Precise positioning using millimeter wave narrow beam

(Cross-reference to related applications) This application, entitled "PRECISE POSITIONING USING MILLIMETER WAVE NARROW BEAMFORMING", claims the priority of US Patent Application No. 15 / 099,436 filed on April 14, 2016. The application is incorporated herein by reference in its entirety.

The present specification relates to determining a vehicle location using millimeter wave narrow beam formation.

Some driving functions of an automobile require point data representing the exact position of the vehicle. The level of accuracy required can be, for example, lane level accuracy, i.e., accuracy up to 3.7 meters from the actual position of the vehicle. Examples of driving functions that require lane-level accuracy include safety warning functions and autonomous driving functions. The state-of-the-art Global Positioning System (referred to herein as GPS) is only accurate to within 10 meters of the actual position of the vehicle in a disability environment such as a valley of buildings in a city. As a result, GPS cannot provide vehicle location data that is accurate enough to provide driving functions that require lane-level accuracy.

This specification describes an implementation of a millimeter wave positioning system (referred to herein as a mmWave positioning system) and a related method for determining position information representing a vehicle location using millimeter wave narrow beam formation. Disclose. In some implementations, location information can be accurate to within 1 meter when the vehicle is moving on a normal trunk road.

In some implementations, the mmWave positioning system downloads a map from the roadside unit via narrow-range communication (or optionally via cellular network communication (eg LTE or 5G) or some other wireless communication). Or receive a map.

In some implementations, the roadside unit transmits a different sequence of training packets for each of the narrow beams available in the roadside unit. Each training packet contains (1) power data used to measure the received power of the narrow beam that transmitted the packet, and (2) a header that contains a beam ID that is a unique identifier for the narrow beam that transmitted the packet. Includes one or more of. The mmWave positioning system receives one or more training packets.

In some implementations, the mmWave positioning system determines which of the training packets has the highest power level.

In some implementations, the mmWave positioning system is based on (1) the beam ID of the training packet with the highest power level, and (2) one or more of the beam ID points indicated in the map information. Determine the position of. The map information includes a set of unique identifiers for the narrow beam and a table representing the position coordinates of the beam spots formed by the narrow beam.

The implementation of the mmWave positioning system described herein includes many advantages. For example, this mmWave positioning system provides accurate position information of a moving vehicle with an accuracy of 1 m or less. Can be provided. Another example of the advantage of this mmWave positioning system is that it is possible to determine the position information of a moving vehicle in a tunnel or the like where GPS does not function. Yet another example of the advantages of this mmWave positioning system is that it can be implemented in existing vehicles with minimal hardware changes to conventional millimeter wave transmitters and receivers. As a result, the mmWave positioning system can be easily and inexpensively deployed in an individual vehicle or a plurality of owned vehicles. Yet another example of the advantages of this mmWave positioning system is that it does not include bandwidth requirements. In comparison, the accuracy of positioning techniques such as radar is inversely proportional to bandwidth. Further, as another example of the advantage of this mmWave positioning system, there is a point that the amount of calculation is small. As a result, it is possible to determine location information in real time or near real time by receiving one or more training packets.

Next, yet another implementation form of the mmWave positioning system will be described. Configuring a system of one or more computers to perform such operations by installing software, firmware, hardware, or a combination thereof that causes the system to perform certain operations or operations in operation. Can be done. When one or more computer programs are executed by a data processing device, they can be configured to perform those actions by including instructions that cause the device to perform certain operations or actions.

The method according to one aspect of the present invention The reception step of receiving one or more of the plurality of millimeter-wave narrow beams transmitted from the roadside device and irradiating the plurality of irradiation regions provided on the road, and the positions of the plurality of irradiation regions are specified. An acquisition step for acquiring irradiation position information, which is information, an identification step for identifying a millimeter-wave narrow beam having the highest received power level among the plurality of millimeter-wave narrow beams, and a millimeter-wave narrow beam having the highest received power level. It includes a determination step of determining the position information of the vehicle based on the beam and the irradiation position information. Other embodiments of this embodiment include computer programs recorded on one or more computer storage devices, each configured to perform the operation of the corresponding computer system, device, and method.

Each implementation can include one or more of the following features: For example, the plurality of millimeter-wave narrow beams each transmit a training packet, and in the determination step, the position information of the vehicle is determined using the training packet transmitted by the millimeter-wave narrow beam having the highest received power level. It may be characterized by doing. Further, the training packet includes a beam ID that identifies a millimeter-wave narrow beam that transmits the training packet, and the irradiation position information is irradiated with the beam ID and a millimeter-wave narrow beam associated with the beam ID. It may be characterized in that the information is associated with the position information of the area. Further, the plurality of irradiation regions may be arranged in different regions within the same road section, and the irradiation position information may be information representing the position of a vehicle in the road section. Further, the plurality of irradiation regions may be characterized in that they are arranged in different lanes in the same road section. Further, the plurality of irradiation regions may be characterized in that vehicles traveling on the target road section are arranged so as to pass through at least one of the irradiation regions. Further, the acquisition step may be characterized in that the irradiation position information is acquired via the narrow area communication message transmitted by the roadside device. Further, the irradiation area may be characterized by having a radius of 2 meters or less. Further, the roadside device may be characterized in that it is arranged along a road where a positioning system by an artificial satellite cannot be used. Implementations of the aforementioned techniques can include hardware, methods or processes, or computer software on computer accessible media.

The in-vehicle device according to one aspect of the present invention is The receiving means for receiving one or more of the plurality of millimeter-wave narrow beams transmitted from the roadside device and irradiating the plurality of irradiation regions provided on the road, and the positions of the plurality of irradiation regions are specified. An acquisition means for acquiring irradiation position information which is information, an identification means for identifying a millimeter wave narrow beam having the highest received power level among the plurality of millimeter wave narrow beams, and a millimeter wave narrow beam having the highest received power level. It is an in-vehicle device having a beam, a determination means for determining a vehicle position information based on the irradiation position information, and a determination means.

The positioning system according to one aspect of the present invention is A positioning system including a roadside device and an in-vehicle device, wherein the roadside device has an irradiation means for irradiating a plurality of irradiation regions provided on a road with a plurality of millimeter-wave narrow beams. The in-vehicle device acquires a receiving means for receiving one or more of the plurality of millimeter-wave narrow beams transmitted from the roadside device and irradiation position information which is information for specifying the positions of the plurality of irradiation regions. The acquisition means, the identification means for identifying the millimeter wave narrow beam having the highest received power level among the plurality of millimeter wave narrow beams, the millimeter wave narrow beam having the highest received power level, the irradiation position information, and the like. It is a positioning system having a determination means for determining the position information of the vehicle based on the above.

The present disclosure is shown in each of the accompanying drawings as an example, not for limitation, in which similar reference numerals are used to refer to similar elements.

