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

Claim 13:
14. A non-transitory computer-readable medium comprising instructions for performing position enhancement for vehicle positioning, that, when executed by a processor of an onboard unit (OBU) of a vehicle cause the OBU to perform operations comprising to:
track a first heading of a vehicle received via a global navigation satellite system (GNSS);
receive, to the OBU 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;
track a second heading of the vehicle according to the V2X messages;
perform a heading match between the first heading and the second heading; and
trigger 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 to:
utilize image sensors of the vehicle to capture sensor data of the RSU;
determine 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;
confirm that the corrected current position is along a roadway as defined by map data included in the V2X messages; and
update the current position to be the corrected current position responsive to the corrected current position being along the roadway.