Patent ID: 8463464

Claim:
An apparatus for a first vehicle adapted to generate a voted trajectory of at least one vehicle, the apparatus comprising: a receiver configured to receive vehicle data from at least one second vehicle, the vehicle data concerning the at least one second vehicle, the vehicle data comprising at least one of track angle, speed, flight path angle, altitude, longitude, and latitude, and to receive trajectory data, the trajectory data comprising calculated trajectories of the first vehicle and the at least one second vehicle, the calculated trajectories being calculated at the at least one second vehicle; a trajectory calculator configured to calculate the trajectories of the first vehicle and the at least one second vehicle at the first vehicle, based on local vehicle data concerning the first vehicle and based on the received vehicle data concerning the at least one second vehicle; a voting module configured to perform a voting process on the received trajectory data calculated at the at least one second vehicle and the calculated trajectory for the first vehicle and the at least one second vehicle calculated at the first vehicle to generate voted trajectories of each of the first vehicle and the at least one second vehicle; and a transmitter configured to transmit the trajectories calculated at the first vehicle to the at least one second vehicle and to transmit the local data concerning the first vehicle to the at least one second vehicle.