CN110383100A - 增强的物体位置检测 - Google Patents

增强的物体位置检测 Download PDF

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Publication number
CN110383100A
CN110383100A CN201880016411.6A CN201880016411A CN110383100A CN 110383100 A CN110383100 A CN 110383100A CN 201880016411 A CN201880016411 A CN 201880016411A CN 110383100 A CN110383100 A CN 110383100A
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CN
China
Prior art keywords
transceiver
coordinate system
location estimation
time
transceiver devices
Prior art date
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Pending
Application number
CN201880016411.6A
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English (en)
Inventor
奥诺夫·埃里克森
托拜厄斯·阿德鲁姆
德里欧奇·查菲克
朱美芳
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Anzher Software Co
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Swede Sweden
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Filing date
Publication date
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Publication of CN110383100A publication Critical patent/CN110383100A/zh
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G—PHYSICS
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    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract

本公开涉及位置估计单元(2)，该位置估计单元包括第一收发器装置(3)和处理单元(10)，该处理单元被布置成重复地：‑计算在第一收发器装置(3)和至少两个其他收发器装置(7、8、9)中的两个收发器之间成对发送的无线电信号(xi、X2、x‑j、X4、X5等)的飞行时间(TOF)；‑计算收发器装置(3、7、8、9)的可能位置，这导致每个收发器装置(3、7、8、9)有多个可能位置；以及‑执行多维标度(MDS)计算，以获得收发器装置(3、7、8、9)在当前坐标系中的相对位置；在两次初始MDS计算之后，在每两次连续MDS计算之间，处理单元(10)被布置成重复地：‑执行包括当前坐标系的平移、缩放和旋转的再现过程，以便获得校正的当前坐标系。再现过程被布置成确定校正的当前坐标系，以便获得所述连续MDS计算之间的收发器装置(3、7、8、9)的相对位置的最小变化。

Description

增强的物体位置检测
公开内容的描述
本公开涉及位置估计单元，该位置估计单元包括被布置成发送和接收无线电信号的第一收发器装置，和处理单元。
如今，存在许多车辆环境检测系统，诸如例如相机系统、多普勒雷达系统和LIDAR系统，这些系统可安装在车辆上以检测物体，以便实现各种功能诸如速度控制和防撞，以及其他功能诸如自动对准、在线保险杠面板校准、自主运动估计和场景理解。
