DE102012221004A1 - Method for improved determination of proprietary position of vehicle, involves determining proprietary position from absolute position information, distance and navigation satellite signals by vehicle - Google Patents

Abstract

The method involves determining a proprietary position from the absolute position information, the distance and the navigation satellite signals by a vehicle (21). The proprietary position is determined additionally or alternatively to the absolute position information from relative position information. The relative position information describes a distance or a direction of the vehicle to a sender. An independent claim is included for a system for improved determination of a proprietary position of a vehicle.

Description

The invention relates to a method for improved determination of an intrinsic position of a vehicle according to the preamble of claim 1 and to a system for improved determination of an intrinsic position of a vehicle according to the preamble of claim 11.

Positioning systems for motor vehicles based on global navigation satellite systems such as GPS are already known from the prior art. Such systems are usually used for route guidance. Furthermore, it is known to improve the position determination of said systems by directly detecting sensor motion data of the vehicle and using it for position updating, e.g. no or only an insufficient satellite signal is available. In addition, vehicle-to-X communication systems are also known that regularly use so-called "cooperative awareness" messages by their motor vehicles. include position information of the sending motor vehicle, send to their environment. The use of various camera systems in driver assistance applications is already known. In particular, stereo camera systems are not only suitable for object recognition, but also for distance determination.

In this context, the DE 10 2008 020 446 A1 a correction device for correcting an internally calculated vehicle position. By means of a camera sensor or by means of ESP sensor technology, a first position, which corresponds to a prominent point on the route of travel of the vehicle, is detected and the associated position is read from a memory unit. The correction device further comprises a position determination unit, for example based on GPS, for determining a second position of the vehicle. The determined second position can then be corrected on the basis of the determined first position.

The DE 10 2007 048 809 A1 describes a method and apparatus for detecting obscured objects in traffic. In this case, determines a position determination system using various sensors, such as GPS module, radar sensor, Lidarsensor or stereo camera, the position of the own vehicle and the positions of adjacent vehicles. By using a stereo camera, both an object recognition and a comparatively accurate distance measurement without the use of additional distance sensors is possible. Furthermore, a vehicle-to-vehicle communication system is disclosed which transmits the environmental data acquired by the own vehicle to neighboring vehicles.

From the DE 10 2009 045 709 A1 A method for improving and validating a position determination is known. The position of the own vehicle is adjusted by means of vehicle-to-X communication with position data of neighboring vehicles, possibly improved and validated. As a communication unit, for example, wireless 802.11p or designed for wireless communication key of the vehicle can serve. The position validated in this way can be contained eg as position information in an automated emergency call.

A disadvantage of the devices and methods known from the prior art, however, is that, unless own position data can be determined - e.g. because sufficient GPS reception is not possible - always have to be familiar with the received by vehicle-to-X communication Positionsanben the respective sender. However, even if sufficient GPS reception is not possible for the own vehicle, often the surrounding vehicles also have comparatively poor or no GPS reception at all, so that their position information can likewise be faulty. Although, by means of averaging and evaluating these received position data, a sufficiently accurate eigenposition can still often be determined, but sufficient surrounding vehicles must be available for this purpose. Also a continuation of the previously determined by GPS position by the data from Raddrehzahlsensoren is possible only over relatively short distances to keep the position inaccuracies within reasonable limits.

The object of the present invention is to improve the known in the prior art, the generic method.

This object is achieved by the method according to claim 1.

According to the inventive method for improved determination of an intrinsic position of a vehicle, in which the vehicle exchanges vehicle-to-X messages with vehicle partners by means of vehicle-to-X communication means, the vehicle-to-X messages each having at least one absolute position indication of their vehicle Sender include and wherein the vehicle detects a distance traveled by means of displacement sensors, the vehicle receives by means of satellite signal receiving means navigation satellite signals. The inventive method is characterized in that the vehicle from the absolute Position information, the distance and the navigation satellite signals determines a self-position.

This results in the advantage that three independent variables, namely the absolute position information, the distance traveled and the navigation satellite signals, are used to determine the eigenposition. This improves the quality and reliability of the particular eigenposition, since disturbances in one of the variables used are attenuated by the co-processing with the other variables in their effect on the particular eigenposition.

If one or two of the three sizes are not available, the eigenposition is preferably determined with the or the remaining sizes. The particular eigenposition is then improved with the initially unavailable sizes as soon as they are available again.

As displacement sensors according to the invention wheel speed sensors such. ABS sensors are preferred which detect the wheel rotational speed of a vehicle wheel and thus detect a distance covered by a known rolling circumference of the vehicle wheel. But the inclusion of steering angle sensors, acceleration sensors and yaw rate sensors such as yaw rate sensors is possible.

