An object is to enable a receiving side to estimate a position of a vehicle on a transmission side to be estimated with high accuracy. A vehicle-mounted communication device 1 loaded into a vehicle includes a vehicle-to-vehicle communication unit 15, a position estimation information acquisition unit 14 which periodically acquires a plurality of types of position estimation information, a storage unit 11 which stores the plurality of types of position estimation information with acquisition time information representing an acquisition time at which each of the position estimation information has been acquired associated with the position estimation information, and a control unit 10 which causes the vehicle-to-vehicle communication unit 15 to transmit vehicle information, in which among the transmitted plurality of types of position estimation information, the at least one type of position estimation information is the position estimation information with which the acquisition time information representing the latest acquisition time is associated among the one type of position estimation information, and the other type of position estimation information different from the one type of position estimation information is the position estimation information with which the acquisition time information representing the acquisition time closest to the acquisition time at which the one type of position estimation information has been acquired is associated.

A method for X2 interface communication is disclosed, comprising: at an X2 gateway for communicating with, and coupled to, a first and a second radio access network (RAN), receiving messages from the first RAN according to a first X2 protocol and mapping the received messages to a second X2 protocol for transmission to the second RAN; maintaining state of one of the first RAN or the second RAN at the X2 gateway; executing executable code received at an interpreter at the X2 gateway as part of the received messages; altering the maintained state based on the executed executable code; and receiving and decoding an initial X2 message from the first RAN; identifying specific strings in the initial X2 message; matching the identified specific strings in a database of stored scripts; and performing a transformation on the initial X2 message, the transformation being retrieved from the database for stored scripts, the stored scripts being transformations.

The present invention relates to a method to improve the precision of a position information of a roadside unit (RSU), the RSU at least comprising a data communication unit, a memory unit and a processor unit, wherein a saved RSU position is saved in the memory unit as position information of the RSU. Further, the present invention relates to a roadside unit (RSU), at least comprising a data communication unit, a memory unit and a processor unit. In addition, the present invention relates to a system to provide position information in an area, preferably in respect of an advanced driver assistant system (ADAS) and/or autonomous driving.

Hierarchically verifying tactical equipment (122, 124, 126, 128) associated with a group of communication devices (121, 131) including a lead device (111). One example includes validating radio-beacon-associated tactical equipment (122, 124, 126, 128) of each of a plurality of portable communication devices (121, 131) against a set of tactical equipment requirements (302) for each respective one of the plurality of portable communication devices (121, 131), validating an acquired set of available tactical equipment for the plurality of portable communication devices (121, 131) against a set of group tactical equipment requirements (304), responsive to determining that at least one of the plurality of portable communication devices (121, 131) fails to meet its respective set of tactical equipment requirements (302), determining that the plurality of portable communication devices fails to meet the set of group tactical equipment requirements (304), or both, and generating an alert message (703). The alert message may be transmitted to and displayed at the lead device (111).

An apparatus comprising a transceiver, a processor and a memory. The transceiver may be configured to send/receive data messages to/from a plurality of vehicles. The processor may be configured to execute instructions. The memory may be configured to store instructions that, when executed, perform the steps of (A) generating signal distance calculations between the apparatus and at least three of the vehicles using the data messages, (B) calculating a plurality of potential positions of the vehicles using the signal distance calculations, (C) performing a scaling operation on the plurality potential positions of the vehicles to determine relative positions of the vehicles on a coordinate system, (D) implementing a procrusting procedure on the coordinate system to generate a corrected coordinate system and (F) determining changes of the relative positions using the corrected coordinate system.

A position estimation unit (2) comprising a first transceiver device (3) and a processing unit (10) that is arranged to repeatedly calculate time-of-flight (TOF) for radio signals (x.sub.1, x.sub.2, x.sub.3, x.sub.4, x.sub.5, x.sub.6) sent pair-wise between two transceivers among the first transceiver device (3) and at least two other transceiver devices (7, 8, 9); calculate possible positions for the transceiver devices (3, 7, 8, 9), which results in possible positions for each transceiver device (3, 7, 8, 9); and perform Multidimensional scaling (MDS) calculation in order to obtain relative positions of the transceiver devices (3, 7, 8, 9) in a present coordinate system. After two initial MDS calculations, between every two consecutive MDS calculations, the processing unit (10) is arranged to repeatedly perform a processing procedure comprising translation, scaling and rotation of present coordinate system such that a corrected present coordinate system is acquired. The processing procedure is arranged to determine the corrected present coordinate system such that a smallest change for the relative positions of the transceiver devices (3, 7, 8, 9) between the consecutive MDS calculations is obtained.

An apparatus comprising a transceiver, an antenna and a processor. The transceiver may be configured to send/receive data messages to/from a plurality of vehicles. The antenna may be configured to receive signals from GNSS satellites. The processor may be configured to (i) determine a first region based on relative coordinates calculated using the data messages, (ii) determine a second region calculated using the signals received from the GNSS satellites, (iii) determine whether a pre-determined amount of the first region to the second region overlap and (iv) increase a confidence level of a positional accuracy of the plurality of vehicles if the pre-determined amount of the first region and the second region overlap. One of the vehicles implements one or more automatic responses based on the confidence level of the positional accuracy.

An apparatus comprising a processor and a transceiver. The processor may (i) receive messages from a plurality of vehicles and (ii) determine relative coordinates of the vehicles based on the messages. The transceiver may (i) communicate the messages using a first channel in a first range and (ii) communicate short messages using a second channel in a second range. Communicating using the second channel may consume more power than communicating using the first channel. The messages may be sent from the transceiver to a cluster head within the first range. The short messages may communicate less data than the messages. The short messages may be sent directly to a target vehicle outside of the first range to determine an associated cluster head for the target vehicle. The messages may be sent to the target vehicle from the associated cluster head via the cluster head within the first range.

An apparatus comprising a transceiver module and a processor. The transceiver may be configured to send/receive data messages to/from a plurality of vehicles. The processor may be configured to (i) determine a plurality of selected vehicles from the plurality of vehicles based on a selection criteria and (ii) calculate relative coordinates of the plurality of vehicles based on the data messages from the selected vehicles. The selection criteria may comprise determining (i) a target vehicle and (ii) at least two complementary vehicles. A predicted trajectory of the target vehicle may cross paths with a predicted trajectory of the apparatus. The complementary vehicles may be selected based on (i) an arrangement of the plurality of vehicles and (ii) speeds of the plurality of vehicles.

A method for X2 interface communication is disclosed, comprising: at an X2 gateway for communicating with, and coupled to, a first and a second radio access network (RAN), receiving messages from the first RAN according to a first X2 protocol and mapping the received messages to a second X2 protocol for transmission to the second RAN; maintaining state of one of the first RAN or the second RAN at the X2 gateway; executing executable code received at an interpreter at the X2 gateway as part of the received messages; altering the maintained state based on the executed executable code; and receiving and decoding an initial X2 message from the first RAN; identifying specific strings in the initial X2 message; matching the identified specific strings in a database of stored scripts; and performing a transformation on the initial X2 message, the transformation being retrieved from the database for stored scripts, the stored scripts being transformations.