然而，期望获得关于自主车辆相对于用于某些应用的其他车辆和物体的位置的高精确度诸如碰撞预测算法，如交叉口移动辅助(IMA)、左转辅助(LTA)、前碰撞警告(FCW)或通道变换警告(LCW)。不精确可能导致误报和漏报。GPS(全球定位系统)和GNSS(全球导航卫星系统)无法提供足够的精确度，特别是在城市条件下。
以前众所周知使用周期性广播执行车辆间距离估计，其中从发射器到接收器的无线信号的传播延迟用于估计距离。往返时间(RTT)用于通过一次一个地在三个或更多个车辆或物体之间发送无线信号来更精确地估计此类距离。这在Urs Niesen、VenkatesanN.Ekambaram、Jubin Jose和Xinzhou Wu撰写的论文“周期性广播的车辆间范围估计”中有所描述。
为了根据测量范围建立初始位置，将使用MDS(多维标度)，例如如Raj ThilakRajan、Geert Leus和Alle-Jan van der Veen撰写的论文“移动节点无锚网络的联合相对位置和速度估计”中所述。
然而，使用RTT估计相对位置产生多个解决方案，因为存在比方程数更多的未知数。
因此，期望获得更可靠和明确的方法和装置，以通过RTT测量获得物体之间的相对距离。
这通过位置估计单元来实现，该位置估计单元包括被布置成发送和接收无线电信号的第一收发器装置以及处理单元。该处理单元被布置成重复地：
计算在第一收发器装置和至少两个其他收发器装置中的两个收发器之间成对发送的无线电信号的飞行时间(TOF)。
计算收发器装置的可能位置，这导致每个收发器装置有多个可能位置。
执行多维标度(MDS)计算，以获得收发器装置在当前坐标系中的相对位置。
在两次初始MDS计算之后，在每两次连续MDS计算之间，处理单元(10)被布置成重复执行包括当前坐标系的平移、缩放和旋转的再现过程，以便获得校正的当前坐标系。再现过程被布置成确定校正的当前坐标系，以便获得所述连续MDS计算之间的收发器装置的相对位置的最小变化。
这也通过位置估计方法来实现，该方法包括重复地：
计算在第一收发器装置和至少两个其他收发器装置中的两个收发器之间成对发送的无线电信号的飞行时间(TOF)。
计算收发器装置的可能位置，这导致每个收发器装置有多个可能位置。
执行多维标度(MDS)计算，以获得收发器装置在当前坐标系中的相对位置。
在两次初始MDS计算之后，在每两次连续MDS计算之间，该方法包括执行包括当前坐标系的平移、缩放和旋转的再现过程，以便获得校正的当前坐标系。再现过程用于确定校正的当前坐标系，以便获得所述连续MDS计算之间的收发器装置的相对位置的最小变化。
根据一些方面，对于每对收发器，处理单元被布置成计算飞行时间作为无线电信号从发送收发器传输至接收收发器的时间，或者作为无线电信号从发送收发器传输至接收收发器并且至少一次返回发送收发器的时间，以便获得每对收发器的往返时间(RTT)。
根据一些方面，处理单元被布置成通过了解每次重新传输之间的延迟时间来计算飞行时间，或者通过在不同收发器处利用时间戳重复传输来计算飞行时间。
其他示例在从属权利要求中公开。
通过本公开获得了多个优点。主要是以高精度并且比现有技术所呈现的更可靠和明确的方式获得物体的相对位置。
附图说明
现在用参考附图更详细地描述本公开，附图中：
图1示出了在交通情况下具有位置估计单元的车辆的示意性俯视图；并且
图2示出了根据本公开的方法的流程图。
具体实施方式
参考图1，其示出了第一示例，自主车辆1包括位置估计单元2，该位置估计单元继而包括被布置成发送和接收无线电信号的第一收发器装置3，根据一些方面，该装置是被布置用于DSRC(专用近程通信)的近程收发器装置，诸如Wi-Fi(无线保真)收发器装置。此类通信可例如为V2V(车辆到车辆)和V2X(车辆到基础设施)通信。存在第一目标车辆4、第二目标车辆5和固定物体6，其还包括对应的第二收发器装置7、第三收发器装置8和第四收发器装置9。