<figref num="1A">It is a block diagram which shows the exemplary operating environment for the mmWave positioning system by some implementations.</figref><figref num="1B">It is a block diagram which shows the analysis example for deciding the position of a vehicle based on a plurality of mmWave narrow beams by some implementations.</figref><figref num="1C">It is a block diagram which shows the analysis example for deciding the position of a vehicle based on two sets of a plurality of mmWave narrow beams by some implementations.</figref><figref num="2">FIG. 6 is a block diagram showing an exemplary computer system including a mmWave positioning system in several implementations.</figref><figref num="3">It is a flow chart of an exemplary method for locating a vehicle using a plurality of mmWave narrow beams in several implementations.</figref><figref num="4">It is a block diagram which shows the set of operation formulas for deciding the position of a vehicle using a plurality of mmWave narrow beams by some implementations.</figref><figref num="5">It is a block diagram which shows the use example of the operation formula for deciding the position of a vehicle using a plurality of mmWave narrow beams by some implementations.</figref>

Some driving functions of an automobile require point data representing the exact position of the vehicle. The level of accuracy required can be, for example, lane level accuracy, i.e., accuracy up to 3.7 meters of the actual position of the vehicle. Examples of driving functions that require lane-level accuracy include autonomous driving, forward collision warning, blind spot warning, lane change warning, and lane change warning, provided by the vehicle's Advanced Driver Assistance Systems (ADAS system). Includes overtaking prohibition warning function.

State-of-the-art Global Positioning System (GPS) is only accurate to within 10 meters of the vehicle's actual position in impaired environments such as building valleys in cities. As a result, GPS cannot provide vehicle location data that is accurate enough to enable driving functions that require lane-level accuracy.

Radio frequency bandwidths from 30 GHz to 300 GHz have wavelengths from 10 millimeters to 1 millimeter and are given the name millimeter-wave band (referred to herein as mmBand).

In recent years, vehicles are increasingly equipped with mmWave communication. A vehicle equipped with a mmWave communication unit can be called a mmWave-equipped type. Vehicles equipped with mmWave include the mmWave antenna and any hardware or software required to send and receive mmWave messages using mmBand, generate mmWave messages, and read mmWave messages received via mmBand. ..

Vehicles are also increasingly equipped with Dedicated Short Range Range (DSRC). A vehicle equipped with DSRC can be called a DSRC-equipped type. A DSRC-equipped vehicle includes a DSRC antenna and any hardware or software needed to send and receive DSRC messages, generate DSRC messages, and read DSRC messages.

A type of DSRC message is known as Basic Safety Message (BSM). Vehicles equipped with DSRC broadcast BSM at regular intervals (intervals can be adjusted by the user). In some implementations, the BSM is broadcast at an adjustable rate of once every 0.1 seconds.

Another type of communication included in the vehicle is "LTE-V2X". LTE-V2X is similar to DSRC, but uses a cellular network and is currently standardized by 3GPP. LTE-V2X-equipped vehicles communicate directly with other LTE-V2X-equipped vehicles or roadside units in the cellular network with or without base station assistance. LTE-V2X can use the same or equivalent messages as BSM.

Another type of communication contained in some vehicles is described in US Patent Application No. 14 / 471,387, entitled "Full-Duplex Coordination System," filed August 28, 2014. There is full-duplex wireless communication. A vehicle that operates to communicate via full-duplex wireless communication can be called a full-duplex mounting type. Full-duplex vehicles send and receive full-duplex radio messages, generate full-duplex radio messages, and read full-duplex radio messages, as described in U.S. Patent Application No. 14 / 471,387. Contains any hardware or software required for.

(System overview) FIG. 1A is a block diagram showing a first exemplary operating environment 100 of the mmWave positioning system 198 in several implementations.

The exemplary operating environment 100 is the first lane 110, the second lane 112, the third lane 114, the first roadside unit 199A and the second roadside unit 199B on the road (in this specification, individually "first". 1 RSU199A "and" 2nd RSU199B ", or summary Includes (referred to as "RSU199").

Within the first lane 110, the second lane 112, and the third lane 114, one or more mmWave-equipped vehicles traveling along the road may be located. For example, a vehicle 123 equipped with mmWave may be located in the first lane 110. Vehicle 123 can also be a DSRC-equipped type, an LTE-V2X-equipped type, or a full-duplex-equipped type. Vehicle 123 can wirelessly transmit mmWave messages to other mmWave-equipped entities. Similarly, vehicle 123 can wirelessly send and receive messages to other entities equipped to send and receive DSRC messages, LTE-V2X messages, or full-duplex messages. For example, the RSU199 can be one or more of the mmWave-equipped type, the DSRC-equipped type, the LTE-V2X-equipped type, and the full-duplex-equipped type.

In the embodiment shown in FIG. 1A, the first lane 110 and the second lane 112 are both unidirectional lanes with northward (or northward) traffic, and the third lane 114 is southward. A unidirectional lane with flowing (or southward) traffic.

The direction of travel (north, south, east, and west) shown in Fig. 1A is for illustration purposes. For example, in FIG. 1A, the first lane 110 and the second lane 112 are drawn with traffic flowing northward, and the third lane 114 is drawn with traffic flowing southward. However, in practice these lanes 110, 112, 114 can be configured to allow traffic to flow in different directions. There may also be more or less lanes than the lanes depicted in Figure 1A.

The first RSU199A includes one or more of the elements of mmWave communication unit 197, map data 195, and support system 193.

The mmWave communication unit 197 wirelessly transmits and receives data to and from the vehicle 123 via mmWave. For example, the mmWave communication unit 197 includes any hardware or software required to make the first RSU199A a mmWave capable device. In some embodiments, the mmWave communication unit 197 includes a mmWave transmitter and a mmWave receiver. In some embodiments, the mmWave communication unit 197 transmits one or more mmWave narrow beams, as shown in FIGS. 1B, 1C, and 4. In the present embodiment, the narrow beam is a beam having a beam width of less than 10 degrees. Of course, the beam width may be other than this, but in order to secure an accuracy of about 1 meter (that is, the irradiation radius is 2 meters or less), it is preferable to set the beam width to several degrees.

In some implementations, the mmWave communication unit 197 can transmit multiple mmWave narrow beams at the same time or at the same time (see, eg, FIGS. 1B and 1C). For example, the mmWave communication unit 197 includes a plurality of mmWave transmitters / receivers that transmit a plurality of mmWave narrow beams at the same time or at the same time, as shown in FIGS. 1B and 1C.

In some embodiments, each mmWave narrow beam transmitted by the mmWave communication unit 197 forms a beam spot on the road surface. Beam spots include beam projections on the road surface. A "beam spot" is similar to a laser pointer. When the laser pointer is pointed at a surface, the laser pointer creates a light spot on that surface. Similarly, when the mmWave transmitter is directed toward the road surface to transmit a narrow beam mmWave, a beam spot is formed on the road surface. mmWave communication unit 197 creates a beam spot on the road surface To this end, each of its mmWave transmitters and receivers is configured to point towards the surface of the road.

For example, see FIG. 1B next. The RSU199 has a first mmWave narrow beam 179A that forms a first beam spot 189A on the road surface in the first lane and a second mmWave that forms a second beam spot 189B on the road surface in the first lane. Narrow beam 179B, third mmWave narrow beam 179C forming a third beam spot 189C on the road surface in the second lane (and part of the first lane), and second lane (and first lane) A fourth mmWave narrow beam 179D, which forms a fourth beam spot 189D, is transmitted on the road surface.