In order to determine an eigenposition over the route, the last known or respectively evaluated as reliable eigenposition is used as the basis for determining the current eigenposition based on the distance traveled. In particular, an orientation information of the vehicle is additionally determined in order to determine in which direction the vehicle has moved. The alignment information may e.g. be determined by means of a compass or, starting from a known orientation, by means of a yaw rate sensor. In addition, it is conceivable to determine the alignment information via a satellite navigation system, in particular in conjunction with digital map material.

The absolute position information encompassed by the vehicle-to-X messages is preferred by the communication partners by means of a global navigation satellite system, e.g. GPS, Galileo or GLONASS, certainly. But also a determination by means of the method according to the invention is preferred.

• – Das Fahrzeug wurde per Transporter, Fähre, Bahn oder sonstiger Transportmittel transportiert und ist auf einer neuen Startposition
• – Es gibt Fehler beim Empfang der Navigationssatellitensignale, z.B. durch mutwillige Störungen (z.B. durch ein nahes Spediteursfahrzeug)

From the vehicle, for example, an average position can first be determined from the absolute position information received. If it can be assumed that the communication partners are evenly distributed on average around the vehicle and have approximately the same transmission range of the vehicle-to-X messages, this middle position describes the own position. Thus, a position can be determined in a relatively simple manner, which can be used to improve the proper position. In addition, a position can be determined in this way directly at the start of execution of the method according to the invention, even before the determination of the eigen position is possible via the navigation satellite signals or the displacement sensors. Likewise, the eigenposition can be checked with the method described and classified as "false" for deviations that are above a threshold value. After such a classification as "false", the own position is formed based on the position data of the communication partner and the route, and only when the own position determined from the navigation satellite signals is within a threshold around this eigen position, the navigation satellite signals are also used to determine the own position. Reasons for a different specific position using the navigation satellite signals may be:

• - The vehicle was transported by van, ferry, train or other means of transport and is in a new starting position
• - There are errors when receiving the navigation satellite signals, eg due to malicious interference (eg by a nearby forwarder vehicle)

The eigenposition is preferably determined as an absolute position in the coordinate system of a global navigation satellite system.

The actual determination of the eigenposition from the absolute position information, the distance traveled and the navigation satellite signals may e.g. in each case a single determination of the eigenposition via the absolute position information, the route and the navigation satellite signals are carried out, wherein the individual determinations can then be averaged. Likewise, the raw data of the displacement sensors can already be processed together with the navigation satellite signals in order to determine in this way an intrinsic position, which is subsequently improved with the absolute position information of the communication subscribers. It is also possible to weight the individual determinations differently, in particular to weight them differently depending on the situation. For example, while driving through a tunnel with insufficient reception of navigation satellite signals to be expected, so that the determined from the distance and the absolute position information individual positions in this case can be weighted comparatively heavy.

It is preferably provided that the own position is additionally or alternatively determined to the absolute position information from relative position information, the relative position information describing a distance and / or direction from the vehicle to a sender sending a vehicle-to-X message and wherein the relative position information by means of environmental sensors and / or detected by means of a received electromagnetic field strength of the vehicle-to-X message. This results in the advantage that the eigenposition can be determined comparatively more accurately from the absolute position information encompassed by the vehicle-to-X messages, since the relative position information about the distance or about the direction in conjunction with the absolute position information essentially means exact determination of the eigenposition allowed. Thus, therefore, a comparatively reliable absolute eigenposition can be determined in the coordinate system of a global navigation satellite system. As environment sensors according to the invention are generally distance or spatial resolution sensors, in particular mono and stereo camera sensors, LIDAR sensors, laser sensors or radar sensors.

The received field strength (received signal strength indication, RSSI) is an indication of the distance to the sending communication partner, but relatively inaccurate. From a high received field strength can be closed to a small distance. The reverse case, however, is limited, since a low received field strength may also arise due to shadowing. Therefore, the determination of a distance over the received field strength is preferably not done as a continuous distance, but stepped, e.g. by means of five distance steps. In addition, based on the received field strength, a selection can be made as to which of the received vehicle-to-X messages are used for the determination of the eigenposition. In particular, only those vehicle-to-X messages are used whose received field strength is greater than a predefined threshold value and which were thus very likely to have been sent by the communication participants within a certain radius around the vehicle. The predetermined threshold may also be adaptive, e.g. depending on the number of received vehicle-to-X messages or the distribution of received field strengths. Furthermore, it is also possible to determine a direction from the vehicle to the communication station via a ratio of the received field strengths in different antenna elements with different spatial reception characteristics.

