WO2019004727A1 - Procédé de suivi de position de véhicule dans un système de communication sans fil et appareil correspondant - Google Patents

Procédé de suivi de position de véhicule dans un système de communication sans fil et appareil correspondant Download PDF

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Publication number
WO2019004727A1
WO2019004727A1 PCT/KR2018/007295 KR2018007295W WO2019004727A1 WO 2019004727 A1 WO2019004727 A1 WO 2019004727A1 KR 2018007295 W KR2018007295 W KR 2018007295W WO 2019004727 A1 WO2019004727 A1 WO 2019004727A1
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Prior art keywords
vehicle
lane
information
network
capability
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PCT/KR2018/007295
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English (en)
Korean (ko)
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김명진
이상림
이호재
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엘지전자(주)
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Definitions

  • the present invention relates to a wireless communication system, and more particularly, to a method for tracking a position of a vehicle in a wireless communication system and an apparatus for supporting the same.
  • the mobile communication system has been developed to provide voice service while ensuring the user 's activity.
  • the mobile communication system not only the voice but also the data service are extended.
  • due to the increase of the explosive traffic there is a shortage of resources and users require higher speed service, have.
  • next-generation mobile communication system largely depend on the acceptance of explosive data traffic, the dramatic increase in the rate per user, the acceptance of a significantly increased number of connected devices, very low end-to-end latency, Should be able to.
  • a dual connectivity a massive multiple input multiple output (MIMO), an in-band full duplex, a non-orthogonal multiple access (NOMA) wideband support, and device networking.
  • MIMO massive multiple input multiple output
  • NOMA non-orthogonal multiple access
  • a method for tracking a location of a vehicle in a wireless communication system comprising the steps of: requesting whether the vehicle is capable of collecting information about a line of vehicle Receiving a capability request message from a network; Sending a capability response message to the network indicating a response to the capability request message; Obtaining lane information indicating which lane the currently running lane is by using a sensor recognizing the lane; And transmitting the obtained lane information to the network.
  • the lane information is quantized based on a value related to the number of lanes and a quantization level.
  • the first part of the quantization level is a value representing a lane on which the vehicle is running
  • the second part is a value indicating a distance between the center of the lane on which the vehicle is running and the vehicle .
  • the method may further include receiving control information associated with a road that is currently running from the network.
  • control information includes at least one of information indicating the total number of lanes of the road or information indicating the number of one-way lanes.
  • the capability response message includes a vehicle identifier (ID) for identifying the vehicle.
  • ID vehicle identifier
  • the senor is a vision sensor.
  • the ability to collect information about the lane is determined by the presence or absence of the sensor.
  • a vehicle for tracking a location in a wireless communication system comprising: a sensor for recognizing a lane; An RF (Radio Frequency) module for transmitting and receiving a radio signal; And a processor operatively connected to the RF module and the sensor for controlling the vehicle, the processor comprising: a capability requesting unit operable to request a capability to collect information about a line of vehicle control the RF module to receive a capability request message from the network; Control the RF module to send a capability response message to the network indicating a response to the capability request message; Control the sensor to obtain lane information indicating which lane the currently running lane is; And controlling the RF module to transmit the obtained lane information to the network.
  • a capability requesting unit operable to request a capability to collect information about a line of vehicle control the RF module to receive a capability request message from the network; Control the RF module to send a capability response message to the network indicating a response to the capability request message; Control the sensor to obtain lane information indicating which lane
  • the present invention has the effect of more efficiently estimating the position of the vehicle using information about the lane through the sensor and distance information between the vehicle and the RSU.
  • FIG. 1 shows a structure of a radio frame in a wireless communication system to which the present invention can be applied.
  • FIG. 2 is a diagram illustrating a resource grid for one downlink slot in a wireless communication system to which the present invention can be applied.
  • FIG 3 illustrates a structure of a downlink subframe in a wireless communication system to which the present invention can be applied.
  • FIG. 4 illustrates a structure of a UL subframe in a wireless communication system to which the present invention can be applied.
  • FIG. 5 is a diagram illustrating an OTDOA method for positioning a terminal.
  • FIG. 6 is a diagram showing a pattern in which PRS is assigned to a resource element.
  • FIG. 7 is a diagram showing an example of a predictive radio resource management system.
  • FIG. 8 is a diagram showing an example of a situation in which it is necessary to track the position of the vehicle.
  • FIG. 9 is a diagram illustrating an example of a vehicle position tracking method using the distance between the RSU and the vehicle and the lane of the road.
  • FIG. 10 is a diagram showing an example of a method of quantizing lane information proposed in the present specification.