These mmWave narrow beams 179A, 179B, 179C, and 179D are configured such that the beam spots 189A, 189B, 189C, and 189D cover the target area. In some implementations, each mmWave narrow beam 179A, 179B, 179C, 179D transmitted by the mmWave communication unit 197 overlaps different parts of the road surface formed by the first and second lanes. You can set a fixed target without doing it.

For example, the individual mmWave transmitters and receivers of the mmWave communication unit 197 included in the RSU199 are fixedly directed to a portion of the road surface. This is because the orientation of the individual mmWave transmitters and receivers can be fixed so that they always direct the mmWave transmission to the same part of the road surface. For example, a mmWave transmitter / receiver transmitting the first mmWave narrow beam 179A has a fixed orientation to always transmit the mmWave narrow beam forming the first beam spot 189A in the same part of the first lane. ..

Similarly, the first mmWave narrow beam 179A can be directed to a portion of the road surface without overlapping. This is because the first beam spot 189A covers the part of the road surface that is not covered by the other beam spots 189B, 189C, 189D. For example, even if the third beam spot 189C and the second beam spot 189B overlap a part of the first beam spot 189A, the first beam spot 189A is still in the third beam spot 189C. It covers the part of the first lane that is not covered by the second beam spot 189B. It is formed by the mmWave narrow beams 179A, 179B, 179C, 179D transmitted by RSU199 so that each of the mmWave narrow beams 179A, 179B, 179C, 179D is directed to a portion of the road surface without overlapping. This applies to each of the beam spots 189A, 189B, 189C, and 189D.

Return to the elements of Figure 1A and the first RSU199A. Assist system 193 includes code and routines that operate the mmWave communication unit 197 to send map data 195 or training data 191 to the vehicle 123 via mmWave communication. For example, the support system 193 can cause the mmWave communication unit 197 to transmit map data 195 to the vehicle 123 by mmWave communication. The assist system 193 can cause the mmWave communication unit 197 to transmit one or more mmWave narrow beams (for example, mmWave narrow beams 179A, 179B, 179C, 179D shown in FIG. 1B). Each of one or more mmWave narrow beams can contain training data 191 specific to the mmWave narrow beam.

Map data 195 is vehicle 123 for interpreting and using training data 191. Contains information that may be used by the mmWave Positioning System 198. Map data 195 is data for uniquely identifying one or more beam spots existing on a road and the geographical position of these one or more beam spots. For example, map data 195 uniquely identifies beam spots for each of (1) the location of one or more beam spots on the road and (2) one or more beam spots described by map data 195. Describe one or more of the spot identifiers (referred to as spot IDs in the present specification) to be identified in. For each beam spot described by map data 195, the point data describes the geographical location of the road surface area covered by the beam spot. Also, for each beam spot described by map data 195, the point data shall be used to describe the set of latitude / longitude coordinates or the exact point within the beam spot or the geographic location of the area formed by the beam spot. Can contain some other form of data that can be. Therefore, the map data 195 can describe the point data that describes the geographical position of the beam spot identified by the plurality of spot IDs and different spot IDs.

In some implementations, the map data 195 does not have to be the data received from the Global Positioning System.

In some embodiments, each mmWave narrow beam contains a combination of training data 191 that is not present in other mmWave narrow beams. For example, each mmWave narrow beam can contain training data 191 that describes one or more of the following: (1) Received power of the mmWave narrow beam (for example, signal strength and power level of the mmWave narrow beam when received by the vehicle 123) (2) Beam identifier (beam ID) that uniquely identifies the mmWave narrow beam (3) Point data that describes the point where mmWave hits the road surface Point data is an option for training data 191. The received power can be described by the power data included in the training data 191. The beam ID can also be included in the header of training data 191. In the present embodiment, the training means a signal sequence used for measuring the received power.

In some implementations, the beam ID contained in the training data 191 corresponds to one spot ID described by the map data 195. For example, the map data 195 can describe a plurality of spot IDs and points of beam spots identified by the spot IDs. Each of the beam spots identified by the spot ID is formed by a mmWave narrow beam, and the mmWave narrow beam is always fixed to form a beam spot at the same point on the road surface, so that the mmWave identified by the beam ID The narrow beam matches the spot ID described by the map data 195. For example, if the beam ID is "XYZ" and the spot ID is "XYZ", then this matching identifies the mmWave narrow beam that forms the beam spot where the beam ID is identified by the matching spot ID. I can tell you. In some cases, one or more letters or bits of the beam ID and the spot ID may match or correlate to indicate the relationship between the beam ID and the spot ID so that the entire identifier does not have to match. ..

In some implementations, map data 195 describes beam spots formed by multiple RSU199s. For example, map data 195 describes the beam spots formed by the first RSU199A and the second RSU199B. In contrast, the training data 191 of the first RSU199A is unique to the first RSU199A. For example, the training data 191 of the first RSU199A can only describe the mmWave narrow beam transmitted by the first RSU199A. Similarly, the second RSU199B can store and transmit its own training data 191 describing the mmWave narrow beam transmitted by the second RSU199B.

The first RSU199A includes a processor operating to run assistive system 193. The processor of the first RSU199A can include the same functions as the processor 225 described below in relation to FIG. The first RSU199A can also include a non-temporary storage medium that operates to store map data 195 and training data 191. As an option, support system 193 can also be stored in non-temporary memory. The first RSU non-temporary medium can include functionality similar to memory 227 described below in connection with FIG. The processor of the first RSU199A can communicatively combine the assist system 193, the mmWave communication unit 197, and the non-temporary memory storing the map data 195 and the training data 191. The processor can access and execute the assist system 193 stored in non-temporary memory. The processor can execute the assist system 193, retrieve the map data 195 or the training data 191 and have the mmWave communication unit 197 wirelessly transmit the map data 195 or the training data 191 to the vehicle 123 by mmWave communication.

Since the second RSU199B contains the same elements and functions as the first RSU, the description is not repeated here. The second RSU199B may include training data 191 different from the training data 191 stored by the first RSU199A. For example, the training data 191 of the second RSU199B can describe the mmWave narrow beam transmitted by the second RSU199B, while the training data 191 of the first RSU199A can describe the mmWave narrow beam transmitted by the first RSU199A. Can describe the beam. The second RSU199B will be described in more detail below in connection with FIG. 1C.

In some implementations, one or more of the first RSU199A or the second RSU199B includes an in-vehicle unit (referred to herein as OBU) that resides in a dynamic device such as a vehicle or some other device. be able to.

Vehicle 123 may be a car, bus, airplane, drone, bionic implant, or any other mobile system. In some implementations, vehicle 123 may include a computing device that includes non-temporary memory and a processor. For example, vehicle 123 can include one or more in-vehicle vehicle computers, engine control units, OBUs or any other processor-based computing device common to vehicle 123.

