Abstract: A device and vehicle for use in, and system for, a vehicle-to-vehicle (V2V) communication and safety system that uses TDMA communication architecture with a self-synchronized TDMA time base. The time base starts with a GPS and internal clock, then fine-tunes by averaging the time bases of all vehicles within radio range. In the described algorithms, all vehicles within a communication range rapidly converge on a common time base to high precision. The regularly broadcast safety messages themselves are used for time base synchronizing, eliminating the need for separate time stamps or transmissions. A range group of vehicles, first converges itself, then converges the group on a UTC time via GPS. Embodiments include use of vehicle distances in time computations. Applications anti-collision systems, optimized traffic flow and signal timing.

Abstract: A transceiver in a vehicle-to-vehicle (V2V) communication and safety system that regularly broadcasts safety messages, comprising location, heading and speed, of a subject vehicle, that are free of MAC and IP addresses. The V2V system uses the location of the subject vehicle for vehicle identification, in place of a pre-assigned vehicle ID. Some embodiments broadcast safety message in self-assigned time slots in a synchronized TDMA broadcast architecture, with unusually short inter-message gaps and unusually short messages. The TDMA frame is partitioned into three prioritized time interval classes with differing priorities and dynamically changing sizes based on demand of higher-priority messages. Time slot selection uses weighted algorithms. Selected time slots are held until either a message collision or a timeout occurs. A transceiver equipped vehicle may proxy a different subject vehicle. Embodiments include optimized traffic flow and signal timing.

Abstract: A device for use in, and system for, a vehicle-to-vehicle (V2V) communication and safety system that uses a hybrid combination of TDMA and CSMA protocols. The synchronized TDMA frame is partitioned into three prioritized time interval classes with differing priorities and dynamically changing sizes based on demand of higher-priority messages. The TDMA portions of a repeating time interval uses self-assigned dense time slots for high-priority safety messages, with one portion for emergency vehicles and road-side units. The CSMA protocol uses remaining available time for lower-priority and overflow messages. The higher-priority time interval classes change size dynamically based on the number of current transmissions. Modulation schemes, but not data link formats, use existing Standards. Embodiments include optimized traffic flow and signal timing.

Abstract: Device, system and method, in a vehicle communication system, of providing guidance, route and safety information to a driver. Embodiments use the observation and storage of signal light timing information to make recommendations. Embodiments include computation of future times of signal light changes. Embodiments use information relating to the number of vehicles, location of vehicles, and speed of vehicles in a plurality of lanes approaching a signal to recommend lane changes to a driver. Embodiments include receiving timing information wirelessly about signal timing. Embodiments include using historical information to compute a risk value for a location and then generating a recommendation to a driver responsive to that risk value. Embodiments include using speed of travel on route options to compute an expected travel time, and then generating a recommendation to a driver responsive to those computed travel times.

Abstract: A vehicle communication system providing, in one embodiment, wirelessly transmitting and receiving messages regarding the status of parking spaces, such as empty or occupied. Only vehicles belonging to a predetermined set are able to decrypt such messages, in one embodiment. Message formats to comprise a group of parking spaces are described. An embodiment includes a communication mode specific for vehicles in a parking lot. An embodiment includes messages describing the shape and size of vehicle entering or leaving a parking space. Efficient methods of coding vehicle type are described. Methods of improving the operational efficiency of a vehicle communication system, including passive RF reflectors, audio and video messages, safety, courtesy and social messages, and compliance with vehicle restrictions are in some embodiments.

Abstract: Device, system and method, in a vehicle communication system using a first protocol, of implementing a gateway using a distinct second protocol. Embodiments include a first protocol transmitting in a government set vehicle safety band, and a second protocol in the set of: WiFi, Bluetooth, cellular phone and cellular data. An embodiment uses a validity-testing module to prevent insecure messages on the second protocol from interfering with the first protocol. Both one-way and two-way inter-protocol message transfers are described. Embodiments use the gateway to communicate from a vehicle using the first protocol to pedestrians, bicyclists, and equipped animals using the second protocol. Embodiments use a computed and transmitted risk-of-collision value. Embodiments include a driver or operator warning responsive to the transmitted risk value. Embodiments include computation of likely future position.