  • FIG. 11 is a diagram showing another example of a lane information quantization method proposed by the present specification.
  • FIG. 12 is a diagram showing another example of a lane information quantization method proposed in the present specification.
  • FIG. 13 is a diagram showing another example of a lane information quantization method proposed by the present specification.
  • FIG. 14 is a flowchart showing an example of a location tracking method using the lane information proposed in the present specification.
  • 15 is a flowchart showing an example of a method of operating a vehicle for tracking a position proposed in the present specification.
  • FIG. 16 illustrates a block diagram of a wireless communication device to which the methods proposed herein may be applied.
  • FIG. 17 illustrates a block diagram of a communication apparatus according to an embodiment of the present invention.
  • a base station has a meaning as a terminal node of a network that directly communicates with a terminal.
  • the particular operation described herein as performed by the base station may be performed by an upper node of the base station, as the case may be. That is, it is apparent that various operations performed for communication with a terminal in a network including a plurality of network nodes including a base station can be performed by a network node other than the base station or the base station.
  • a 'base station (BS)' may be replaced by terms such as a fixed station, a Node B, an evolved NodeB (eNB), a base transceiver system (BTS), an access point (AP) .
  • eNB evolved NodeB
  • BTS base transceiver system
  • AP access point
  • a 'terminal' may be fixed or mobile and may be a mobile station (UE), a mobile station (MS), a user terminal (UT), a mobile subscriber station (MSS), a subscriber station (SS) Advanced Mobile Station (WT), Wireless Terminal (WT), Machine-Type Communication (MTC), Machine-to-Machine (M2M), and Device-to-Device (D2D) devices.
  • UE mobile station
  • MS mobile station
  • UT user terminal
  • MSS mobile subscriber station
  • SS Subscriber station
  • WT Wireless Terminal
  • MTC Machine-Type Communication
  • M2M Machine-to-Machine
  • D2D Device-to-Device
  • a downlink means communication from a base station to a terminal
  • an uplink means communication from a terminal to a base station.
  • the transmitter may be part of the base station, and the receiver may be part of the terminal.
  • the transmitter may be part of the terminal and the receiver may be part of the base station.
  • CDMA code division multiple access
  • FDMA frequency division multiple access
  • TDMA time division multiple access
  • OFDMA orthogonal frequency division multiple access
  • SC- single carrier frequency division multiple access
  • CDMA can be implemented with radio technology such as universal terrestrial radio access (UTRA) or CDMA2000.
  • TDMA can be implemented with wireless technologies such as global system for mobile communications (GSM) / general packet radio service (GPRS) / enhanced data rates for GSM evolution (EDGE).
  • OFDMA can be implemented with wireless technologies such as IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802-20, and evolved UTRA (E-UTRA).
  • UTRA is part of the universal mobile telecommunications system (UMTS).
  • 3GPP (3rd Generation Partnership Project) LTE (Long Term Evolution) is part of E-UMTS (evolved UMTS) using E-UTRA, adopting OFDMA in downlink and SC-FDMA in uplink.
  • LTE-A (advanced) is the evolution of 3GPP LTE.
  • Embodiments of the present invention may be supported by standard documents disclosed in at least one of the wireless access systems IEEE 802, 3GPP and 3GPP2. That is, the steps or portions of the embodiments of the present invention that are not described in order to clearly illustrate the technical idea of the present invention can be supported by the documents. In addition, all terms disclosed in this document may be described by the standard document.
  • 3GPP LTE / LTE-A is mainly described, but the technical features of the present invention are not limited thereto.
  • a wireless communication system to which the present invention can be applied is A wireless communication system to which the present invention can be applied.
  • FIG. 1 shows a structure of a radio frame in a wireless communication system to which the present invention can be applied.
  • 3GPP LTE / LTE-A supports a Type 1 radio frame structure applicable to Frequency Division Duplex (FDD) and a Type 2 radio frame structure applicable to TDD (Time Division Duplex).
  • FDD Frequency Division Duplex
  • TDD Time Division Duplex
  • a radio frame is composed of 10 subframes.
  • One subframe consists of two slots in the time domain.
  • the time taken to transmit one subframe is called a transmission time interval (TTI).
  • TTI transmission time interval
  • one subframe may have a length of 1 ms and the length of one slot may be 0.5 ms.
  • One slot includes a plurality of orthogonal frequency division multiplexing (OFDM) symbols in the time domain, and includes a plurality of resource blocks (RBs) in the frequency domain. Since 3GPP LTE uses OFDMA in the downlink, an OFDM symbol is intended to represent one symbol period. The OFDM symbol may be one SC-FDMA symbol or a symbol interval.