Vehicle 123 includes any hardware or software required to be one or more of mmWave-equipped, DSRC-equipped, LTE-V2X-equipped, and full-duplex-equipped. For example, vehicle 123 is a mmWave receiver and transmit / receive, in which vehicle 123 operates to transmit mmWave communications to other mmWave-enabled devices, receive mmWave communications (including mmWave narrow beams), and read the received mmWave communications. Including the machine. In some implementations, the communication unit 245, described below in connection with FIG. 2, provides the hardware and hardware required to make the vehicle 123 mmWave-enabled (and DSRC-enabled, LTE-V2X-enabled, or full-duplex-enabled). Includes software.

Vehicle 123 can include a mmWave positioning system 198. The mmWave positioning system 198 includes codes and routines that receive map data 195 and training data 191 and determine the position of vehicle 123 based on map data 195 and training data at least in part.

For example, the mmWave positioning system 198 receives map data 195. Map data 195 may be transmitted by RSU199. The mmWave positioning system 198 stores the map data 195 in the non-temporary memory of the vehicle 123. The mmWave positioning system 198 receives training data 191 from RSU199 (which may or may not be the same RSU199 that transmitted the map data 195). Here, it is assumed that the vehicle 123 is traveling in the first lane 110 of FIG. 1A. Training data 191 is received via a mmWave narrow beam that forms a beam spot on the road surface of the first lane 110. The training data 191 is included in the training packet encoded in the mmWave narrow beam. The training packet contains a dataset present in each mmWave narrow beam containing training data 191 for the mmWave narrow beam. In addition, the mmWave positioning system 198 can receive other training data 191 from another mmWave narrow beam. The training data 191 received by the mmWave positioning system 198 is collectively called a training packet set.

In some implementations, the mmWave positioning system 198 can analyze the training packet set to identify the training packet contained in the training packet set that has the highest received power level. For example, the mmWave positioning system 198 identifies power data for each training packet. The mmWave positioning system 198 analyzes all power data contained in the training packet set to identify which of the training packets has the highest power level. The mmWave positioning system 198 analyzes the power data for each training packet and identifies the beam ID associated with the training packet having the highest received power level.

In some implementations, the mmWave positioning system 198 determines the position information of the vehicle 123 based on the training packet having the highest received power level among the training packets included in the training packet set. For example, the mmWave positioning system 198 analyzes map data 195 and identifies spot IDs described by map data 195 that match the beam ID associated with the training packet with the highest received power level. Then, the mmWave positioning system 198 determines that the position of the vehicle is equal to the point described by the point data associated with the spot ID.

Studies have shown that the location information generated using this method is much more accurate than GPS. For example, studies have shown that this method provides accurate location information within 1 meter of the actual position of the vehicle in the real world.

In some implementations, map data 195 is provided by map service 152. For example, the map data 195 is stored in the non-temporary memory of the map server 150. The map server 150 may include a hardware server. For example, the map server 150 may include a processor-based computing device, such as a computer that includes server software executed by the server's processor. Map service 152 receives a request for map data 195 from vehicle 123 and via network 105. Contains code and routines that operate to wirelessly transmit map data 195 to vehicle 123. The signal line between network 105 and vehicle 123 is drawn with a broken line in FIG. 1A to indicate that this is an option for environment 100. This is because RSU199 may provide map data 195 to vehicle 123.

The network 105 can be conventional wired or wireless and can have many different configurations, including star configurations, token ring configurations, or other configurations. In addition, network 105 can include a local area network (LAN), wide area network (WAN) (eg, the Internet), or other interconnected data paths for multiple devices to communicate with. In some implementations, the network 105 can be peer-to-peer network. The network 105 may also be coupled to or include parts of a telecommunications network for sending data in a wide variety of communication protocols. In some implementations, Network 105 includes DSRC, Short Message Service (SMS), Multimedia Messaging Service (MMS), Hypertext Transfer Protocol (HTTP), Direct Data Connection, WAP, Email, Milli. Includes Bluetooth® or cellular communication networks for sending and receiving data, including those via wave communication and the like.

In some implementations, the received power level per mmWave narrow beam is based on determining which of the mmWave narrow beams received by the mmWave positioning system 198 has the highest signal strength. This will be any mmWave narrow beam that is directed towards the vehicle 123 so that the vehicle 123 is within the beam spot formed by the mmWave narrow beam.

Next, with reference to FIG. 1B, a block diagram showing an analysis example for locating the vehicle 123 based on a plurality of mmWave narrow beams 179A, 179B, 179C, 179D in several implementations is drawn.

In Figure 1B, RSU199 transmits four mmWave narrow beams 179A, 179B, 179C, 179D. The first mmWave narrow beam 179A forms the first beam spot 189A. The second mmWave narrow beam 179B forms the second beam spot 189B. The third mmWave narrow beam 179C forms the third beam spot 189C. The fourth mmWave narrow beam 179D forms the fourth beam spot 189D.

The RSU199 transmits training data 191 via each mmWave narrow beam 179A, 179B, 179C, 179D (also referred to herein as mmWave narrow beam 179 when referred to as a whole). The training data 191 for each mmWave narrow beam 179 is included in the training packet encoded in the mmWave narrow beam 179.

Vehicle 123 includes a mmWave positioning system 198 (not shown). The mmWave positioning system 198 receives training data 191. In some implementations, the mmWave positioning system 198 receives training data 191 from multiple mmWave narrow beams. For example, the mmWave positioning system 198 receives training data 191 from each of the mmWave narrow beams 179A, 179B, 179C, 179D depicted in FIG. 1B.

Each training packet contains its own power data and beam ID. mmWave Positioning System 198 is best based on power data per training packet Identify the beam ID of a training packet with high received power.

The mmWave positioning system 198 determines that the position of the vehicle 123 is within the beam spot having the highest received power. For example, in FIG. 1B, vehicle 123 is located at the fourth beam spot 189D, so the training packet encoded at the fourth mmWave narrow beam 179D will have the highest received power level. This is because, for example, in FIG. 1B, the fourth mmWave narrow beam 179D has the strongest signal strength. The mmWave positioning system 198 identifies the beam ID of the training packet transmitted by the fourth mmWave narrow beam 179D. The mmWave positioning system 198 can cross-reference the beam ID of the fourth mmWave narrow beam 179D with the matching spot ID. The mmWave positioning system 198 can also identify the point data associated with the matching spot ID. The point data is data that describes the point of the fourth beam spot 189D. The mmWave positioning system 198 can determine that the position of the vehicle 123, that is, the point is the same as the point described by the point data.

An example of the benefits of the mmWave positioning system 198 is depicted in connection with reference numeral 141, which indicates the error range of existing positioning techniques (eg GPS). For example, GPS technology is so inaccurate that the position of vehicle 123 can only be identified as being within the area defined by reference numeral 141. In comparison, the mmWave positioning system 198 can identify the position of vehicle 123 as being within the area defined by the fourth beam spot 189D.

Next, referring to FIG. 1C, a block diagram showing an analysis example for determining the position of the vehicle 123 is drawn in a case where there are a plurality of sets of a plurality of mmWave narrow beams according to some implementation forms.

