area to the unmanned aerial vehicle. ### Claim 4 (depends on 1) The method of claim 1, further comprising transmitting to the unmanned aerial vehicle information identifying a three dimensional road. ### Claim 5 (depends on 1) A computer program product comprising a non-transitory computer readable medium storing a computer program for a network entity for route directing unmanned aerial vehicles, the computer program comprising computer program code, which, when executed on at least one processor on the network entity causes the network entity to perform the method of claim 1. ### Claim 6 A network entity of route directing unmanned aerial vehicles (UAVs), the network entity being part of a communications system, and being configured to: detect that the network entity should broadcast a warning message about a restricted area; and broadcast the warning message, wherein the network entity is further configured to shape the coverage area of the broadcast warning message such that the coverage area of the broadcast warning message aligns with the restricted area, the network entity comprises a plurality of antenna elements, the network entity is configured to shape the coverage area of the broadcast warning message by applying complex weights on the plurality of antenna elements, and the network entity is further configured to update the complex weights based on information indicating the positions of one or more UAVs that have received the warning message.