In addition, it is preferred that the absolute position data are filtered in time prior to being used to determine the proper position, in particular taking into account speed data, which are included in addition to the absolute position information from the vehicle-to-X information. This has the advantage that implausible position information can be detected comparatively easily. For example, position information of a communication subscriber that changes at an unrealistically high speed can, according to the invention, be filtered out and rejected before it is used to determine the intrinsic position. This improves the accuracy of the particular eigenposition.

It is expediently provided that the own position is additionally or alternatively determined to the route from relative route information, wherein the relative route information is determined from the speed data, and / or from a relative speed measured by environment sensors. Thus, there is advantageously another possibility available to determine the proper position, which further improves their accuracy and reliability. As far as e.g. regularly received vehicle-to-X messages of a particular communication subscriber with position information and speed information from the vehicle, an intrinsic speed of the vehicle can be determined via this speed information and a measured by means of environmental sensors relative speed of the vehicle to the communication participants. Likewise, first a relative speed of the vehicle to the communication participant can be determined from the absolute position information and the speed information. This also allows the vehicle's own speed to be determined. By way of additional time information, which can originate from any suitable timer in the vehicle, it is now possible to determine relative route information from the own speed determined in this way.

If it is only possible by means of environment sensors to determine a relative position specification or a relative speed of an object, for example because it is not capable of vehicle-to-X communication, it can first be determined from the relative speed whether it is a moving or a stationary object. If it is a stationary object, relative route information can also be determined in this case via the specific relative speed to the vehicle.

Furthermore, it is preferable that determination inaccuracies of the absolute Position information, the relative position information, the distance, the relative distance information and the navigation satellite signals are taken into account in the determination of the self-position. By taking into account the determination inaccuracies, particularly accurate quantities in the determination of the eigenposition can be weighted more heavily than comparatively inaccurate quantities. This also improves the accuracy and reliability of the particular eigenposition.

In particular, it is preferred that the vehicle-to-X messages include the determination inaccuracies of the absolute position information and / or speed information. Thereby, the vehicle receiving the vehicle-to-X messages receives additional information about the determination inaccuracies of the position information or speed information included in the vehicle-to-X messages and can correspondingly take these determination inaccuracies into account in the determination of the self-position.

Preferably, it is provided that at a termination of the method, the last specific eigenposition is written in an electronic memory and at a start of the method, the self-written position in the memory is read and used as the current eigenposition. Thus, when starting the method according to the invention, e.g. when starting the ignition of the vehicle, directly own position available, which can be improved in the further course of the process and in particular can be used to determine the intrinsic position by means of the route. It does not therefore have to wait until a sufficient number of navigation satellites has been recorded to determine the own position.

Appropriately, it is provided that a direction of movement of the vehicle is determined at least from the distance and the position information. Since the vehicle receives position information via the received vehicle-to-X messages and, in addition, detects the route, a direction of movement can be detected in a simple manner via changing position information as the distance increases. In particular, a travel direction can be determined via a time information and the distance from a moving average of the position information and its temporal change. For this, e.g. the so-called least squares method known from mathematics. But also similar methods as the so-called data matching or known filter method, in particular Kalman filter method, can be used advantageously. By the direction of travel thus determined, it is preferable to further improve the particular own position, e.g. in that the direction of movement is based on a processing of the route.

Furthermore, it is preferable that an absolute center is determined from the absolute position information and the self-position, and a relative center is determined from the relative position information and the self-position, whereby a deviation of the absolute center and the relative center is determined, and by means of the deviation Own position is corrected. In particular, the eigenposition, which is an absolute position indication, is corrected by the value and the direction of the determined deviation. Since the relative position information can usually be detected relatively accurately as a rule, there is thus the advantage that an error caused by the inaccuracies in the determination of the absolute position information can be easily and reliably detected and corrected in the proper position.

• – WLAN-Verbindung, insbesondere nach IEEE 802.11p ,
• – WiFi-Direct,
• – ISM-Verbindung (Industrial, Scientific, Medical Band), insbesondere über eine funkverbindungsfähige Schließvorrichtung,
• – Bluetooth-Verbindung,
• – ZigBee-Verbindung,
• – UWB-Verbindung (Ultra Wide Band),
• – WiMax (Worldwide Interoperability for Microwave Access),
• – Remote-Keyless-Entry-Verbindung,
• – Mobilfunkverbindung, insbesondere GSM-, GPRS-, EDGE-, UMTS- und/oder LTE-Verbindungen und
• – Infrarotverbindung.

