WO2011117240A1

WO2011117240A1 - Processing correction data in a vehicle

Info

Publication number: WO2011117240A1
Application number: PCT/EP2011/054348
Authority: WO
Inventors: Carsten Isert; Robert Hein
Original assignee: Bayerische Motoren Werke Aktiengesellschaft
Priority date: 2010-03-25
Filing date: 2011-03-22
Publication date: 2011-09-29
Also published as: DE102010003255A1

Abstract

A method for processing correction data in a vehicle is specified, in which the correction data are transmitted to the vehicle as required, and in which navigation of the vehicle is carried out using the correction data. A corresponding control unit and a vehicle having at least one such control unit are also proposed.

Description

description

Processing of correction data in a vehicle The invention relates to a method and a control unit for processing correction data in a vehicle and to a corresponding vehicle.

A Global Positioning System (GPS) is a global navigation satellite system for positioning and timing. GPS provides a location accuracy of the order of 10 meters.

A Differential Global Positioning System (DGPS, also referred to as "Global Positioning System (with) Differential (signal)") increases by transmitting

Correction data (train and time system) the accuracy of the GPS navigation. The positioning of GPS is based on the measurement of the distances of the receiver to several satellites. The distance is measured indirectly over the duration of the signals from the satellites to the receiver. This is possible because the speed at which the signals propagate is constant and known. However, in practice certain inaccuracies arise because the speed of the signals varies slightly due to atmospheric disturbances. The DGPS uses stationary GPS receivers, so-called reference stations. From the deviation of the actual and the received position, the actual transit times of the signals to the receiver can be determined very accurately for each satellite. The

Reference station transmits the differences of the theoretical and actual signal transit times to the GPS receivers in the environment.

The DGPS receivers use this difference information as a correction signal, which allows the position of the receiver to be calculated accurately. The for the

Correction signals required receiving antenna is often already integrated into the G PS antennas. If the (radio) connection to the DGPS transmitter fails, the

Receiver into the normal GPS mode without correction, but then loses the accuracy advantage.

The accuracy of the GPS signal can be significantly improved by using differential GPS (DGPS) correction data. Accuracies in the range of centimeters are possible with corresponding DGPS receivers. Improved accuracy coupled with detailed maps can provide accurate lane positioning or improved longitudinal positioning of the vehicle

Vehicle can be reached to alert the driver e.g. assist with navigation in complex target areas. In this case, an accuracy of 0.5m to 1 m is sufficient; other applications, e.g. autonomous driving, can possibly one

Require localization with even higher accuracy.

Depending on the accuracy increase the cost of the required differential signals or

Correction data of the DGPS (also referred to as the quality of the correction data).

In particular, such correction data is often not needed during the entire journey time.

For example, the transmission of the correction data currently takes place via

Mobile radio systems, e.g. a service provider provides special dial-in numbers that can be used to retrieve correction data in RTCM format.

Another possibility is the retrieval of the correction data via the Internet by means of NTRJP (Networked Transport of RTCM via Internet Protocol) method. This approach is advantageous if an Internet connection already exists with the mobile terminal or with the vehicle. There is an authentication via a user name and a password for a particular service that has been ordered, for example, in advance.

In this case, it is disadvantageous that the service for providing the correction data must already be subscribed in advance by the customer. For this it is necessary that the customer deals with the DGPS technology and a corresponding

Receiver or has its GPS device extended appropriately.

It is also disadvantageous that only a certain service can be retrieved in a predetermined quality.

Furthermore, it is disadvantageous that relatively high costs for the correction data are incurred.

The object of the invention is to avoid the aforementioned drawbacks and in particular to provide an efficient approach to dealing with DGPS correction data. This object is achieved according to the features of the independent claims. Further developments of the invention will become apparent from the dependent claims.

To achieve the object, a method for processing correction data in a vehicle is specified,

in which the correction data are transmitted to the vehicle as needed,

- In which a navigation of the vehicle based on the correction data

is carried out.

In particular, the correction data can be transmitted to the vehicle or requested from the vehicle. The correction data may be e.g. around

Correction data for positioning the vehicle act. In particular, the navigation of the vehicle, which is performed on the basis of the correction data, may also include a positioning of the vehicle.

In this case, it is advantageous for the correction data to be dependent on a

Route or a destination of the vehicle (e.g., depending on one

electronic horizon) are requested or transmitted. For example, an (intermediate) destination may be located in an area (e.g., shopping mall, airport) that requires more accurate navigation than traditional GPS navigation. With the correction data of the DGPS, it is possible to determine the position of the DGPS receiver to within a few centimeters and to display the position of the vehicle exactly on a correspondingly detailed map. Alternatively, automated or at least partially autonomous driving with such

Correction data are performed.

A further development is that different qualities of the correction data are requested as required by the vehicle.