  • a resource block is a resource allocation unit and includes a plurality of consecutive subcarriers in one slot.
  • the Type 2 radio frame is composed of two half frames. Each half frame includes five subframes, a downlink pilot time slot (DwPTS), a guard period (GP), an uplink pilot time slot (UpPTS) One of the subframes is composed of two slots.
  • the DwPTS is used for initial cell search, synchronization, or channel estimation in the UE.
  • UpPTS is used to synchronize the channel estimation at the base station and the uplink transmission synchronization of the UE.
  • the guard interval is a period for eliminating the interference occurring in the uplink due to the multi-path delay of the downlink signal between the uplink and the downlink.
  • the uplink-downlink configuration is a rule indicating whether the uplink and the downlink are allocated (or reserved) for all the subframes.
  • Table 1 shows an uplink-downlink configuration.
  • 'D' denotes a subframe for downlink transmission
  • 'U' denotes a subframe for uplink transmission
  • 'S' denotes a DwPTS
  • GP UpPTS Represents a special subframe consisting of three fields.
  • the uplink-downlink structure can be classified into seven types, and the positions and / or the numbers of the downlink subframe, the special subframe, and the uplink subframe are different for each structure.
  • Switch-point periodicity refers to a period in which the uplink subframe and the downlink subframe are switched in the same manner, and both 5ms or 10ms are supported.
  • the special sub-frame S exists for each half-frame when a 5-ms downlink-uplink switching point has a period, and exists only in the first half-frame when a 5-ms downlink-uplink switching point has a period.
  • the 0th and 5th subframes and the DwPTS are only for downlink transmission.
  • UpPTS and subframes immediately following a subframe subframe are always intervals for uplink transmission.
  • the uplink-downlink configuration is system information, and both the base station and the terminal can know it.
  • the base station can inform the terminal of the change of the uplink-downlink allocation state of the radio frame by transmitting only the index of the configuration information every time the uplink-downlink configuration information is changed.
  • the configuration information may be transmitted as a kind of downlink control information through a physical downlink control channel (PDCCH) like other scheduling information, and may be transmitted to all terminals in a cell through a broadcast channel as broadcast information .
  • PDCCH physical downlink control channel
  • the structure of the radio frame is merely an example, and the number of subcarriers included in a radio frame, the number of slots included in a subframe, and the number of OFDM symbols included in a slot can be variously changed.
  • FIG. 2 is a diagram illustrating a resource grid for one downlink slot in a wireless communication system to which the present invention can be applied.
  • one downlink slot includes a plurality of OFDM symbols in a time domain.
  • one downlink slot includes 7 OFDM symbols, and one resource block includes 12 subcarriers in the frequency domain.
  • the present invention is not limited thereto.
  • Each element on the resource grid is a resource element, and one resource block (RB) contains 12 ⁇ 7 resource elements.
  • the number of resource blocks NDL included in the downlink slot is dependent on the downlink transmission bandwidth.
  • the structure of the uplink slot may be the same as the structure of the downlink slot.
  • FIG 3 illustrates a structure of a downlink subframe in a wireless communication system to which the present invention can be applied.
  • a maximum of three OFDM symbols preceding a first slot in a subframe is a control region in which control channels are allocated, and the rest of the OFDM symbols are allocated to a data region (PDSCH) to which a Physical Downlink Shared Channel data region).
  • Examples of the downlink control channel used in 3GPP LTE include a Physical Control Format Indicator Channel (PCFICH), a Physical Downlink Control Channel (PDCCH), and a Physical Hybrid-ARQ Indicator Channel (PHICH).
  • PCFICH Physical Control Format Indicator Channel
  • PDCCH Physical Downlink Control Channel
  • PHICH Physical Hybrid-ARQ Indicator Channel
  • the PCFICH is carried in the first OFDM symbol of the subframe and carries information about the number of OFDM symbols (i.e., the size of the control region) used for transmission of control channels in the subframe.
  • the PHICH is a response channel for the uplink and carries an ACK (Acknowledgment) / NACK (Not-Acknowledgment) signal for HARQ (Hybrid Automatic Repeat Request).
  • the control information transmitted through the PDCCH is referred to as downlink control information (DCI).
  • the downlink control information includes uplink resource allocation information, downlink resource allocation information, or an uplink transmission (Tx) power control command for an arbitrary terminal group.
