Abstract: 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 (x1, x2, x3, x4, x5, x6) 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.

Abstract: 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.

Abstract: 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.

Abstract: A vehicle control system (1) that includes a main control unit (2), at least one environment detection sensor (3a, 3b) adapted to detect at least one environment parameter, and a communication unit (4). The vehicle control system (1) is adapted for an ego vehicle (5) travelling on a road (6) that includes the road lane (12). The communication unit (4) is adapted to supply the main control unit (2) with external data of previous vehicle trajectories on the road such that a resulting previous vehicle trajectory (7) is determined. The main control unit (2) is adapted to determine a safety trajectory (8) based on the resulting previous vehicle trajectory (7) and the at least one detected environment parameter, where the safety trajectory (8) constitutes a preferred ego vehicle trajectory.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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 (x1, x2, x3, x4, x5, x6) 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.

Abstract: 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.

Abstract: 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.

Abstract: A gas generator for an airbag includes a first gas reserve with a first orifice, a first mechanism arranged for opening the first gas reserve, and a diffusion chamber arranged for diffusing the discharge gases. The generator additionally includes a mixing chamber comprising at least one first communication surface with the diffusion chamber. The gas generator further including a second mechanism comprising a second actuator and a mobile obturator between a first obstruction position, in which it obstructs a second communication surface with a diffusion chamber and a second passage position, in which the second communication surface is free.

Abstract: A gas generator for an airbag includes a storage container and at least one chamber defined by the storage container. The at least one chamber infludes a metal wall and contains at least gaseous hydrogen. A coating layer of iron oxide is disposed on at least a surface portion of the metal wall to prevent diffusion of hydrogen atoms through the metal wall.

Abstract: A gas generator for an airbag includes a first gas reserve with a first orifice, a first mechanism arranged for opening the first gas reserve, and a diffusion chamber arranged for diffusing the discharge gases. The generator additionally includes a mixing chamber comprising at least one first communication surface with the diffusion chamber. The gas generator further including a second mechanism comprising a second actuator and a mobile obturator between a first obstruction position, in which it obstructs a second communication surface with a diffusion chamber and a second passage position, in which the second communication surface is free.

Abstract: A gas generator for a protective airbag includes at least one pressurized gas chamber, a first actuator arranged so as to open the pressurized gas chamber, and a diffusion chamber including at least one diffusion hole defining a communication surface. Outside the diffusion chamber, the gas generator includes an obturator having a second actuator. The obturator is arranged in a first position in which it defines a first diffusion surface. The second actuator is arranged so as to allow it to go into a second position in which it defines a second diffusion surface.

Abstract: A gas generator for an airbag includes a storage container and at least one chamber defined by the storage container. The at least one chamber includes a metal wall and contains at least gaseous hydrogen. A coating layer of iron oxide is disposed on at least a surface portion of the metal wall to prevent diffusion of hydrogen atoms through the metal wall.

Abstract: A gas generator for a protective airbag includes at least one pressurized gas chamber, a first actuator arranged so as to open the pressurized gas chamber, and a diffusion chamber including at least one diffusion hole defining a communication surface. Outside the diffusion chamber, the gas generator includes an obturator having a second actuator. The obturator is arranged in a first position in which it defines a first diffusion surface. The second actuator is arranged so as to allow it to go into a second position in which it defines a second diffusion surface.