Thus, without the involvement of a user, that is transparent to the user, e.g. correction data may be provided by a service provider (e.g., the vehicle manufacturer) only when needed by the vehicle, or when using the correction data, improved navigation compared to

conventional GPS data is possible. In particular, depending on the area, different quality levels of

Correction data are needed so that preferably depending on the required accuracy of the navigation and / or the available detailing of the map data, the position of the vehicle can be determined. For example, with sufficiently accurate positioning of the vehicle within a traffic lane, e.g. Depending on a detail level of the available map data, the selection of the quality level of the correction data is possible. This can be done automatically, if e.g. an application, e.g. a navigation application for determining a destination or an application for navigating the vehicle, e.g. for automatic driving or tracking, determines that the current position of the vehicle can not be determined with a predetermined safety (for example, if the

Navigation system can not clearly assign a lane, although the

Movement of the vehicle is largely continuous along its longitudinal axis).

Another development is that the correction data is transmitted to the vehicle depending on at least one of the following events:

- at or before reaching a destination for which detailed map data is available;

- at or before setting an at least partially autonomous driving mode;

- At or before reaching a parking, a city, an intersection, a road junction and / or a winding road course.

In particular, it is a development that the correction data for a predetermined period are requested from the vehicle.

For example, the correction data can be requested as long as one of the aforementioned events exists. Also, after occurrence of an event, the correction data can be requested for a predetermined (minimum) period of time.

It should be noted that the event is transmitted from the vehicle to a central unit, e.g. a computer network (comprising at least one computer) of the vehicle manufacturer or the Internet can be transmitted and from the computer network

Correction data for a predetermined period of time and / or concerning a given quality level are provided. It is also a development that the navigation of the vehicle at least partially comprises an autonomous control of the vehicle.

For example, it is possible that an automatic control of the vehicle in a traffic lane takes place with the aid of the correction data. In this case, the vehicle can drive autonomously, e.g. braking, accelerating, lane keeping, lane change, turning, parking, etc. Autonomous driving here covers a range from a partially automated vehicle control function to (almost) complete automated driving (especially without the need for user intervention).

Furthermore, it is a development that the navigation of the vehicle a

Information output of a navigation device includes.

The information output can be done in different ways, e.g. by means of a voice output, by means of symbols on (at least) one display unit. The

Information can be a prediction regarding the traveled or the

include the upcoming route, e.g. Travel time, time to destination, status information concerning the correction data, etc. As part of an additional development, the correction data will be provided by a service provider.

In particular, the service provider may be a vehicle manufacturer. The

Correction data can be made available to the vehicle manufacturer by a special service provider. The vehicle manufacturer may have an infrastructure with the vehicles, e.g. via an obiifunk interface, (permanent or temporary), and to those vehicles that require or request correction data, the correspondingly required or requested correction data

provide.

A next development is that the demand is transmitted to the service provider and the service provider then provides correction data, in particular for a given period and / or in a suitable quality.

In particular, there is a possibility that the vehicle may communicate with the service provider and the correction data itself may be provided by a correction data provider. It is advantageous that the service provider as a customer of the correction data provider occurs and obtains a large amount of correction data from the correction data provider, which has a positive effect on the price per

Correction record affects. Thus, the service provider the vehicles, ie the customers of the vehicle manufacturer, a favorable tariff for obtaining the

Offer correction data. Furthermore, the DGPS service may be integrated into the navigation system or the control unit of the vehicle so that the user of the vehicle is not concerned about the different type of navigation (with or without

Correction data) must take care of in detail; instead, the user can simply use a "high spatial resolution advanced navigation" service provided by the service provider, particularly vehicle manufacturers.

One embodiment is that, depending on demand, card data is transmitted to the vehicle. By way of example, the map data are map information which can be read by a navigation device and which has a higher accuracy and / or topicality than the information usually present on the storage medium of the navigation device

Map data. So it is possible that e.g. A parking-accurate navigation in a parking garage, shopping center or exhibition center can be carried out. Also current additional information can be transmitted and evaluated accordingly, e.g. which parking spaces are occupied or free.

An alternative embodiment is that the correction data

Differential signals for position determination, in particular DGPS signals include.

The above object is also achieved by means of a control unit for a vehicle, on which the method described herein is feasible.

The control unit of the vehicle may be e.g. around at least one control device of the vehicle comprising, e.g. a navigation system, manual. In particular, the control unit has a DGPS receiver and is via a mobile

Communication interface with the computer network of the vehicle manufacturer or service provider or the Internet connectable. For example, the control unit comprises at least one processor unit which is set up such that the described method can be carried out. The control unit may, for example, as an analog or digital control unit, as a processor and / or a at least partially hard-wired circuitry configured such that the method is practicable as described herein.

The processor may be or include any type of processor or computer or computer with correspondingly necessary peripherals (memory, input / output interfaces, input devices, etc.). Furthermore, a hardwired circuit unit, e.g. an FPGA or an ASIC, or other integrated circuit may be provided. The above object is also achieved by a vehicle comprising at least one control unit as described herein.

Embodiments of the invention are illustrated and explained below with reference to the drawings.

It shows:

1 shows an exemplary block diagram comprising a vehicle that has a

Navigation system receives and processes GPS data, wherein the vehicle is connected to a service provider via a mobile radio network and receives correction data (for example DGPS data) from or via the service provider.

