Patent ID: 11940544
Assignee: FORD GLOBAL TECHNOLOGIES, LLC
Field: Control (Instruments)
Classification: CPC G  H | IPC G  H

Claim 7:
8. A method for performing vehicle heading analysis and position enhancement for vehicle positioning, comprising:
tracking a first heading of a vehicle received via a global navigation satellite system (GNSS);
receiving, to an onboard unit (OBU) of a vehicle via a transceiver of the vehicle, vehicle-to-everything (V2X) messages from a roadside unit (RSU), the V2X messages indicating a location of the RSU;
tracking a second heading of the vehicle according to the V2X messages;
performing a heading match between the first heading and the second heading; and
triggering performing position enhancement to determine the corrected current position of the vehicle responsive to the headings differing by at least a threshold amount, the position enhancement including:
utilizing sensors of the vehicle to capture sensor data of the RSU; and
updating a current position of the vehicle to a corrected current position of the vehicle based on the RSU as shown in the sensor data and the location of the RSU indicated in the V2X messages.