  • PDCCH includes resource allocation and transmission format (also referred to as downlink grant) of DL-SCH (Downlink Shared Channel), resource allocation information of UL-SCH (also referred to as uplink grant), PCH Resource allocation for an upper-layer control message such as paging information in a paging channel, system information in a DL-SCH, and a random access response transmitted on a PDSCH, A set of transmission power control commands for individual terminals in the group, and activation of VoIP (Voice over IP).
  • the plurality of PDCCHs can be transmitted in the control domain, and the UE can monitor a plurality of PDCCHs.
  • the PDCCH consists of a set of one or a plurality of consecutive control channel elements (CCEs).
  • the CCE is a logical allocation unit used to provide a coding rate according to the state of the radio channel to the PDCCH.
  • the CCE corresponds to a plurality of resource element groups.
  • the format of the PDCCH and the number of bits of the available PDCCH are determined according to the association between the number of CCEs and the coding rate provided by the CCEs.
  • the base station determines the PDCCH format according to the DCI to be transmitted to the UE, and attaches a CRC (Cyclic Redundancy Check) to the control information.
  • the CRC is masked with a unique identifier (called a Radio Network Temporary Identifier (RNTI)) according to the owner or use of the PDCCH.
  • RNTI Radio Network Temporary Identifier
  • the unique identifier of the UE e.g., C-RNTI (Cell-RNTI)
  • Cell-RNTI C-RNTI
  • a PDCCH for a paging message a paging indication identifier, e.g., a Paging-RNTI (P-RNTI), may be masked to the CRC.
  • P-RNTI Paging-RNTI
  • SI-RNTI System information RNTI
  • SIB system information block
  • RA-RNTI random access-RNTI
  • FIG. 4 illustrates a structure of a UL subframe in a wireless communication system to which the present invention can be applied.
  • the uplink subframe can be divided into a control region and a data region in the frequency domain.
  • a PUCCH Physical Uplink Control Channel
  • a data area is assigned a physical uplink shared channel (PUSCH) for carrying user data.
  • PUSCH physical uplink shared channel
  • a resource block (RB) pair is allocated to a PUCCH for one UE in a subframe. RBs belonging to the RB pair occupy different subcarriers in each of the two slots. It is assumed that the RB pair assigned to the PUCCH is frequency hopped at the slot boundary.
  • OTDOA Observed Time Difference Of Arrival
  • FIG. 5 is a diagram illustrating an OTDOA method for positioning a terminal.
  • a UE since a UE performs a reference clock based on a subframe transmitted in a current serving cell, signals received from neighboring cells are transmitted to different TOAs (Time Of Arrival).
  • TOAs Time Of Arrival
  • the serving cell and the neighboring cell may be represented as a serving base station or a neighboring base station, respectively.
  • the OTDOA method measures a position of a UE using timing differences when signals transmitted from each cell arrive at the UE. Since the reference cell is a cell that is a reference of TDOA, And a delay time of a signal received from each of the plurality of neighboring cells and measures the delay time of a signal received from a serving cell or an anchor cell cell, and the serving cell measures the position of the UE using the reported delay times.
  • the reference cell refers to a cell that can be used as a criterion of Time Difference Of Arrival (TDOA).
  • TDOA Time Difference Of Arrival
  • a common reference signal (CRS) or a primary synchronization signal (PSS / SSS) may be used as a measurement signal for positioning a terminal.
  • CRS common reference signal
  • PSS / SSS primary synchronization signal
  • dedicated positioning for an LCS (LoCation Service) A reference signal (PRS) may be used.
  • the positioning reference (or reference) signal may be represented by a positioning reference signal, a positioning pilot signal, or the like.
  • PRS will be described as an example of a measurement signal used for positioning a terminal.
  • PRS positioning reference signal
  • PRS positioning reference signal
  • PRS is a reference signal used for positioning a UE, and is transmitted only through resource blocks of a downlink subframe determined for PRS transmission.
  • the PRS sequence is defined by Equation (1).
  • c (i) represents a pseudo-random sequence, and the pseudo-random sequence generator generates a pseudo-random sequence at the starting point of each OFDM symbol, .
  • Is a physical layer cell ID
  • CP cyclic prefix
  • Equation (4) represents the case of the general cyclic prefix
  • Equation (5) represents the case of the extended cyclic prefix
  • the bandwidth of the reference signal and the number of resource blocks ( ) Is set by the upper layer.
  • the reference signal has a different frequency shift for each cell ), And such a cell-specific frequency shift is determined according to Equation (6) below.
  • 6 is a diagram showing a pattern in which PRS is assigned to a resource element.
  • 6 (a) shows a case of a general CP
  • Fig. 6 (b) shows a case of an extended CP.