位置估计单元2还包括处理单元10，该处理单元被布置成计算在第一收发器装置3和其他收发器装置7、8、9之间发送的无线电信号x1、x2、x3的往返时间(RTT)，在第二收发器装置7和其他收发器装置3、8、9之间发送的无线电信号x2、x4、x5的往返时间(RTT)，在第三收发器装置8和其他收发器装置3、7、9之间发送的无线电信号x3、x5、x6的往返时间(RTT)，以及在第四收发器装置9和其他收发器装置3、7、8之间发送的无线电信号x1、x4、x6的往返时间(RTT)。从这些RTT开始，处理单元10被布置成计算收发器装置3、7、8、9的可能位置，这导致每个收发器装置3、7、8、9有多个可能位置，因为存在比方程数更多的未知数。
计算RTT仅仅是一个示例，处理单元10通常被布置成计算三个或更多个收发器中的两个收发器之间成对发送的飞行时间(TOF)，对于每对收发器为：
1)无线电信号x1、x2、x3、x4、x5、x6从发送收发器3传输至接收收发器7的时间，或者为
2)无线电信号x1、x2、x3、x4、x5、x6从发送收发器3传输至接收收发器7并且返回发送收发器3的时间，可能包括一次或多次的延迟时间。
在第一种情况下，所考虑的收发器必须具有准确同步的时钟，而在第二种情况下，即在该上下文中称之为RTT，所考虑的收发器不必具有同步的时钟，但延迟时间已知。如果延迟时间未知，则需要重复传输，在不同收发器处利用时间戳。
在计算收发器装置3、7、8、9的可能位置之后，处理单元10被布置成执行第一MDS(多维标度)，以便在第一坐标系中获得第一收发器装置3、第二收发器装置7、第三收发器装置8和第四收发器装置9的第一相对位置。
然后，处理单元10被布置成在稍后执行第二MDS，以便在第二坐标系中获得第一收发器装置3、第二收发器装置7、第三收发器装置8和第四收发器装置9的第二相对位置。由于已使用另一坐标系，因此第二MDS会产生收发器装置3、7、8、9的其他相对位置。
根据本公开，处理单元10随后被布置成执行包括第二坐标系的平移、缩放和旋转的再现过程，以便获得校正的坐标系，其中再现过程被布置成确定校正的坐标系，以便获得从第一MDS到第二MDS的收发器装置3、7、8、9的相对位置的最小变化。
对于每个随后的MDS，执行包括当前坐标系的平移、缩放和旋转的再现过程，以便获得校正的当前坐标系。
这意味着处理单元10被布置成重复地：
-计算至少在第一收发器装置3和其他收发器装置7、8、9之间发送的无线电信号的TOF，可能作为RTT。
-计算收发器装置3、7、8、9的可能位置，这导致每个收发器装置3、7、8、9有多个可能位置。
-执行MDS计算，以获得收发器装置3、7、8、9在当前坐标系中的相对位置。
在两次初始MDS计算之后，在每两次连续MDS计算之间，处理单元(10)被布置成重复执行包括当前坐标系的平移、缩放和旋转的再现过程，以便获得校正的当前坐标系。再现过程被布置成确定校正的当前坐标系，以便获得所述连续MDS计算之间的收发器装置3、7、8、9的相对位置的最小变化。
根据一些方面，通过MLE(最大似然估计)算法或LSE(最小二乘估计)执行再现过程。
根据一些方面，为了提高精确度，处理单元10使用包括陀螺数据、加速度数据和速度数据的车辆动态。
参考图2，本公开还涉及位置估计方法，该方法包括重复地：
11：计算在第一收发器装置3和至少两个其他收发器装置7、8、9中的两个收发器之间成对发送的无线电信号x1、x2、x3、x4、x5、x6的飞行时间(TOF)。
12：计算收发器装置3、7、8、9的可能位置，这导致每个收发器装置3、7、8、9有多个可能位置。
13：执行多维标度(MDS)计算，以获得收发器装置3、7、8、9在当前坐标系中的相对位置。
在两次初始MDS计算之后，在每两次连续MDS计算之间，该方法包括：
14：执行包括当前坐标系的平移、缩放和旋转的再现过程，以便获得校正的当前坐标系，其中再现过程用于确定校正的当前坐标系，以便获得所述连续MDS计算之间的收发器装置3、7、8、9的相对位置的最小变化。
本公开不限于以上示例，而可以在所附权利要求书的范围内自由变化。例如，假设收发器装置3、7、8、9是先前已知的设计。处理单元10例如以先前已知的方式连接到包括在车辆1中的警告和/或信息装置。
计算和确定过程由处理单元10执行，其中处理单元10应被视为处理单元装置，该处理单元装置为一个单元或若干单元的形式，该若干单元协作或者或多或少独立地处理不同的任务。在若干单元的情况下，这些单元可以彼此相邻放置，或者以分布式方式放置。