FIG. 1C depicts a first RSU199A, a second RSU199B, and a vehicle 123 traveling on a road containing a first lane and a second lane.

The first RSU199A transmits four mmWave narrow beams 179A, 179B, 179C and 179D. The first mmWave narrow beam 179A forms the first beam spot 189A. The second mmWave narrow beam 179B forms the second beam spot 189B. The third mmWave narrow beam 179C forms the third beam spot 189C. The fourth mmWave narrow beam 179D forms the fourth beam spot 189D. Reference numeral 141A indicates the accuracy of conventional position technology such as GPS.

The second RSU199B transmits four mmWave narrow beams 178A, 178B, 178C and 178D. The fifth mmWave narrow beam 178A forms the fifth beam spot 188A. The sixth mmWave narrow beam 178B forms the sixth beam spot 188B. The 7th mmWave narrow beam 178C forms the 7th beam spot 188C. The eighth mmWave narrow beam 178D forms the eighth beam spot 188D. Reference numeral 141B indicates the accuracy of conventional position technology such as GPS.

As the vehicle 123 travels on the road, the position of the vehicle 123 changes over time. A plurality of RSU199s can be installed along the road to assist the vehicle 123 in determining its position as the position of the vehicle 123 changes over time. In addition, the existing technology is used between the RSU and the next RSU installed along the road. Can be used to estimate the position of the vehicle. For example, GPS, a gyro, an inertial sensor, or the like may be used together to complement the position information. However, since the accuracy gradually decreases as the distance from the immediately preceding RSU increases, it is preferable to arrange a plurality of RSUs at intervals so that the accuracy of the vehicle position does not deteriorate from a predetermined value.

Next, with reference to FIG. 2, a block diagram showing an exemplary computer system 200 including the mmWave positioning system 198 in several implementations is drawn. The computer system 200 can include an in-vehicle vehicle computer and any other processor-based computing device of the engine control unit or vehicle 123.

The computer system 200 is one of the elements of the mmWave positioning system 198, the processor 225, the communication unit 245, the storage device 241, the memory 227, the GPS unit 250, and the inertial sensor 252, according to some implementations. Including the above. The GPS unit 250 and the inertial sensor 252 are drawn with broken lines in FIG. 2 to indicate that they are options for the computer system 200. Each component of the computer system 200 is communicably connected by a bus 220.

In the illustrated implementation, the processor 225 is communicably coupled to bus 220 via signal line 238. The memory 227 is communicably coupled to the bus 220 via the signal line 244. The communication unit 245 is communicably coupled to the bus 220 via the signal line 246. The storage device 241 is communicably coupled to the bus 220 via the signal line 242. The GPS unit 250 is communicably coupled to bus 220 via signal line 248. The inertial sensor 252 is communicably coupled to bus 220 via signal line 249.

Processor 225 includes an arithmetic logic unit, a microprocessor, a general purpose controller, or some other processor array for performing computations and providing electronic display signals to the display. Processor 225 includes a variety of computing architectures, including complex instruction set computer (CISC) architectures, reduced instruction set computer (RISC) architectures, or instruction set combination architectures that process data signals. Figure 2 contains a single processor 225, but may include multiple processors. Other processors, operating systems, sensors, displays, and physical configurations are also possible.

Memory 227 stores instructions or data that can be executed by processor 225. Memory 227 is coupled to bus 220 to communicate with other components via signal line 244. The instructions or data may include code for performing the techniques described herein. Memory 227 can be a dynamic random access memory (DRAM) device, a static random access memory (SRAM) device, flash memory, or any other memory device. In some embodiments, the memory 227 is a hard disk drive, floppy disk drive, CD-ROM device, DVD-ROM device, DVD-RAM device, DVD-RW device, flash memory device, or It also includes non-volatile memory or similar non-temporary storage devices and media, including some other mass storage device for storing information more permanently.

As shown in FIG. 2, the memory 227 stores map data 195, training data 191, position information 297, velocity data 295, inertial data 293, and mathematical expression data 291. Map data 195 and training data 191 have been described above with reference to FIGS. 1A, 1B, and 1C, so these descriptions will not be repeated here. Speed data 295 And inertial data 293 are drawn with broken lines in FIG. 2 to indicate that they are options for computer system 200.

The position information 297 includes the point data associated with the spot ID that matches the beam ID of the training data 191 having the highest received power.

The speed data 295 includes data received from the GPS unit 250, which represents the speed of the vehicle 123.

The inertial data 293 can include data received from the inertial sensor 252, which represents the inertia of the vehicle 123.

In some implementations, one or more of the velocity data 295 and the inertial data 293 can optionally be used by the mmWave positioning system 198 to provide the estimated position of the vehicle 123.

4 and 5 show examples of equations of operations that can be used by the mmWave positioning system 198 to determine position information 297 for vehicle 123. Shown. The mathematical data 291 can describe any data necessary for the mmWave positioning system 198 to use these operational formulas. For example, the mathematical expression data 291 describes one or more of the following. . Height of RSU199 with respect to the road surface (H_T) . Road lane width (W)_L) . Height of mmWave receiver of vehicle 123 with respect to the road surface (H)_R) . Distance from the edge of the lane closest to RSU199 to RSU (d)_R) The mathematical data 291 may also contain other information.

In some implementations, mathematical data 291 can be an element of map data 195. In some implementations, mathematical data 291 can be an element of training data 191.

In some implementations, the vehicle 123 sensor may determine mathematical data 291 by measuring one or more physical characteristics of the environment in close proximity to the vehicle 123.

Communication unit 245 sends and receives data to and from another communication path such as network 105 or mmWave. For example, the communication unit 245 may include any other hardware or software necessary to make the mmWave transmitter / receiver and mmWave receiver and computer system 200 a mmWave capable device. The mmWave receiver and mmWave transmitter / receiver are mounted on the vehicle 123 to transmit / receive mmWave communication.

In some implementations, the communication unit 245 includes a port for a direct physical connection to network 105 or to another communication path. For example, communication unit 245 includes a similar port for wired communication with USB, SD, CAT-5, or network 105. In some embodiments, the communication unit 245 uses IEEE802.11, IEEE802.16, BLUETOOTH®, or one or more wireless communication methods, including another suitable wireless communication method, to network 105 or others. Includes a wireless transmitter / receiver for exchanging data with the communication path of.

In some implementations, the communication unit 245 is a short message service. On cellular communication networks, including SMS, Multimedia Messaging Services (MMS), Hypertext Transfer Protocol (HTTP), direct data connections, WAP, email, or another appropriate type of electronic communication. Includes a cellular communication transmitter / receiver for sending / receiving data in. In some implementations, the communication unit 245 includes a wired port and a wireless transmitter / receiver. Communication unit 245 also has other conventional connections to network 105 for distribution of files or media objects using standard network protocols including TCP / IP, HTTP, HTTPS, and SMTP, Millimeter Wave, DSRC, etc. provide.