In a further preferred embodiment, it is provided that the vehicle-to-X communication means exchange the vehicle-to-X messages by means of at least one of the following types of connection:

• - Wi-Fi connection, especially after IEEE 802.11p .
• - WiFi Direct,
• ISM connection (Industrial, Scientific, Medical Band), in particular via a radio-compatible closing device,
• - Bluetooth connection,
• - ZigBee connection,
• - UWB connection (Ultra Wide Band),
• WiMax (Worldwide Interoperability for Microwave Access),
• - remote keyless entry connection,
• Mobile radio connection, in particular GSM, GPRS, EDGE, UMTS and / or LTE connections and
• - Infrared connection.

These types of connections offer different advantages, depending on the type, wavelength and data protocol used. Thus, some of the mentioned types of connection, e.g. a comparatively high data transmission rate and a comparatively fast connection setup, while others are very well suited for data transmission around obstructions. The combination and simultaneous or parallel use of several of these types of connections provide further advantages, as well as disadvantages of individual types of connections can be compensated.

The invention further relates to a system for improved determination of an intrinsic position of a vehicle comprising vehicle-to-X communication means for exchanging vehicle-to-X messages with communication participants, path sensors for detecting a traveled distance of the vehicle, and satellite signal receiving means for receiving navigation satellite signals in a vehicle, wherein the vehicle-to-X Messages each comprise at least one absolute position indication of their sender. The system is characterized in that position determining means determine an eigenposition from the absolute position information, the distance and the navigation satellite signals. Since the system according to the invention thus comprises all means necessary for carrying out the method according to the invention and in particular carries out the method according to the invention, this results in the already described advantages.

Further preferred embodiments will become apparent from the subclaims and the following descriptions of exemplary embodiments with reference to figures.

Show it

1 an embodiment of the method according to the invention in the form of a flow chart and

2 three vehicles, one of which is equipped with the system according to the invention and carries out the method according to the invention.

In 1 shows a flowchart with an exemplary embodiment of the method according to the invention. In step 11 A vehicle of communication subscribers receives a number of vehicle-to-X messages, each comprising an absolute position indication of the respective transmitting communication subscriber. At the same time the vehicle detects in process step 12 a distance covered by its ESP sensors. Also at the same time to the steps 11 and 12 receives the vehicle in process step 13 by means of satellite signal receiving means, navigation satellite signals. Continue to be in step 14 relative position information of a communication subscriber, in this case the vehicle ahead, determined by means of a stereo camera sensor. The relative position information describes the distance from the vehicle to the vehicle ahead and the direction from the vehicle to the vehicle ahead. The relative position information is first converted into absolute position information and then with the absolute position information of the vehicle ahead in step 15 averaged. By averaging errors in the relative position information or in the absolute position information are reduced. In the following step 16 is determined from the averaged position information of the vehicle in front, the absolute position information of the other communication participants, the distance and the navigation satellite signals an intrinsic position of the vehicle. By using these three independent quantities, the particular eigenposition is comparatively accurate and reliable.

2 shows vehicles 21 . 22 and 23 , whose motion vector is represented by an arrow. vehicle 21 is equipped with the system according to the invention and carries out the method according to the invention. In exchange for vehicle 21 Vehicle-to-X messages with vehicles via vehicle-to-X communication means 22 and 23 which each represent communication participants. The vehicle-to-X messages each include an absolute position indication and a speed indication as well as the associated determination inaccuracies of the vehicle to be sent. The determination inaccuracies of the absolute position information of vehicles 22 and 23 are through circles 25 respectively. 26 shown. The initial determination inaccuracy of the vehicle's own position 21 is by circle 27 shown. At the same time captures vehicle 21 by means of displacement sensors a distance traveled and receives by means of satellite signal receiving means navigation satellite signals. From the received absolute position information and a known eigenposition determines vehicle 21 first by means of triangulation absolute center 24 , Absolute center 24 represents the spatial center of the three vehicles 21 . 22 and 23 , based on the absolute position information. By means of environmental sensors detected vehicle 21 now relative position information of vehicles 22 and 23 and determines the relative position from the relative position and the relative position relative position 28 , Relative center 28 and absolute center 24 have a deviation from that of the vehicle 21 is used to correct the eigenposition. By incorporating the navigation satellite signals, the distance, the absolute position information and the relative position information, the self-position can be improved so that initial determination inaccuracies 27 on reduced determination inaccuracy 29 is reduced.

