US 11,718,317 B2
Vehicle location correction using roadside devices
Jochen Schubert, Westland, MI (US); Timothy Thivierge, Carleton, MI (US); and Vivekanandh Elangovan, Dearborn, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Oct. 16, 2020, as Appl. No. 17/72,202.
Prior Publication US 2022/0119001 A1, Apr. 21, 2022
Int. Cl. B60W 60/00 (2020.01); H04W 4/44 (2018.01); H04L 9/00 (2022.01); H04L 9/32 (2006.01); G01S 11/04 (2006.01); G01S 13/02 (2006.01); H04W 12/069 (2021.01)
CPC B60W 60/001 (2020.02) [G01S 11/04 (2013.01); G01S 13/0209 (2013.01); H04L 9/006 (2013.01); H04L 9/3268 (2013.01); H04W 4/44 (2018.02); H04W 12/069 (2021.01); B60W 2420/52 (2013.01); B60W 2556/45 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to cause the processor to:
detect a roadside device via at least one sensor of a vehicle;
determine a location of the vehicle relative to a fixed location of the roadside device;
determine a location correction adjustment for the vehicle, wherein the location correction adjustment comprises a difference between an assumed location of the vehicle and the determined location of the vehicle, wherein the assumed location is obtained from a navigation system of the vehicle;
authenticate the roadside device with a V2X certificate of the roadside device;
reject signals transmitted by the roadside device when the V2X certificate of the roadside device is included in a certificate revocation list; wherein the certificate revocation list is received from a server that has included the V2X certificate on the certificate revocation based on determining that the roadside device is transmitting incorrect data based on a comparison of the determined location of the vehicle with ground truth data; and
adjust the assumed location based on the location correction adjustment when the signals transmitted by the roadside device are not ignored or rejected because the roadside device is included in the certificate revocation list.