Abstract: Device, system and method, in a vehicle communication system, of securely storing safety-related messages. Embodiments include both digital signing and digital encryption such that (i) stored message validity is assured; and (ii) only qualified or pre-selected recipients are able to decrypt the message. Embodiments include storing environmental information geographically related to a safety event. Embodiments include a plurality of vehicles within wireless communication range receiving a network warning message and then securely storing related information in response to the warning message. Embodiments include measuring time-of-transit of messages and using this measured time to triangulate position of a transmit source. This information may be transmitted or stored. Embodiments include forwarding of network warning messages. Algorithms are described to identify spoofed messages.

Abstract: Device, system and method, in a vehicle communication system, of generating a location by the use of combining the rough locations of a “consensus set” of vehicles within wireless communication range to produce more accurate locations of the vehicles in the consensus set. Unique features of some embodiments include the continual re-computation and re-adjustment of both the vehicles in the consensus set and the more accurate locations. Embodiments use sensors on a first vehicle, such as cameras, sonar, radar and LIDAR to determine the relative location of the second vehicle to the first vehicle. Embodiments use this relative location in the computation of the more accurate locations. Algorithms are described for the computation, communication, convergence and updating of the more accurate locations. Algorithms are described for generation and update of the consensus set.

Abstract: Device, system and method of implementing a wireless vehicle-to-vehicle anti-collision system. Details of message formats are described, particularly efficient formats using flags and compressed data, expressing distances, both in the horizontal and vertical directions. Details of protocols are described. Details of encoding locations, headings and speed are described. In one embodiment messages are free of IP addresses and MAC addresses. Roadway elevation is included in some embodiments.

Abstract: Device, system and method, in a vehicle communication system, of generating lane maps. Embodiments use a plurality of location points to build up a lane, then record that lane in memory. Location points may be locations over which a first vehicle generating the lane map passes, or may be location points broadcast by a second vehicle to the first vehicle. Methods are described to wirelessly share lane information and lane maps between vehicles. Embodiments use a “confidence value” describing the confidence that the lane parameters are valid. Algorithms are described for creating and updating the confidence values. Methods of compressing and storing lane information and lane maps are described. Embodiments include geographic height in lane information.

Abstract: Device, system and method, in a vehicle communication system, of transmitting a risk value in a message, wherein the risk value identifies quantitatively a risk of vehicle collision. Embodiments determine risk value by combining sub-risk values wherein sub-risks comprise: (i) vehicle behavior; (ii) weather and road conditions; (iii) current traffic; and (iv) location history. Embodiments include driver warnings responsive to the risk value in a received message. Embodiments include a collision type in a message. Embodiments include unique features of: risk is applicable to receiving vehicles; risk is applicable to a geographical region; computation and storage of location histories; messages free of IP and MAC addresses; haptic devices used for driver warning.

Abstract: A vehicle communication system providing, in one embodiment, wirelessly transmitting and receiving messages regarding the status of parking spaces, such as empty or occupied. Only vehicles belonging to a predetermined set are able to decrypt such messages, in one embodiment. Message formats to comprise a group of parking spaces are described. An embodiment includes a communication mode specific for vehicles in a parking lot. An embodiment includes messages describing the shape and size of vehicle entering or leaving a parking space. Efficient methods of coding vehicle type are described. Methods of improving the operational efficiency of a vehicle communication system, including passive RF reflectors, audio and video messages, safety, courtesy and social messages, and compliance with vehicle restrictions are in some embodiments.

Abstract: Device, system and method, in a vehicle communication system, to transmit wirelessly the position, heading and speed of a vehicle or other moving object. In a key embodiment the vehicle is other than the transmitting vehicle. Some embodiment use local sensors on a first vehicle, such as cameras, sonar, radar or LIDAR to identify the relative position, heading and speed of a second vehicle relative to the first, transmitting, vehicle. An embodiment uses the location of the vehicle whose information is being transmitted as the identification of the same vehicle. Embodiments also receive these messages. Embodiments use this information as warning and safety information to avoid or minimize vehicle collisions. A unique feature of some embodiments is that the messages are free of IP and MAC addresses.

