Method and apparatus to determine relative location using gnss carrier phase
AssigneeQUALCOMM Incorporated
InventorsBo ZHENG, Yinghua YANG, Ning LUO, Gengsheng ZHANG
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Abstract
Techniques are provided which may be implemented using various methods and/or apparatuses in a vehicle to determine proximate vehicles, for example, vehicles within a pre-designated range or within broadcast distance or otherwise geographically proximate, through the use of broadcast or other messages sent by the other vehicles, and to obtain GNSS carrier phase measurement data from the proximate vehicles wherein the shared carrier GNSS phase measurement data may be utilized to update the location(s) of proximate vehicles.
Claims30
A method of updating a location of target vehicles using GNSS phase measurement data, comprising:
- determining a location of an ego vehicle;
- receiving, at the ego vehicle from a first proximate vehicle, a broadcast message comprising a first location of the first proximate vehicle and a vehicle ID of the first proximate vehicle;
- determining, based at least in part upon a distance between the location of the ego vehicle and the first location of the first proximate vehicle, that the first proximate vehicle is within a threshold range from the ego vehicle;
- obtaining GNSS phase measurement data for the first proximate vehicle;
- determining GNSS phase measurement data for the ego vehicle;
- determining a second location of the first proximate vehicle based, at least in part, upon the GNSS phase measurement data for the first proximate vehicle and the GNSS phase measurement data for the ego vehicle.
A vehicle, comprising:
- a wireless transceiver;
- a GNSS receiver;
- a memory;
- and
- one or more processors, communicatively coupled to the wireless transceiver, the GNSS receiver and the memory;
- wherein the one or more processors are configured to:
- determine a location of an ego vehicle;
- receive a broadcast message, at the ego vehicle, comprising a first location of a first proximate vehicle and a vehicle ID of the first proximate vehicle from the first proximate vehicle;
- determine, based at least in part upon a distance between the location of the ego vehicle and the first location of the first proximate vehicle, that the first proximate vehicle is within a threshold range from the ego vehicle;
- obtain GNSS phase measurement data for the first proximate vehicle;
- determine GNSS phase measurement data for the ego vehicle;
- determine a second location of the first proximate vehicle based, at least in part, upon the GNSS phase measurement data for the first proximate vehicle and the GNSS phase measurement data for the ego vehicle.
A vehicle, comprising:
- means for determining a location of an ego vehicle;
- means for receiving a broadcast message, at the ego vehicle, comprising a first location of a first proximate vehicle and a vehicle ID of the first proximate vehicle from the first proximate vehicle;
- means for determining, based at least in part upon a distance between the location of the ego vehicle and the first location of the first proximate vehicle, that the first proximate vehicle is within a threshold range from the ego vehicle;
- means for obtaining GNSS phase measurement data for the first proximate vehicle;
- means for determining GNSS phase measurement data for the ego vehicle;
- means for determining a second location of the first proximate vehicle based, at least in part, upon the GNSS phase measurement data for the first proximate vehicle and the GNSS phase measurement data for the ego vehicle.
A non-transitory computer-readable medium, having stored thereon computer-readable instructions to cause one or more processors on a vehicle to:
- determine a location of an ego vehicle;
- receive a broadcast message, at the ego vehicle, comprising a first location of a first proximate vehicle and a vehicle ID of the first proximate vehicle from the first proximate vehicle;
- determine, based at least in part upon a distance between the location of the ego vehicle and the first location of the first proximate vehicle, that the first proximate vehicle is within a threshold range from the ego vehicle;
- obtain GNSS phase measurement data for the first proximate vehicle;
- determine GNSS phase measurement data for the ego vehicle;
- determine a second location of the first proximate vehicle based, at least in part, upon the GNSS phase measurement data for the first proximate vehicle and the GNSS phase measurement data for the ego vehicle.
Dependencies are inferred from the claim text.