  • a positioning reference signal has a transmission opportunity, i.e., a positioning occasion, at a period of 160, 320, 640, or 1280 ms, and may be transmitted during consecutive N DL subframes in a positioning occasion.
  • N may have a value of 1, 2, 4, or 6.
  • the PRS may be substantially transmitted in a positioning occasion, but may be muting for intercell interference control cooperation.
  • prs-MutingInfo Information about this PRS muting is reported to the UE by prs-MutingInfo.
  • the transmission bandwidth of the PRS can be set independently of the system band of the serving base station and is transmitted in the frequency bands of 6, 15, 25, 50, 75, or 100 resource blocks (RB).
  • RB resource blocks
  • the PRS transmission sequence is generated by initializing a pseudo-random sequence generator for each OFDM symbol as a function of slot index, OFDM symbol index, cyclic prefix (CP) type, and physical cell ID.
  • the generated sequences are mapped to a resource element (RE) according to whether the normal CP or the extended CP is as shown in FIG.
  • the location of the mapped RE can be shifted on the frequency axis, the shift value being determined by the physical cell ID.
  • the position of the PRS transmission RE in FIG. 6 is the case where the frequency shift is zero.
  • Positioning techniques such as Observed Time Difference of Arrival (OTDOA) and other Assisted Global Navigation Satellite System (A-GNSS) positioning techniques, Enhanced Cell-ID (E-CID) techniques, and Uplink Time Difference of Arrival ), And can be utilized for various location-based services by such a positioning method.
  • OTDOA Observed Time Difference of Arrival
  • A-GNSS Assisted Global Navigation Satellite System
  • E-CID Enhanced Cell-ID
  • Uplink Time Difference of Arrival Uplink Time Difference of Arrival
  • E-CID E-CID
  • OTDOA OTDOA
  • UTDOA UTDOA
  • the E-CID has a limited positioning error and can not bring the correct position.
  • OTDOA and UTDOA provide much better tracking performance than E-CID, but they have a disadvantage of requiring at least three base stations.
  • FIG. 7 is a diagram showing an example of a predictive radio resource management system.
  • RRM radio resource management
  • FIG. 8 is a diagram showing an example of a situation in which it is necessary to track the position of the vehicle.
  • the network end for example, the base station
  • the vehicle can recognize the current line of vehicles through a vision sensor (e.g., camera) installed in the vehicle.
  • a vision sensor e.g., camera
  • the vehicle communicates with the infra such as a roadside unit (RSU) installed at a fixed position on the road, and carries out various ranging methods (for example, time of flight) using the distance between the vehicle and the RSU .
  • RSU roadside unit
  • the radius is the distance between the RSU and the vehicle centered on the lane of vehicle and the RSU.
  • the position of the vehicle can be known.
  • V-I position tracking For convenience of explanation, the position tracking method as shown in FIG. 9 is referred to as V-I position tracking.
  • FIG. 9 is a diagram illustrating an example of a vehicle position tracking method using the distance between the RSU and the vehicle and the lane of the road.
  • the present invention proposes a method of tracking the position of a vehicle by utilizing the vision sensors of the vehicle based on the above-mentioned contents.
  • the vehicle can signal to the RSU or the location server whether vision sensors capable of recognizing the lane are mounted or not.
  • the RSU or location server determines how to locate the vehicle (e.g., OTDOA, VI location tracking) to know whether it is possible to obtain information about the lane (e.g., number of lanes) the vehicle is driving through vision sensors .
  • the vehicle can report to the network through the physical layer signal or the upper layer signal whether the vehicle has the ability to collect information about the running lane through its vision sensors.
  • the information reported to the network in this way may initially be included in the capability signaling that the vehicle transmits to the network in connection with location tracking.
  • the RSU When the RSU receives from the vehicle whether it is capable of collecting information about the lane through the vision sensors and transmits it to the location server, it checks the ID of the vehicle so that the location server can identify which vehicle is capable of collecting information about the lane Together.
  • the location server can determine the position of the vehicle by applying a certain position tracking method to any vehicle.
  • the network signals information to the corresponding vehicle, which is useful for recognizing the lane of the vehicle.
  • the network can know which road the vehicle is on, so it is possible to use the location server or the RSU to display all or part of the information (e.g., the number of total lanes, the number of one-way lanes, etc.) To the vehicle as a physical layer signal or an upper layer signal.
  • the location server or the RSU can display all or part of the information (e.g., the number of total lanes, the number of one-way lanes, etc.) To the vehicle as a physical layer signal or an upper layer signal.