The storage device 241 can be a non-temporary storage medium for storing data for providing the functions described herein. The storage device 241 can be a dynamic random access memory (DRAM) device, a static random access memory (SRAM) device, a flash memory, or any other memory device. In some embodiments, the storage device 241 is a hard disk drive, floppy disk drive, CD-ROM device, DVD-ROM device, DVD-RAM device, DVD-RW device, flash memory device, It also includes non-volatile memory or similar non-temporary storage devices and media, including some other mass storage device for storing information more permanently.

GPS unit 250 includes a conventional global positioning system. The inertial sensor 252 includes a conventional inertial sensor.

The mmWave positioning system 198 operates to perform one or more steps of method 300 described below in connection with FIG. In the exemplary implementation shown in FIG. 2, the mmWave positioning system 198 includes a communication module 202, a power module 204, a position module 205, and a graphical user interface module 206 (GUI module 206). The GUI module 206 is drawn with a broken line in FIG. 2 to indicate that this is an optional configuration for the mmWave positioning system 198. These components of the mmWave positioning system 198 are communicably coupled to each other via bus 220. In some implementations, the components of the mmWave positioning system 198 can be stored on a single server or device. In some other implementations, the components of the mmWave positioning system 198 can be distributed and stored across multiple servers or devices.

The communication module 202 is software that includes routines that handle communication between the mmWave positioning system 198 and other components of the computer system 200. In some implementations, the communication module 202 is an instruction that can be executed by the processor 225 to provide the functionality described below for handling communication between the mmWave positioning system 198 and other components of the computer system 200. It is a set. In some implementations, the communication module 202 can be stored in memory 227 of computer system 200 and made accessible and executable by processor 225. The communication module 202 can be adapted to cooperate and communicate with the processor 225 and other components of the computer system 200 via the signal line 222.

The communication module 202 transmits / receives data to / from the RSU 199 and the network 105 via the communication unit 245. For example, the communication module 202 receives map data 195 and training data 191 via the communication unit 245.

In some implementations, the communication module 202 receives data from the components of the mmWave positioning system 198 and stores that data in storage devices 241 and memory 227. Remember in one or more of them. For example, the communication module 202 receives the position information 297 from the position module 205 and stores the position information 297 in the memory 227.

In some implementations, the communication module 202 handles communication between the components of the mmWave positioning system 198. For example, the communication module 202 receives the speed data 295 from the GPS unit 250 and stores the speed data 295 in the memory 227.

The power module 204 is software that includes a routine that analyzes the power data contained in the training packet set to determine which of the training packets has the highest received power.

In some implementations, the power module 204 analyzes the signal strength of one or more mmWave narrow beams to determine which of the mmWave narrow beams has the highest received power, and the power module 204 uses this. It is determined that the training packet received from the mmWave narrow beam has the maximum received power. For example, training data 191 may not include power data, and communication unit 245 includes hardware that operates to measure the signal strength of each mmWave narrow beam received by communication unit 245. The communication unit 245 transmits signal strength data describing the signal strength of the mmWave narrow beam received by the communication unit 245 to the communication module 202. The signal strength data contains one or more bits that identify which training packet or mmWave narrow beam is associated with or which training packet or mmWave narrow beam is described. The communication module 202 transmits the signal strength data to the power module 204. The power module 204 analyzes the signal strength data and, based on the analysis, determines which of the training packet or the mmWave narrow beam has the highest received power.

In some implementations, signal strength data can be stored in memory 227 or storage device 241.

In some implementations, power module 204 can be stored in memory 227 of computer system 200 and is accessible and executable by processor 225. The power module 204 can be adapted to cooperate and communicate with the processor 225 and other components of the computer system 200 via the signal line 224.

The position module 205 is software that includes a routine that determines position information 297 based on which of the training packets or which mmWave narrow beam has the highest received power. For example, the power module 204 sends a signal to the position module 205 that describes which of the training packets has the highest received power. Position module 205 analyzes training data 191 to identify the beam ID of the training packet with the highest received power. The position module 205 analyzes the map data 195 to identify the spot ID that matches or is associated with the beam ID of the training packet with the highest received power. The position module 205 determines the point data associated with the spot ID that matches or is associated with the beam ID of the training packet with the highest received power. The position module 205 determines that the point of vehicle 123 is the point that matches the beam ID of the training packet with the highest received power or is described by the point data associated with the spot ID associated with it. .. For example, the position module 205 determines that the position information 297 matches or roughly matches the point described by the point data.

The position module 205 can operate to improve or confirm the accuracy of the position information 297 based on one or more of the velocity data 295, the inertia data 293 and the mathematical data 291.

In some implementations, location module 205 can be stored in memory 227 of computer system 200 and made accessible and executable by processor 225. The position module 205 can be adapted to cooperate and communicate with the processor 225 and other components of the computer system 200 via the signal line 280.

GUI module 206 is software that includes routines that provide signals containing graphic data that should be displayed or monitored to indicate the location of vehicle 123. For example, memory 227 can include graphic data for generating a GUI that describes the location of vehicle 123. Using this graphic data and position information 297, the GUI module 206 generates a GUI that graphically draws the location of the vehicle 123 determined by the map data 195 and the training data 191 on the head unit of the vehicle 123. The GUI module 206 determines the graphic data. The graphic data causes the display associated with the client device to provide a GUI that can be viewed by the human driver of vehicle 123. In some implementations, GUI module 206 can be stored in memory 227 of computer system 200 and is accessible and executable by processor 225. The GUI module 206 can be adapted to cooperate and communicate with the processor 225 and other components of the computer system 200 via the signal line 226.

FIG. 3 is a flow diagram of an exemplary method 300 for locating a vehicle 123 using multiple mmWave narrow beams in several implementations.

At step 302, the mmWave positioning system 198 receives map data 195.

At step 304, the mmWave positioning system 198 receives one or more training packets. Training packets can be received via one or more mmWave narrow beams.

Reference numeral 305 represents an example of step 304. For example, the RSU199 can transmit a sequence of training packets such that different training packets are transmitted for each of the mmWave narrow beams available from the RSU199. Each training packet can contain one or more of the following: (1) Data used to measure the received power of the mmWave narrow beam that transmitted the training packet. (2) A header containing a beam ID unique to the mmWave narrow beam that sent the training packet.

In step 306, the mmWave positioning system 198 determines which of the training packets has the highest received power.

In step 308, the mmWave positioning system 198 determines the position information of the vehicle 123.

Reference numeral 309 represents an example of step 308. For example, location information is one or more of the following: It can be decided based on the above. (1) Beam ID of the training packet with the highest received power (2) Beam ID point indicated by map data 195 Map data 195 can include a set of unique identifiers for the mmWave narrow beam and a table or some other data structure that describes the position coordinates of the beam spots of the mmWave narrow beam.

FIG. 4 is a block diagram showing a set of operational formulas 400 for locating a vehicle using multiple mmWave narrow beams in several implementations.