根据一些方面，自主车辆中的收发器装置3不排除其他车辆环境检测装置，诸如雷达装置、相机装置、LIDAR装置和其他类似装置。
根据一些方面，其他车辆4、5中的收发器装置7、8也包括在这些车辆4、5中的对应位置估计单元中。
固定物体6可以是任何类型的基础设施物体，诸如例如交通标志、交通灯或建筑物的一部分。
收发器装置3、7、8、9可以是任何合适组合中的固定和/或移动物体。对于收发器装置3、7、8、9执行成对的每个TOF计算，并且对于所述计算获得至少三个收发器装置3、7、8、9。
根据一些方面，为了获得收发器装置3、7、8、9的相对位置的合适估计，处理单元10被布置成通过中间MDS计算重复执行至少五个再现过程。
在此上下文中，术语重复地通常意味着过程或计算重复多次，而不指定次数。
示例中给出的所有细节当然仅作为本公开的说明而给出，并且不应被视为以任何方式进行限制。
一般来讲，本公开涉及位置估计单元2，该位置估计单元包括被布置成发送和接收无线电信号的第一收发器装置3，和处理单元10，其中处理单元10被布置成重复地：
-计算在第一收发器装置3和至少两个其他收发器装置7、8、9中的两个收发器之间成对发送的无线电信号x1、x2、x3、x4、x5、x6的飞行时间(TOF)；
-计算收发器装置3、7、8、9的可能位置，这导致每个收发器装置3、7、8、9有多个可能位置；以及
-执行多维标度(MDS)计算，以获得收发器装置3、7、8、9在当前坐标系中的相对位置。
在两次初始MDS计算之后，在每两次连续MDS计算之间，处理单元10被布置成重复地：
-执行包括当前坐标系的平移、缩放和旋转的再现过程，以便获得校正的当前坐标系，其中再现过程被布置成确定校正的当前坐标系，以便获得所述连续MDS计算之间的收发器装置3、7、8、9的相对位置的最小变化。
根据一些方面，对于每对收发器，处理单元10被布置成计算飞行时间作为无线电信号x1、x2、x3、x4、x5、x6从发送收发器传输至接收收发器的时间，或者作为无线电信号x1、x2、x3、x4、x5、x6从发送收发器传输至接收收发器并且至少一次返回发送收发器的时间，以便获得每对收发器的往返时间(RTT)。
根据一些方面，处理单元10被布置成通过了解每次重新传输之间的延迟时间来计算飞行时间，或者通过在不同收发器处利用时间戳重复传输来计算飞行时间。
根据一些方面，处理单元10被布置成通过MLE(最大似然估计)算法执行再现过程。
根据一些方面，位置估计单元2被定位在自主车辆1中，其中处理单元10被布置成获取自主车辆1的车辆动态，至少包括陀螺数据、加速度数据和速度数据中的一者，并且在计算收发器装置3、7、8、9的相对位置时应用这些数据。
一般来讲，本公开还涉及位置估计方法，该方法包括重复地：
-计算在第一收发器装置3和至少两个其他收发器装置7、8、9中的两个收发器之间成对发送的无线电信号x1、x2、x3、x4、x5、x6的飞行时间(TOF)；
-计算收发器装置3、7、8、9的可能位置，这导致每个收发器装置3、7、8、9有多个可能位置；以及
-执行多维标度(MDS)计算，以获得收发器装置3、7、8、9在当前坐标系中的相对位置。
在两次初始MDS计算之后，在每两次连续MDS计算之间，该方法包括：
-执行包括当前坐标系的平移、缩放和旋转的再现过程，以便获得校正的当前坐标系，其中再现过程用于确定校正的当前坐标系，以便获得所述连续MDS计算之间的收发器装置3、7、8、9的相对位置的最小变化。
根据一些方面，对于每对收发器，该方法包括计算飞行时间作为无线电信号x1、x2、x3、x4、x5、x6从发送收发器传输至接收收发器的时间，或者作为无线电信号x1、x2、x3、x4、x5、x6从发送收发器传输至接收收发器并且至少一次返回发送收发器的时间，以便获得每对收发器的往返时间(RTT)。
根据一些方面，该方法包括通过了解每次重新传输之间的延迟时间来计算飞行时间，或者通过在不同收发器处利用时间戳重复传输来计算飞行时间。
根据一些方面，该方法包括通过MLE(最大似然估计)算法执行再现过程。
根据一些方面，该方法包括获取自主车辆1的车辆动态，该车辆动态至少包括陀螺数据、加速度数据和速度数据中的一者，并且在计算收发器装置3、7、8、9的相对位置时应用这些数据。

