In some examples, a system includes at least three receivers configured to receive a surveillance packet from another vehicle at respective arrival times. The system includes a first receiver configured to receive a surveillance packet from the other vehicle at a first time. The system also includes a second receiver configured to receive the surveillance packet from the other vehicle at a second time. The system further include a third receiver configured to receive the surveillance packet from the other vehicle at a third time. In addition, the system includes processing circuitry configured to determine a location of the ownship vehicle based on the received surveillance packet and the respective arrival times.

A user equipment (UE) in a vehicle (V-UE) broadcasts multi-phased ranging signals with which other entities may determine the range to the V-UE. The multi-phased ranging signals may include a first message, which may be broadcast in the Intelligent Transport System (ITS) spectrum, includes ranging information, such as a source identifier, location information for the broadcasting V-UE, and an expected time of broadcast of the ranging signal. The ranging signal may then be broadcast at the expected time and may include the source identifier. A second message, which be broadcast in the ITS spectrum, may include clock error information for the V-UE. A receiving entity may determine the range to the V-UE based on the time of arrival of the ranging signal and the expected time of transmission, as well as the clock error information. The receiving entity may further generate a position estimate based on the received location information.

A user equipment (UE) initiates a positioning session based on ranging in a distributed system of UEs. The positioning session includes a plurality of anchor UEs with known positions that provide information including ranging information and their positions to the initiator UE in post-ranging messages. The initiator UE identifies anchor UEs that provide information that does not significantly contribute to the final position estimate for the initiator UE. The initiator UE, for example, may generate position estimates and associated accuracy levels for different subsets of anchor UEs and may use the accuracy levels to identify a subset of anchor UEs that may be used for positioning in place of the full set of anchor UEs without a significant loss of accuracy. Selected UEs are excluded from providing post-ranging messages in subsequent positioning sessions to reduce signaling overhead and improve efficiency.

A responder user equipment (UE) in separate ranging sessions may determine whether there is a collision between the ranging signals assigned to broadcast in the separate ranging sessions. A collision in the ranging signals is detected when the ranging signals have the same frequencies and broadcast times, e.g., the broadcast time of one ranging signal is within a predetermined amount of time for the other ranging signal. When a collision in the ranging signals is detected, the responder UE sends a message to the initiator UE indicating the possibility of a collision. Available times for broadcasting the ranging signals may be determined, e.g., by the responder UE or the initiator UE. The initiator UE may initiate a new ranging session based on the available times for broadcasting the ranging signal or may proceed with the ranging session with the possibility that the responder UE will not participate.

A method and apparatus for use in traversing a vehicle transportation network may include a host vehicle receiving a remote vehicle message including remote vehicle information, identifying host vehicle information, determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected blind spot collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, in response to identifying the expected blind spot collision condition, identifying a vehicle control action based on the host vehicle dynamic state code, and traversing a portion of the vehicle transportation network in accordance with the vehicle control action.

A lane detection method and a lane detection system mounted on a first vehicle are provided. The methods includes: calculating on which lane a first vehicle is located based on vehicle-to-vehicle data received by the first vehicle from at least one neighboring vehicle, where the neighboring vehicle means another vehicle located within a vehicle-to-vehicle communication range of the first vehicle. The system may include: a communication device for receiving vehicle-to-vehicle data from at least one neighboring vehicle, and a processing device for calculating on which lane the first vehicle is located based on the vehicle-to-vehicle data received by the communication device, where the neighboring vehicle means another vehicle located within a vehicle-to-vehicle communication range of the first vehicle. Lane detection may not rely on marks on roads which are inherently not clear or blur due to a bad weather.

A method and a system for collision avoidance in a hazardous area (4) of a logistics facility (2) that includes determining a first distance (14) between a stationary hazardous area monitoring apparatus (30) disposed inside the hazardous area, and a first sending and receiving apparatus (13) that disposed on an industrial truck (10, 11, 12) and connected to a control system of the industrial truck, and determining a second distance (24) between the stationary hazardous area monitoring apparatus and a second sending and receiving apparatus disposed on a movable object. A determination is made as to whether the first distance and the second distance are less than or equal to a predeterminable intervention area distance (6), and a collision avoidance action is carried out if both the first distance and the second distance are less than or equal to the predeterminable intervention area distance.

A system for simultaneously displaying the locations of all nearby emergency vehicles onto the same moving map as the current location of another vehicle is described. Each emergency vehicle receives location data from a GPS receiver and broadcasts the location data using a Bluetooth or other transmitter. Other vehicles receive location data corresponding to their own locations using their own GPS receivers and each displays their own location onto their own moving map display in the usual manner. Additionally, the other vehicles also have Bluetooth or other receivers which receive the local broadcasts containing emergency vehicle locations and display the locations of all emergency vehicles simultaneously with their own location. The operator of the vehicle benefits by knowing the relative locations of the emergency vehicles when they cannot be seen. Some emergency vehicle operators may optionally choose to not broadcast their location data under certain circumstances.

The present disclosure provides a terminal including a processor-readable storage medium including a set of instructions for geographic location sharing between the terminal and a target terminal; and a processor in communication with the storage medium. The processor is configured to execute the set of instructions to establish a communication with a target terminal of a target user remote to the terminal though a social networking application installed in the terminal; acquire a current geographic location information of the terminal at an interval of a preset period of time; and send the current geographic location information of the terminal to the target terminal at an interval of a preset period of time.

A GNSS cooperative receiver system that can be utilized when one or more GNSS receivers is in a compromised position where it cannot receive direct signals from a sufficient number of GNSS satellites. This may in the interior of an office building or multi-dwelling unit, which may be in the vicinity of other tall buildings. The receivers determine their relative positions from one of various ranging techniques, and then with this relative position information, pseudoranges, and correlation values from the various GNSS receivers, the best GNSS solution can be determined for the group of cooperative receivers. This could include two or more receivers in a group. There also related techniques for one receiver to be a designated, remote anchor for other GNSS receivers that need such assistance.