Figure 4 contains one or more of the following parameters: . Height of RSU199 with respect to the road surface (H)_T) . Road lane width (W)_L) . Height of mmWave receiver of vehicle 123 with respect to the road surface (H)_R) . Distance from the edge of the lane closest to RSU199 to RSU (d)_R)

FIG. 5 is a block diagram showing a usage example 500 of the operation formula 400 for determining the position of a vehicle using a plurality of mmWave narrow beams according to some implementations.

(Other embodiments) This application can also be combined with an invention related to US Patent Application No. 14 / 471,387, entitled "Full-Duplex Coordination System," filed August 28, 2014. Hereinafter, the features and advantages of the patent application (hereinafter, application No. 387) will be described. In a half-duplex communication system, the first communication device currently transmitting data to the second communication device cannot simultaneously receive data from the second communication device. If the second communication device has data to be transmitted to the first communication device, the second communication device needs to wait until the first communication device completes the data transmission. In a half-duplex communication system, only one communication device can transmit data at a time.

In the standard IEEE 802.11 wireless local area network (WLAN), communication devices seek access to wireless channels based on carrier sense multiple access / collision avoidance (CSMA / CA) medium access control (MAC) protocols. compete. The IEEE802.11MAC protocol allows only one communication device at a time to transmit data over a wireless channel. Collisions occur when two or more communication devices transmit data over a wireless channel at the same time. As a result, only the communication device currently accessing the wireless channel can transmit data using the wireless channel. Other communication devices that have data to transmit need to monitor the radio channel and compete for access to the radio channel when it becomes idle again.

According to one innovative aspect of the subject matter described in Application No. 387, vehicle 123 (and other communication devices such as RSU199) includes a full-duplex adjustment system for achieving full-duplex radio communication. The full-duplex adjustment system includes a processor and a memory for storing instructions, and when an instruction is executed, the full-duplex adjustment system is given a first (such as vehicle 123, first RSU199A, second RSU199B). Have the communication device create the first data (such as any combination of data stored in memory 227) that should be sent to the second communication device (such as vehicle 123, first RSU199A, second RSU199B). In order to activate the full-duplex operation mode of the first communication device, the half-duplex operation mode of the first communication device is switched to the full-duplex operation mode, and the first communication processor is used using the wireless channel. Let the vise send the first part of the first data to the second communication device and send the rest of the first data to the second communication device in full-duplex mode of operation of the first communication device. At the same time, the wireless channel is used to receive the second data (such as any combination of data stored in memory 227) from the second communication device.

According to another innovative aspect of the subject matter described in Application No. 387, the full-duplex adjustment system for achieving full-duplex wireless communication includes a processor and a memory for storing instructions, and instructions are executed. Then, the full-duplex adjustment system is made to receive the first part of the first data (such as any combination of data stored in the memory 227) from the first communication device via the wireless channel, and the first The second communication device should be determined to be the single destination of the first data based on the first part of the data in, and the second communication device should send to the first communication device (in memory 227). It is determined that it has a second data (such as any combination of stored data), the first communication device is determined to have a full-duplex communication function, and the full-duplex operation mode of the second communication device is activated. In order to achieve this, the half-duplex operation mode of the second communication device is switched to the full-duplex operation mode, and in the full-duplex operation mode of the second communication device, the second data is sent to the first communication device. At the same time as transmitting, the radio channel is used to receive the rest of the first data from the first communication device.

In general, another innovative aspect of the subject matter described in Application 387 can be embodied as a method, the method of which, in the first communication device, should be transmitted to the second communication device. And the step of switching the half-duplex operation mode of the first communication device to the full-duplex operation mode to activate the full-duplex operation mode of the first communication device, and the wireless channel. To the second communication device in the step of transmitting the first part of the first data from the first communication device to the second communication device using It includes the step of transmitting the rest of the data of one and at the same time receiving the second data from the second communication device using the wireless channel.

Yet another innovative aspect of the subject matter described in Application No. 387 can be embodied as a method, the method of which is a first piece of data from a first communication device over a radio channel. The step of receiving the part, the step of determining that the second communication device is a single destination of the first data based on the first part of the first data, and the second communication device being the first. The step of determining that the first communication device has the second data to be transmitted to the communication device, the step of determining that the first communication device has the full-duplex communication function, and the full-duplex operation mode of the second communication device. In order to activate, the step of switching the half-duplex operation mode of the second communication device to the full-duplex operation mode, and the full-duplex operation mode of the second communication device, the second to the first communication device. It includes the step of transmitting the data and at the same time receiving the rest of the first data from the first communication device using the radio channel.

Another innovative aspect of the subject matter described in Application No. 387 can be embodied as a method, which transfers first data to be transmitted from a first communication device to a second communication device. The decision step and the transmission of the first data from the first communication device operating in full dual operation mode to the second communication device, and at the same time, the second communication device to the second communication device using the common radio channel. Includes steps to receive data.

Another innovative aspect of the subject matter described in Application No. 387 can be embodied as a method, the method from the first communication device to the second communication device via a radio channel. And the step of determining the second data to be transmitted from the second communication device to the first communication device in response to receiving at least a part of the first data. The second communication device operating in the heavy operation mode transmits the second data to the first communication device using the wireless channel, and at the same time, the first communication device. Includes a step of receiving the first data from.

Another innovative aspect of the subject matter described in Application No. 387 can be embodied as a method, in which the method, in the first communication device, is the first data to be transmitted to the second communication device. To the second communication device in the step of determining the first communication device, the step of switching the first communication device from the half-duplex operation mode to the full-duration operation mode, and the full-duration operation mode of the first communication device. All of the first communication device responds to the step of receiving the second data from the second communication device using the wireless channel at the same time as transmitting the data and the determination that the transmission of the first data is completed. Includes a step to switch the dual operation mode to the half dual operation mode.

Another innovative aspect of the subject matter described in Application No. 387 can be embodied as a method, the method from the first communication device to the second communication device via a radio channel. The step of receiving the data of, the step of determining that the second communication device has the second data to be transmitted to the first communication device, and the step of changing the second communication device from the half-duplex operation mode to full-duplex. In the step of switching to the operation mode and the full-duplex operation mode of the second communication device, the second data is transmitted to the first communication device, and at the same time, the first data is transmitted from the first communication device using the wireless channel. In response to the determination that the transmission of the second data is completed, the step of switching the full-duplex operation mode of the second communication device to the half-duplex operation mode is included.

Other aspects include corresponding methods, systems, devices, and computer program products for the other innovative aspects described above.

Each invention described in Application No. 387 may optionally include one or more of the following behaviors and features: For example, features include: -The first data contains the first packet, and the first part of the first data contains the header part of the first packet. -The rest of the first data should include the payload and trailer parts of the first packet. -Determining that the second communication device is the single destination for the first data -Activating the full-duplex mode of operation of the first communication device in response to the second communication device being the single destination for the first data. -The first communication device and the second communication device are communication devices in the wireless local area network. Determine that the first communication device operates in a regulated spectrum that requires full-duplex communication capabilities. · Receiving device registry data associated with the primary communication device -Determining that the first communication device has a full-duplex communication function based on the device registry data. Based on the function indication field of the first part of the first data, which contains data that describes whether the first communication device has full-duplex communication capability, the first communication device provides full-duplex communication capability. To determine to have

For example, the operation includes: -The operation of determining that the wireless channel is idle, and the operation of accessing the wireless channel for data communication between the first communication device and the second communication device based on the channel access rule.