Claims (10)

1.位置估计单元(2)，所述位置估计单元包括第一收发器装置(3)，所述装置被布置成发送和接收无线电信号，和处理单元(10)，其中所述处理单元(10)被布置成重复地：
-计算在所述第一收发器装置(3)和至少两个其他收发器装置(7、8、9)中的两个收发器之间成对发送的所述无线电信号(x1、x2、x3、x4、x5、x6)的飞行时间(TOF)；
-计算所述收发器装置(3、7、8、9)的可能位置，这导致每个收发器装置(3、7、8、9)有多个可能位置；以及
-执行多维标度(MDS)计算，以获得所述收发器装置(3、7、8、9)在当前坐标系中的相对位置；
其特征在于，在两次初始MDS计算之后，在每两次连续MDS计算之间，所述处理单元(10)被布置成重复地：
-执行包括当前坐标系的平移、缩放和旋转的再现过程，以便获得校正的当前坐标系，其中所述再现过程被布置成确定所述校正的当前坐标系，以便获得所述连续MDS计算之间的所述收发器装置(3、7、8、9)的所述相对位置的最小变化。
2.根据权利要求1所述的位置估计单元(2)，其特征在于，对于每对收发器，所述处理单元(10)被布置成计算飞行时间作为无线电信号(x1、x2、x3、x4、x5、x6)从发送收发器传输至接收收发器的时间，或者作为无线电信号(x1、x2、x3、x4、x5、x6)从发送收发器传输至接收收发器并且至少一次返回所述发送收发器的时间，以便获得每对收发器的往返时间(RTT)。
3.根据权利要求2所述的位置估计单元(2)，其特征在于，所述处理单元(10)被布置成通过了解每次重新传输之间的延迟时间来计算飞行时间，或者通过在所述不同收发器处利用时间戳重复传输来计算所述飞行时间。
4.根据前述权利要求中任一项所述的位置估计单元(2)，其特征在于，所述处理单元(10)被布置成通过MLE(最大似然估计)算法执行所述再现过程。
5.根据前述权利要求中任一项所述的位置估计单元(2)，其特征在于，所述位置估计单元(2)被定位在自主车辆(1)中，其中所述处理单元(10)被布置成获取所述自主车辆(1)的车辆动态，至少包括陀螺数据、加速度数据和速度数据中的一者，并且在计算所述收发器装置(3、7、8、9)的相对位置时应用所述这些数据。
6.一种位置估计方法，所述方法包括重复地：
-计算在第一收发器装置(3)和至少两个其他收发器装置(7、8、9)中的两个收发器之间成对发送的无线电信号(x1、x2、x3、x4、x5、x6)的飞行时间(TOF)；
-计算所述收发器装置(3、7、8、9)的可能位置，这导致每个收发器装置(3、7、8、9)有多个可能位置；以及
-执行多维标度(MDS)计算，以获得所述收发器装置(3、7、8、9)在当前坐标系中的相对位置；
其特征在于，在两次初始MDS计算之后，在每两次连续MDS计算之间，所述方法包括：
-执行包括当前坐标系的平移、缩放和旋转的再现过程，以便获得校正的当前坐标系，其中所述再现过程用于确定所述校正的当前坐标系，以便获得所述连续MDS计算之间的所述收发器装置(3、7、8、9)的所述相对位置的最小变化。
7.根据权利要求6所述的位置估计方法，其特征在于，对于每对收发器，所述方法包括计算所述飞行时间作为无线电信号(x1、x2、x3、x4、x5、x6)从发送收发器传输至接收收发器的时间，或者作为所述无线电信号(x1、x2、x3、x4、x5、x6)从发送收发器传输至接收收发器并且至少一次返回所述发送收发器的时间，以便获得每对收发器的往返时间(RTT)。
8.根据权利要求7所述的位置估计方法，其特征在于，所述方法包括通过了解每次重新传输之间的延迟时间来计算飞行时间，或者通过在所述不同收发器处利用所述时间戳重复传输来计算所述飞行时间。
9.根据权利要求6至8中任一项所述的位置估计方法，其特征在于，所述方法包括通过MLE(最大似然估计)算法执行所述再现过程。
10.根据权利要求6至9中任一项所述的位置估计方法，其特征在于，所述方法包括获取自主车辆(1)的车辆动态，所述车辆动态至少包括陀螺数据、加速度数据和速度数据中的一者，并且在计算所述收发器装置(3、7、8、9)的相对位置时应用这些数据。
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