Abstract: Device, system and method, in a vehicle communication system, of generating lane maps. Embodiments use a plurality of location points to build up a lane, then record that lane in memory. Location points may be locations over which a first vehicle generating the lane map passes, or may be location points broadcast by a second vehicle to the first vehicle. Methods are described to wirelessly share lane information and lane maps between vehicles. Embodiments use a “confidence value” describing the confidence that the lane parameters are valid. Algorithms are described for creating and updating the confidence values. Methods of compressing and storing lane information and lane maps are described. Embodiments include geographic height in lane information.

Abstract: Device, system and method, in a vehicle communication system, of providing guidance, route and safety information to a driver. Embodiments use the observation and storage of signal light timing information to make recommendations. Embodiments include computation of future times of signal light changes. Embodiments use information relating to the number of vehicles, location of vehicles, and speed of vehicles in a plurality of lanes approaching a signal to recommend lane changes to a driver. Embodiments include receiving timing information wirelessly about signal timing. Embodiments include using historical information to compute a risk value for a location and then generating a recommendation to a driver responsive to that risk value. Embodiments include using speed of travel on route options to compute an expected travel time, and then generating a recommendation to a driver responsive to those computed travel times.

Abstract: Device, system and method, in a vehicle communication system, of securely storing safety-related messages. Embodiments include both digital signing and digital encryption such that (i) stored message validity is assured; and (ii) only qualified or pre-selected recipients are able to decrypt the message. Embodiments include storing environmental information geographically related to a safety event. Embodiments include a plurality of vehicles within wireless communication range receiving a network warning message and then securely storing related information in response to the warning message. Embodiments include measuring time-of-transit of messages and using this measured time to triangulate position of a transmit source. This information may be transmitted or stored. Embodiments include forwarding of network warning messages. Algorithms are described to identify spoofed messages.

Abstract: Device, system and method, in a vehicle communication system of wirelessly forwarding safety related messages. Methods are provided for limiting the number of duplicated transmissions. Methods are provided for limiting the scope of forwarded message. One embodiment uses the distance of the message originator to a first message forwarder to limit duplicate messages. Various embodiments limit the scope of messages forwarding by using a forwarding count; by considering distance forwarded, and by considering the heading of vehicles performing the message forwarding. Forwarding distance depends of message type and the risk contained within the message, in some embodiments. An embodiment uses a compact message encoding to identify an original versus a forwarded message.

Abstract: A device for use in, and system for, a vehicle-to-vehicle (V2V) communication and safety system that uses a hybrid combination of TDMA and CSMA protocols. The synchronized TDMA frame is partitioned into three prioritized time interval classes with differing priorities and dynamically changing sizes based on demand of higher-priority messages. The TDMA portions of a repeating time interval uses self-assigned dense time slots for high-priority safety messages, with one portion for emergency vehicles and road-side units. The CSMA protocol uses remaining available time for lower-priority and overflow messages. The higher-priority time interval classes change size dynamically based on the number of current transmissions. Modulation schemes, but not data link formats, use existing Standards. Embodiments include optimized traffic flow and signal timing.

Abstract: Device, system and method, in a vehicle communication system, of transmitting a risk value in a message, wherein the risk value identifies quantitatively a risk of vehicle collision. Embodiments determine risk value by combining sub-risk values wherein sub-risks comprise: (i) vehicle behavior; (ii) weather and road conditions; (iii) current traffic; and (iv) location history. Embodiments include driver warnings responsive to the risk value in a received message. Embodiments include a collision type in a message. Embodiments include unique features of: risk is applicable to receiving vehicles; risk is applicable to a geographical region; computation and storage of location histories; messages free of IP and MAC addresses; haptic devices used for driver warning.

Abstract: Device, system and method, in a vehicle communication system, of generating a location by the use of combining the rough locations of a “consensus set” of vehicles within wireless communication range to produce more accurate locations of the vehicles in the consensus set. Unique features of some embodiments include the continual re-computation and re-adjustment of both the vehicles in the consensus set and the more accurate locations. Embodiments use sensors on a first vehicle, such as cameras, sonar, radar and LIDAR to determine the relative location of the second vehicle to the first vehicle. Embodiments use this relative location in the computation of the more accurate locations. Algorithms are described for the computation, communication, convergence and updating of the more accurate locations. Algorithms are described for generation and update of the consensus set.