  • This information can reduce the error in which the vehicle uses vision sensors to determine how many lanes it is running.
  • the vehicle can know accurate information about the currently running lane using the lane information acquired by the vehicle and the lane information acquired through the network (or the location server or the RSU).
  • Information that helps the lane recognition of the vehicle such as information about the road on which the vehicle is running, may be provided only to the vehicle requesting such information (dedicated signaling or unicast method) to obtain a more accurate lane, It may be signaled to all vehicles (broadcast mode).
  • the information useful for lane recognition of the vehicle may be information provided to all the vehicles connected to the RSU.
  • the vehicle can quantize the information about the recognized lane through the vision sensors to the RSU or the location server.
  • the quantization level is Q when quantizing information on the lane (or lane information).
  • the methods of quantizing the information on the lane may vary depending on the number L of lanes and the quantization level Q.
  • a certain lane that divides the road by 2 ⁇ Q equals to the lane that is closest to the lane in which the actual vehicle travels among the above lanes.
  • the RSU or the location server tracks the location of the vehicle using the blue line corresponding to '01'.
  • FIG. 10 is a diagram showing an example of a method of quantizing lane information proposed in the present specification.
  • FIG. 11 is a diagram showing another example of a lane information quantization method proposed by the present specification.
  • the vehicle quantizes the value corresponding to each lane as it is and transmits it to the RSU or the location server.
  • 00, 01, 10, and 11 represent one lane, two lanes, three lanes, and four lanes, respectively. send.
  • the network node tracks the position of the vehicle using the blue line 1120 corresponding to '01'.
  • FIG. 12 is a diagram showing another example of a lane information quantization method proposed in the present specification.
  • Q +1 means Among the +1 bits, The bits are quantized and transmitted as they are for each lane, and the remaining 1 bit tells the extent to which the lane on which the vehicle is running is at the center of the lane.
  • the bits are '00', '01' and '10', respectively, and the lane information of the vehicle can be represented by '01'.
  • the vehicle since the remaining one bit indicates whether or not the vehicle is located at a certain distance or more from the center of the lane on the basis of the currently running lane, the vehicle has a certain distance from the current center, .
  • the vehicle transmits '011', which is information on the lane, to the network.
  • the network receives 011, but there are two zones (or positions) corresponding to the 011 value, in order to reduce the error when calculating the position of the vehicle, among the three bits, '01'
  • the corresponding blue line 1220 is used.
  • the network can detect the degree of error of the vehicle position and the safety hazards of the vehicle (eg lane departure) by using the V-I location tracking technique through the additional information bit.
  • FIG. 13 is a diagram showing another example of a lane information quantization method proposed by the present specification.
  • the bits are used to quantize and transmit the values corresponding to each lane,
  • the +1 th bit indicates the degree to which the vehicle has fallen to the center of the lane based on which lane the vehicle is running.
  • the remaining Q- -1 bits The area represented by +1 bits is 2 ⁇ (Q- -1) indicates that there is a vehicle in the area.
  • the bits are '00', '01' and '10', respectively, indicating one lane, two lanes and three lanes.
  • the lane information for the vehicle in Fig. 13 can be represented by " 01 ".
  • the next 1 bit tells you whether it is a certain distance or more from the center of the lane based on the current lane.
  • the remaining 1 bit is divided by 2 ⁇ (1) into the area indicated by 011x, and the value corresponding to the area where the vehicle is located is selected.
  • the vehicle transmits '0110', which is information on the lane, to the network.
  • the network When the network receives '0110' from the vehicle, it tracks the position of the vehicle using the center line (blue line, 1320) of the area.
  • (+1) th bit is '0', rather than tracking the position of the vehicle using the center line of the area of 0100 or 0101 It may be more accurate to track the position to the centerline of the two lanes, which is the centerline of '01' represented by bits.
  • the reason is that the vehicles that run are usually likely to run in the middle of the lane.
  • information about the quantization can be conveyed via physical layer (control) signals or RRC signaling or higher layer signals.
  • the lane information may be transmitted periodically, that is, periodically.
  • the RSU or the location server can configure the resources to periodically transmit the lane information to the vehicle.
  • the configuration information may include a time / frequency resource period, a location, and the like for transmitting the lane information.
  • the lane information may be transmitted in an aperiodic information transmission mode, i.e., aperiodically.
  • the RSU or the location server can support the vehicle to transmit information of the lane two aperiodically in order to raise the information of the changed lane.
  • the vehicle When the lane of the vehicle changes and the lane information needs to be transmitted aperiodically, the vehicle requests a resource configuration for raising the changed lane information to the RSU or the location server.