The invention described in Application No. 387 is particularly advantageous in several respects. For example, in application No. 387 The systems described herein can use full-duplex communication technology rather than half-duplex communication technology to achieve higher throughput and faster communication speeds. Full-duplex communication can be performed between one or more vehicles 123, one or more RSU199s, or other devices with full-duplex communication capabilities. In another example, the system coordinates communication between communication devices in a distributed manner without using a central coordinating mechanism. The system determines the communication device pair and coordinates the simultaneous transmission of data between the communication device pairs so that the communication device pair can simultaneously transmit data to each other using the same radio channel. Meanwhile, no other communication device can transmit data over the radio channel to avoid collisions. The advantages of the system described in Application 387 are illustrated by way of example, and the system may also have many other advantages.

Application No. 387 includes systems and methods for achieving full-duplex wireless communication between communication devices. The full-duration adjustment system can include a processor and a memory for storing instructions, and when the instructions are executed, they are sent to the full-duration adjustment system, in the first communication device, to the second communication device. In order to create the first data to be generated and activate the full-duplex operation mode of the first communication device, the half-duplex operation mode of the first communication device is switched to the full-duplex operation mode, and the radio channel. Is used to transmit the first part of the first data from the first communication device to the second communication device, and in the full-duplex operation mode of the first communication device, the first communication device to the second communication device. At the same time that the rest of the data is transmitted, the second data is received from the second communication device using the wireless channel. The communication system described in Application No. 387 as described above may be combined with this application.

In the above description, many details have been described so that the present invention can be fully understood. However, it will be apparent to those skilled in the art that each embodiment may be without these specific details. Also, in order to avoid obscuring the explanation, the structure or device may be represented in the form of a block diagram. For example, one embodiment is described with a user interface and specific hardware. However, the description herein is applicable to any type of arithmetic unit and any peripheral device that receives data and commands.

The term "one embodiment" or "a certain embodiment" in the present specification means that at least one embodiment of the present invention includes a specific feature, structure, or property described in association with the embodiment. means. Although a plurality of terms such as "in one embodiment" are used in the present specification, they do not necessarily indicate the same embodiment.

Some of the above detailed description is provided as algorithms and symbolic representations of operation for data bits stored on non-transitory computer-readable storage media. These algorithmic explanations and representations are used by those skilled in the art of data processing to most effectively explain the essence of their work to others. It should be noted that, as used herein, an algorithm (and generally) means a logical procedure for obtaining a desired result. The processing step is to physically manipulate a physical quantity. Although not necessarily required, these quantities usually take the form of electrical or magnetic signals that can be stored, transmitted, coupled, compared and otherwise processed. As is customary, it is convenient to refer to these signals as bits, values, elements, elements, symbols, characters, terms, numerical values, and the like.

It should be noted that both these terms and similar terms are associated with appropriate physical quantities and are merely simple labels for these physical quantities. As is clear from the following explanations, unless otherwise specified, the explanations using terms such as "processing", "calculation", "computer calculation (processing)", "judgment", and "display" are used in the present specification. The operation and processing of a computer system or similar electronic computing device that displays the physical (electronic) amount in a computer system's registers or memory in another memory or register or similar information storage, communication device, or display device. Means operations and processes that manipulate and transform into other data represented as physical quantities within.

The present invention also relates to a device that performs the operations described herein. The device may be specially manufactured for the required purpose, or it may be configured using a general purpose computer and selectively executed or reconfigured by a program stored in the computer. It may be. Such computer programs can be connected to any type of disk, such as a floppy (registered trademark) disk, optical disk, CD-ROM, MO disk, magnetic disk, read-only memory (ROM), or random disk, which can be connected to the computer's system bus. Stored on non-temporary computer-readable storage media such as access memory (RAM), EPROM, EEPROM, magnetic cards, flash memory, optical cards, and any type of medium suitable for storing electronic instructions. ..

Specific embodiments of the invention may be realized entirely by hardware, by software, or by both hardware and software. A preferred embodiment is realized by software. The software here includes firmware, resident software, microcode and other software.

Further, certain embodiments take the form of computer program products accessible from storage media that can be used or read by a computer. This storage medium provides program code used by or with a computer or any instruction execution system. A computer-enabled or readable storage medium is any device that can hold, store, communicate, propagate, and transfer programs used by or with instruction execution systems and devices.

A data processing system suitable for storing and executing program code has at least one processor directly or indirectly connected to a storage element via a system bus. The storage element temporarily stores some program code in order to reduce the number of times data is acquired from the local memory used for the actual execution of the program code, the large-capacity storage device, or the large-capacity storage device during execution. Includes cache memory, etc.

Input / output (I / O) devices are, for example, keyboards, displays, pointing devices, etc., which are directly or indirectly connected to the system via an I / O controller.

A network adapter is also connected to the system, which connects it to other data processing systems and remote printers and storage devices via private or public networks. Modems, cable modems, and Ethernet® are just a few of the network adapters currently available.

Finally, the algorithms and indications presented herein are not inherently relevant to any particular computer or other device. Various general purpose systems with programs as described herein can be used, and it may be appropriate to make a special purpose device for performing the required processing steps. The configurations required for these various systems will be clarified in the following description. Moreover, the present invention is not associated with any particular programming language. It will be clear that various programming languages can be used to implement the content of the invention described herein.

The above description of the embodiments has been made for the purpose of exemplification and explanation. Therefore, the disclosed embodiments are not all of the present invention, nor do they limit the present invention to the above embodiments. The present invention can be modified in various ways according to the above disclosure. The scope of the invention should not be construed as limited to the embodiments described above, but should be construed according to the claims. Anyone familiar with the art of the present invention will understand that the present invention can be realized in various other forms without departing from its ideas and essential features. Similarly, naming and division methods for modules, processes, features, attributes, methods and other aspects of the invention are neither essential nor important. Further, the present invention and the mechanism for implementing the features thereof may have different names, division methods and configurations. Moreover, those skilled in the art will appreciate that modules, processes, features, attributes, methods and other aspects of the invention can be implemented as software, hardware, firmware or combinations thereof. Further, when the present invention is implemented as software, each element such as a module may be implemented in any manner. For example, implementing standalone programs, parts of large programs, different programs, static or dynamic link libraries, kernel loadable modules, device drivers, and other methods known to computer programming practitioners. Can be done. Furthermore, the implementation of the present invention is not limited to a particular programming language, nor is it limited to a particular operating system or environment. As described above, the above description of the present invention is not limited but exemplary, and the scope of the present invention is defined according to the appended claims.

100 operating environment 105 network 110 1st lane 112 Second lane 114 Third lane 123 vehicle 150 map server 152 Map service 191 Training data 193 Support system 195 Map data 197 mm Wave communication unit 198 mmWave positioning system 199A 1st RSU 199B Second RSU