# US 9,883,354 B2 · Method and system for localizing a vehicle and vehicle with a device for carrying out vehicle-to-X communications > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,883,354 B2 - Document ID: US9883354B2 - Status: Granted - Kind: B2 - Application number: 15/007,954 - Filed: 2016-01-27 - Published: 2017-07-27 - Granted: 2018-01-30 - Earliest claimed: 2015-01-28 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Marco Moebus; Nikolas Wagner - Web page: https://patentgrep.com/patent/US9883354B2 ## CPC - G01S 11/06: using intensity measurements - G01S 5/021: {Calibration, monitoring or correction (G01S5/0252 takes precedence)} - G01S 5/0263: {by combining or switching between positions derived from two or more separate positioning systems} - G01S 5/14: Determining absolute distances from a plurality of spaced points of known location - G01S 13/06: Systems determining position data of a target - G01S 19/51: Relative positioning - H04W 4/02: Services making use of location information - H04W 4/029: Location-based management or tracking services - H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P] - H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] - H04W 4/023: {using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds} - H04W 4/027: {using movement velocity, acceleration information} - 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 - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract A method for localizing a vehicle using vehicle-to-X communications is disclosed which provides improved position data. Signals from at least one object arranged outside a vehicle are received using a receiving unit arranged in the vehicle. A signal strength of the received signals is respectively measured and first position data of the vehicle is obtained by utilizing a determined position of using object. Second position data is determined based on the first position data. The signal strength or a change in the received signal strength is incorporated into the determination of the second position data. ## Claims ### Claim 1 A method for localizing a vehicle using vehicle-to-X communications comprising: receiving, by a receiving unit of a device of a moving vehicle, signals from another vehicle and from at least one other stationary object arranged outside the moving vehicle; determining that the other vehicle comes to a standstill and is a stationary vehicle; measuring a received signal strength of the signals; obtaining first position data of the moving vehicle by utilizing a determined position of the stationary vehicle and the at least one other stationary object; determining second position data based on the first position data and a function of the received signal strength; and determining a first relative difference between the moving vehicle and the stationary vehicle and a second relative distance between the moving vehicle and the at least one other stationary object utilizing the second position data. ### Claim 2 (depends on 1) The method according to claim 1, wherein the second position data is determined based on the first position data and a change in the received signal strength. ### Claim 3 (depends on 1) The method according to claim 1, further comprising analyzing a time history of the received signal strengths as a plausibility check on the first position data of the vehicle. ### Claim 4 (depends on 3) The method according to claim 3, further comprising discarding the first position data based on an inconsistency determined during the plausibility check. ### Claim 5 (depends on 3) The method according to claim 3, further comprising correcting the first position data based on an inconsistency determined during the plausibility check. ### Claim 6 (depends on 5) The method according to claim 5, wherein the correction is carried out based on the analyzed time history of the received signal strengths. ### Claim 7 (depends on 3) The method according to claim 3, wherein the plausibility check further comprises computing a time difference between points in time assigned to successive sets of the first position data and/or a current speed of the moving vehicle. ### Claim 8 (depends on 1) The method according to claim 1, wherein the at least one other stationary object arranged outside the vehicle is a stationary object that forms part of the infrastructure. ### Claim 9 (depends on 8) The method according to claim 8, wherein the at least one other stationary object comprises a Road Side Unit. ### Claim 10 (depends on 1) The method according to claim 1, further comprising computing a distance estimation based on the received signal strengths of the signals. ### Claim 11 (depends on 1) The method according to claim 1, further comprising determining the first relative distance and the second relative distance using a propagation model of the signals. ### Claim 12 (depends on 1) The method according to claim 1, wherein the received signals comprises one of radio waves or radar waves or data signals and the received signals include a time stamp and serve to transmit position data of the object. ### Claim 13 (depends on 12) The method according to claim 12, further comprising computing a difference between a GPS position of the object from the position data and the GPS position of the vehicle to determine the first position data of the vehicle. ### Claim 14 (depends on 1) The method according to claim 1, further comprising determining the position of the vehicle using trilateration using the signals. ### Claim 15 (depends on 1) The method according to claim 1, further comprising determining the position of the vehicle using triangulation using the signals. ### Claim 16 (depends on 1) The method according to claim 1 further comprising transmitting the second position data to at least one of another vehicle or an infrastructure component in the form of determined position data of the moving vehicle. ### Claim 17 (depends on 1) The method according to claim 1 further comprising repeatedly carrying out at least one of obtaining the first position data and determining the second position data based on the first position data. ### Claim 18 (depends on 1) The method according to claim 1 further comprising tracking the vehicle position of the moving vehicle. ### Claim 19 A system for localizing a vehicle using vehicle-to-X communications, comprising: a receiving unit arranged in a first vehicle to be localized and configured to receive signals originating from a second vehicle and at least one other stationary object arranged outside the first vehicle, wherein position data is transmitted with the signals, the receiving unit configured to determine that the second vehicle comes to a standstill and is a stationary vehicle, the receiving unit configured to measure a received signal strength of the signals; and an evaluation unit configured to obtain first position data of the first vehicle by utilizing a determined position of the second vehicle and the at least one other stationary object, and generate second position data based on the first position data and a function of the received signal strength.