  • the RSU which is requested to transmit resources related to the transmission of aperiodic lane information from the vehicle, transmits information (e.g., location) about a resource through which the vehicle will transmit lane information through DCI (Downlink Control Information).
  • information e.g., location
  • DCI Downlink Control Information
  • the vehicle transmits the information of the lane to the configured resource (aperiodic).
  • the vehicle may reserve (or be preset) resources for aperiodically transmitting lane information in advance, without having to request allocation of resources related to aperiodic lane information in order to aperiodically transmit lane information.
  • the resource reports the network as a physical layer or an upper layer signal with a predetermined value or a blank value at a normal time, and can report the information of the lane through a corresponding resource when it is necessary to transmit information of a lane two aperiodically.
  • the previous information can be transmitted in RRC or higher layer signals.
  • the network may be an RSU or a location server.
  • the location server can know information as to whether a vehicle has the ability to grasp a running lane using a vision sensor (s) through UE capability signaling or the like in advance.
  • a vision sensor s
  • the location server can request the vehicles having the ability to grasp the lane to transmit information about the lane.
  • the vehicle which is requested by the location server for the lane information can not grasp the lane due to the weather environment or the problem of the vision sensors, the vehicle can be classified into a physical layer or an upper layer Layer signal.
  • the vehicle that makes this report is a vehicle that can not track the V-I position, it can be traced in other ways.
  • the location server may request lane information for vehicles that do not know whether they have the ability to grasp lane information using vision sensors.
  • the vehicle can report the lane information to the network in the physical layer or the upper layer signal.
  • the vehicle should report the traffic to the network as a physical layer or an upper layer signal with a predetermined value or an empty value in a predetermined field .
  • FIG. 14 is a flowchart showing an example of a location tracking method using the lane information proposed in the present specification.
  • the location server requests the vehicle to indicate whether it is capable of collecting information about a lane running through a vision sensor (s) (S1410 ).
  • a capability request message may be used.
  • the vehicle receiving the request from the location server transmits information on whether the vehicle is capable of recognizing the lane running to the location server (S1420).
  • a capability response message may be used.
  • the location server may transmit information (e.g., assistance data, etc.) about the road information of the vehicle currently running to the vehicle, a method of quantizing lane information, a framework for transmitting lane information, and the like (S1430).
  • information e.g., assistance data, etc.
  • the location server transmits a location information request to the RSU or the vehicle to track the location (S1440).
  • the RSU measures the distance between the RSU and the vehicle (S1450), and the vehicle recognizes information about the currently running lane (S1460).
  • the RSU and the vehicle respectively transmit information about the distance between the RSU and the vehicle and the lane by the location server (S1470).
  • the location server determines the location of the vehicle using the information received in step S1470.
  • 15 is a flowchart showing an example of a method of operating a vehicle for tracking a position proposed in the present specification.
  • the vehicle receives a capability request message from the network requesting that it is capable of collecting information on a line of vehicle (S1510).
  • the network may be represented by a location server, a base station, a road side unit (RSU), or a network end.
  • a location server a location server
  • a base station a base station
  • RSU road side unit
  • the ability to collect information about the lane may be determined by the presence or absence of the sensor.
  • the vehicle transmits a capability response message indicating the response to the capability request message to the network (S1520).
  • the capability response message may include a vehicle identifier (ID) that identifies the vehicle.
  • ID vehicle identifier
  • the vehicle obtains lane information indicating which lane the currently running lane is using by using a sensor for recognizing the lane (S1530).
  • the senor may be a vision sensor, a camera, or the like.
  • the lane information may be quantized based on a value related to the number of lanes and a quantization level.
  • the first part of the quantization level may be a value indicating a lane on which the vehicle is running and the second part may be a value indicating a distance between the center of the lane on which the vehicle is running and the vehicle.
  • FIG. 10 A detailed description of the first part and the second part will be given with reference to FIGS. 10 to 13.
  • FIG. 10 A detailed description of the first part and the second part will be given with reference to FIGS. 10 to 13.
  • the vehicle transmits the obtained lane information to the network (S1540).
  • the vehicle may further comprise receiving from the network control information associated with the road currently being run.
  • control information may include at least one of information indicating the total number of lanes on the road or information indicating the number of one-way lanes.
  • the base station and the terminal may be represented by wireless devices, respectively.
  • the base station may be represented by a network, an RSU or a location server, a network unit, and the terminal may be represented by an automobile, a vehicle, or the like.
  • FIG. 16 illustrates a block diagram of a wireless communication device to which the methods proposed herein may be applied.