The present approach proposes that a vehicle for special driving situations (DGPS) can request correction data of a given quality for a certain duration and these are made available to the vehicle via a suitable interface.

In this case, it is advantageous that the customer does not have to take care of ordering the correction data himself. Both a duration during which the correction data is needed and a quality of the correction data may be coupled to particular scenarios or applications. So it is possible that the customer pays only for the correction data actually needed, the provision of the

Correction data can be transparent for the customer.

Requesting the data can be done using an available electronic horizon. The electronic horizon includes a future route of the Vehicle. For example, the electronic horizon may indicate that the route of the vehicle is leading to an area (eg, airport, mall, exhibition grounds) for which a special map with high detail is available. Such a special map may include, for example, lanes of a parking garage and / or individual parking lots. The special card may be available in the memory of the vehicle or it may be recharged, eg automatically or on request of the driver. Based on the correction data of the DGPS system, it is now possible, for example, to perform a lane-accurate navigation in the special map. Furthermore, depending on certain conditions or conditions, detailed or automatic manual maps may be used or reloaded. For example, due to a proximity to a complex intersection, a detailed map regarding the roadways for that intersection may be loaded. With the detailed map correction data can be requested according to the detailing, so that a sufficiently accurate navigation within the detail map is possible.

Another example relates to autonomous driving, ie autonomous driving of the vehicle (at least partially) without user activity. Autonomous driving can e.g. driving along a traffic lane, wherein a position of the vehicle within the (e.g., multi-lane) roadway should be determinable.

In this regard, the correction data can be used to work with a

according to detailed map determine where (on which lane or within a lane) the vehicle is located. Based on a precise

Positioning the vehicle, it is possible to take appropriate actions, e.g. Maintaining the lane, changing lanes, etc. to carry out or initiate.

It is advantageous that the vehicle manufacturer as an intermediary for the

Correction data may occur. The service provider can provide the vehicle manufacturer with the correction data, which then distributes them to the vehicles in suitable quality as needed, for example via a mobile radio system. Thus, the costs for the correction data are reduced, since these are significantly cheaper in large quantities than for the individual user, each with a separate subscription. Thus, the customer or user of the vehicle can perceive an improved or more accurate navigation service without having to worry about the DGPS and / or the required quality of the correction data. Alternatively, it is also possible that the vehicle manufacturer himself generates correction data and provides it accordingly. For example, DGPS stations may be permanently installed on at least a portion of the dealer of the vehicle manufacturer.

1 shows an exemplary block diagram comprising a vehicle 101, which receives and processes GPS data via a navigation system or a positioning module 106. The vehicle 101 is connected via a mobile radio network 102 with a

Service provider 103 connected. The service provider 03 may be e.g. to trade the vehicle manufacturer. The service provider 103 has the option

Correction data (DGPS data), e.g. from another service provider 104. The correction data allow a determination of a position of a DGPS to an accuracy of a few centimeters. The vehicle 01 may request such correction data from the service provider 103 or the service provider 103 may recognize, e.g. from a destination entered into the navigation system of the vehicle 101, where the navigation leads, and accordingly provides a sufficiently accurate DGPS correction signal, if necessary depending on an accuracy of the map data present in the vehicle.

Furthermore, it is possible for the service provider to access detailed maps 105 and forward them to the vehicle 101 as needed. By means of detail maps 105 and a correspondingly accurate position determination via the DGPS signals improved navigation is possible. Also, autonomous driving can be made possible or significantly improved since the position of the vehicle can be determined with high accuracy.

Preferably, a detail map includes detailed map information related to a particular area, e.g. an airport, a city center, a parking area, etc.

Claims

claims

Method for processing correction data in a vehicle,

in which the correction data are transmitted to the vehicle as needed,

.- in which a navigation of the vehicle based on the correction data

is carried out.

Method according to Claim 1, in which different qualities of the correction data are requested as required by the vehicle.

Method according to one of the preceding claims, in which the

Correction data is transmitted to the vehicle depending on at least one of the following events:

- at or before reaching a destination for which detailed map data is available;

- at or before setting an at least partially autonomous driving mode;

- At or before reaching a parking facility, a city, an intersection, a road junction and / or a winding road.

Method according to one of the preceding claims, in which the vehicle requests the correction data for a predetermined period.

Method according to one of the preceding claims, in which the navigation of the vehicle at least partially comprises an autonomous control of the vehicle.

Method according to one of the preceding claims, in which the navigation of the vehicle comprises an information output of a navigation device.

7. The method according to any one of the preceding claims, wherein the

Correction data can be provided by a service provider. 8. The method of claim 7, wherein the need for the service provider

and the service provider then correction data, especially for a given period of time and / or in a suitable quality.

Method according to one of the preceding claims, in which

On demand, map data is transmitted to the vehicle.

Method according to one of the preceding claims, in which the

Correction Data Differential signals for position determination, in particular DGPS signals, include.

Control unit of a vehicle, on which the method according to any one of the preceding claims is feasible.

Vehicle with at least one control unit according to claim 11.