According to a further, not shown embodiment, a vehicle passes through a long tunnel and determines its own changing position continuously by integrating the distance covered, starting from a previously determined by GPS own position. At the end of the tunnel journey, the inherent position of the vehicle is comparatively inaccurate due to the inevitably occurring integration error. At the end of the tunnel, however, the vehicle receives vehicle-to-X messages from other vehicles Represent communication partners and are outside the tunnel. Thus, these vehicles have the ability to determine absolute position information using GPS. Since the vehicle passing through the tunnel has a radar sensor, it can also detect relative position information about the vehicles outside the tunnel. From the relative position indications and the absolute position indications of the vehicles outside the tunnel, the vehicle can now improve its own position by weighting the absolute position information and the relative position information of the vehicles outside the tunnel in the determination of its own position heavier than the distance traveled. Thus, the self-position can be improved so far that even an assignment of the vehicle to one of several lanes is possible. Likewise, it is possible to proceed by means of a rearward radar sensor when the vehicle enters the tunnel while vehicle-to-X messages are still being received by vehicles outside the tunnel.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102008020446 A1 [0003]
• DE 102007048809 A1 [0004]
• DE 102009045709 A1 [0005]

Cited non-patent literature

• IEEE 802.11p [0028]

Claims (11)

Method for improved determination of an own position of a vehicle ( 21 ), in which the vehicle ( 21 ) exchanges vehicle-to-X messages with vehicle partners by means of vehicle-to-X communication means, wherein the vehicle-to-X messages each comprise at least one absolute position indication of their sender, wherein the vehicle ( 21 ) detected by means of displacement sensors a distance traveled and wherein the vehicle ( 21 ) receives navigation satellite signals by means of satellite signal receiving means, characterized in that the vehicle ( 21 ) determines an own position from the absolute position information, the distance and the navigation satellite signals. Method according to Claim 1, characterized in that the eigenposition is determined additionally or alternatively to the absolute position information from relative position information, the relative position information being a distance and / or a direction from the vehicle ( 21 ) to a sender sending a vehicle-to-X message, and wherein the relative position information is detected by means of environmental sensors and / or by means of a received electromagnetic field strength of the vehicle-to-X message. Method according to at least one of Claims 1 and 2, characterized in that the absolute position data are filtered in time before being used to determine the intrinsic position, in particular taking into account speed data which in addition to the absolute position information from the vehicle-to-X information are. Method according to at least one of claims 1 to 3, characterized in that the own position is determined additionally or alternatively to the distance from relative distance information, wherein the relative distance information from the speed information and / or from a relative speed measured by means of environment sensors are determined. Method according to at least one of claims 1 to 4, characterized in that determination inaccuracies ( 25 . 26 . 27 . 28 ) of the absolute position information, the relative position information, the distance, the relative distance information and the navigation satellite signals are taken into account in the determination of the self-position. Method according to Claim 5, characterized in that the vehicle-to-X messages contain the determination inaccuracies ( 25 . 26 . 27 . 28 ) of the absolute position information and / or speed information. Method according to at least one of Claims 1 to 6, characterized in that, when the method is terminated, the last specific eigenposition is written to an electronic memory and when the method is started, the eigenposition written to the memory is read out and used as the current eigenposition. Method according to at least one of claims 1 to 7, characterized in that at least from the distance and the position information a direction of movement of the vehicle is determined. Method according to at least one of Claims 1 to 8, characterized in that an absolute center is determined from the absolute position information and the eigenposition, and a relative center is determined from the relative position information and the eigenposition, wherein a deviation of the absolute center and the relative center is determined and wherein by means of the deviation, the own position is corrected. Method according to at least one of claims 1 to 9, characterized in that the vehicle-to-X communication means exchange the vehicle-to-X messages by means of at least one of the following types of connection: - WLAN connection, in particular according to IEEE 802.11p, - WiFi Direct, - ISM connection (Industrial, Scientific, Medical Band), in particular via a radio-compatible locking device, - Bluetooth connection, - ZigBee connection, - UWB connection (Ultra Wide Band), - WiMax (Worldwide Interoperability for Microwave Access), - remote keyless entry connection, - mobile radio connection, in particular GSM, GPRS, EDGE, UMTS and / or LTE connections and - infrared connection. System for improved determination of an own position of a vehicle ( 21 ) comprising in a vehicle ( 21 ) Vehicle-to-X communication means for exchanging vehicle-to-X messages with communication participants, displacement sensors for detecting a traveled distance of the vehicle ( 21 and satellite signal receiving means for receiving navigation satellite signals, wherein the vehicle-to-X messages each comprise at least one absolute position indication of their sender, thereby in that position determining means determine an own position from the absolute position information, the distance and the navigation satellite signals.

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