  • a wireless communication system includes a base station 1610 and a plurality of terminals 1620 located in a base station area.
  • the base station 1610 includes a processor 1611, a memory 1612, and a radio frequency module 1613.
  • the processor 1611 implements the functions, processes, and / or methods suggested earlier in FIGS. 1-15.
  • the layers of the air interface protocol may be implemented by a processor.
  • the memory 1612 is coupled to the processor and stores various information for driving the processor.
  • the RF module 1613 is coupled to the processor to transmit and / or receive wireless signals.
  • the terminal includes a processor 1621, a memory 1622, and an RF module 1623.
  • the processor implements the functions, processes and / or methods suggested in FIGS. 1-15.
  • the layers of the air interface protocol may be implemented by a processor.
  • the memory is coupled to the processor and stores various information for driving the processor.
  • the RF module 1623 is coupled to the processor to transmit and / or receive wireless signals.
  • the memories 1612 and 1622 may be internal or external to the processors 1611 and 1621 and may be coupled to the processor by various well known means.
  • the base station and / or the terminal may have a single antenna or multiple antennas.
  • FIG. 17 illustrates a block diagram of a communication apparatus according to an embodiment of the present invention.
  • FIG. 17 is a diagram illustrating the terminal of FIG. 16 in more detail.
  • a terminal includes a processor (or a digital signal processor (DSP) 1710, an RF module (or RF unit) 1735, a power management module 1705 An antenna 1740, a battery 1755, a display 1715, a keypad 1720, a memory 1730, a SIM (Subscriber Identification Module ) card 1725 (this configuration is optional), a speaker 1745 and a microphone 1750.
  • the terminal may also include a single antenna or multiple antennas .
  • the terminal may include a sensor capable of recognizing a lane.
  • Processor 1710 implements the functions, processes, and / or methods suggested earlier in FIGS. 1-15.
  • the layer of the air interface protocol may be implemented by a processor.
  • Memory 1730 is coupled to the processor and stores information related to the operation of the processor.
  • the memory 1730 may be internal or external to the processor and may be coupled to the processor by various well known means.
  • the user inputs command information such as a telephone number or the like by, for example, pressing (or touching) a button on the keypad 1720 or by voice activation using a microphone 1750.
  • the processor receives such command information and processes it to perform appropriate functions, such as dialing a telephone number. Operational data may be extracted from sim card 1725 or memory 1730. In addition, the processor may display command information or drive information on the display 1715 for the user to recognize and also for convenience.
  • RF module 1735 is coupled to the processor to transmit and / or receive RF signals.
  • the processor communicates command information to the RF module to transmit, for example, a radio signal that constitutes voice communication data, to initiate communication.
  • the RF module consists of a receiver and a transmitter for receiving and transmitting radio signals.
  • the antenna 1740 functions to transmit and receive a radio signal. When receiving a radio signal, the RF module can transmit the signal for processing by the processor and convert the signal to baseband. The processed signal may be converted to audible or readable information output via speaker 1745.
  • Embodiments in accordance with the present invention may be implemented by various means, for example, hardware, firmware, software, or a combination thereof.
  • an embodiment of the present invention may include one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs) field programmable gate arrays, processors, controllers, microcontrollers, microprocessors, and the like.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • an embodiment of the present invention may be implemented in the form of a module, a procedure, a function, or the like for performing the functions or operations described above.
  • the software code can be stored in memory and driven by the processor.
  • the memory is located inside or outside the processor and can exchange data with the processor by various means already known.

Abstract

La présente invention concerne un procédé de suivi de position d'un véhicule dans un système de communication sans fil. Spécifiquement, le procédé mis en oeuvre par le véhicule comprend les étapes consistant à : recevoir, en provenance d'un réseau, un message de demande de capacité demandant si le véhicule dispose de la capacité à collecter des informations sur des voies ; transmettre, au réseau, un message de réponse de capacité indiquant une réponse au message de demande de capacité ; obtenir des informations de voie sur la voie actuelle du véhicule, à l'aide d'un capteur pour reconnaître les voies ; et transmettre les informations de voie obtenues au réseau. Ainsi, la présente invention a pour effet de suivre la position du véhicule avec une plus grande précision.
PCT/KR2018/007295 2017-06-28 2018-06-27 Procédé de suivi de position de véhicule dans un système de communication sans fil et appareil correspondant WO2019004727A1 (fr)

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WO2021154688A1 (fr) * 2020-01-27 2021-08-05 Qualcomm Incorporated Données de mesurage de positionnement
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