EP3500874A1

EP3500874A1 - Device and method for detecting an erroneous determination of a geographical position of a vehicle

Info

Publication number: EP3500874A1
Application number: EP17758792.0A
Authority: EP
Inventors: Michael ZALEWSKI; Burkhard Kessler; Sergey Azarkevich; Holger Faisst
Original assignee: Continental Automotive GmbH; Continental Teves AG and Co OHG
Current assignee: Continental Automotive Technologies GmbH
Priority date: 2016-08-19
Filing date: 2017-08-18
Publication date: 2019-06-26
Also published as: CN109477898A; CN109477898B; DE102016215645A1; US20190227177A1; WO2018033188A1; US11169278B2; DE112017004144A5

Abstract

The invention relates to a device and a method (400) for detecting an erroneous determination of a geographical position of a vehicle (102). The device comprises a sensor which is designed to determine a first yaw rate of the vehicle (102), a satellite navigation receiver (104) which is designed to receive satellite signals during a specified duration, determine a plurality of geographical positions of the vehicle (102) on the basis of the received satellite signals, and determine a geographical reference position (102b) of the vehicle (102) on the basis of the plurality of geographical positions, and a processor which is designed to determine a second yaw rate of the vehicle (102) on the basis of the determined geographical reference position (102b) of the vehicle (102) and compare the first yaw rate with the second yaw rate in order to detect an erroneous determination of the geographical position of the vehicle (102).

Description

TITLE

Device and method for detecting a faulty determination of a geographical position of a vehicle

TECHNICAL AREA

The present invention relates to an apparatus and a method for detecting an erroneous determination of a geographical position of a vehicle, in particular a based on a satellite navigation receiver erroneous particular geographical position of a vehicle.

TECHNICAL BACKGROUND Disturbances due to multipath effects (also known as multipath effects) are the main cause of erroneous determinations of positions in GNSS processing. The multipath effects arise from a superposition of a direct satellite signal with a reflection, such as metal facades of houses, the direct satellite signal. The effects of multipath effects occur in both constructive and destructive interference between the reflected and direct satellite signals. Methods and apparatus for detecting multipath interference are challenging for GNSS processing because one or more perturbed measurements, if not compensated or filtered, will result in incorrect position determination and positional error. Although special processing such as differential GNSS processing results in higher absolute position accuracy, it is just as affected by multipath effects as normal GNSS processing.

In addition, the position and speed of a vehicle determined by satellite navigation receivers can be used for data fusion or dead reckoning. Frequently, the position and velocity determined by satellite navigation receivers are also used in a general fusion filter, eg in a Kalman filter, to support or correct the position or velocity estimate of the Kalman filter. With the aid of an estimation filter outliers, ie jumps or large deviations in a position of the vehicle, can be detected as faulty and discarded. Therefore, rough multipath effects can be suppressed. In contrast, creeping effects of the satellite signals, in which the erroneous multipath effects that lead to a change in position of the vehicle, do not arise suddenly, but with a slowly increasing so-called position drift, as explained for example in FIG. 1 shows different trajectories of a vehicle, for example an actual trajectory 10, an unfiltered GPS trajectory 20, a trajectory 30 determined by a fusion algorithm and a filtered GPS trajectory 40

Furthermore, the erroneous position determinations of satellite navigation receivers can also disturb other sensor measurements by determining incorrect correction values of the other sensors based on the incorrect position determinations of satellite navigation receivers.

The detection of such creeping multipath effects of satellite signals, which can lead to an erroneous determination of a geographical position of a vehicle, is a particular challenge for the processing of satellite signals.

DESCRIPTION OF THE INVENTION

It is therefore the object of the present invention to provide an apparatus and a method for detecting an erroneous determination of a geographical position of a vehicle.

This object is solved by the subject matters of the independent claims. Preferred embodiments of the invention are the subject of the dependent claims, the description and the figures.

According to a first aspect, the object is achieved by a device for detecting a faulty determination of a geographical position of a vehicle. The apparatus includes a sensor configured to determine a first yaw rate of the vehicle, a satellite navigation receiver configured to receive satellite signals during a predetermined time period, a plurality of geographic positions of the vehicle based on the received satellite signals determine and determine a geographic reference position of the vehicle based on the plurality of geographic positions, and a processor configured to determine a second yaw rate of the vehicle based on the determined geographic reference position of the vehicle, and the first yaw rate the second yaw rate to detect the erroneous determination of the geographical position of the vehicle.

Thereby, for example, the technical advantage is achieved that an erroneous determination of a geographical position of the vehicle can be detected early, whereby the erroneous determination of the position of multipath effects of the received satellite signals can be caused. Furthermore, this achieves, for example, the technical advantage that, by receiving satellite signals for a predetermined period of time, a subsequent detection and compensation of the erroneous determination of the position is possible, since it can be recognized if and which effect was introduced into the device by the above-mentioned multipath effects ,

Further, this achieves, for example, the technical advantage that an ASIL (automotive safety integrity level) functionality based on the satellite signals can be realized through the verifiability of the yaw rate determined by the satellite navigation receiver, since resulting errors from the satellite signals can be recognized and filtered.

The device can be installed in cars, in airplanes or in ships.

According to a preferred embodiment of the device, the sensor is a rotation rate sensor.

According to a preferred embodiment of the apparatus, the satellite navigation receiver is further configured to determine a speed of the vehicle based on a Doppler effect of the received satellite signals.

According to a preferred embodiment of the apparatus, the processor is further configured to determine a third yaw rate of the vehicle based on the speed of the vehicle determined by the satellite navigation receiver and to compare the third yaw rate with the first yaw rate to the erroneous determination of the geographic position of the vehicle detect if a first difference between the first yaw rate and the third yaw rate exceeds a first predetermined tolerance threshold. According to a preferred embodiment of the apparatus, the processor is further configured to determine the second yaw rate Αφ / Αΐ of the vehicle based on the following formula: where Αφ is a yaw angle of the vehicle, Δε is a time interval, Y _{t is} a second coordinate of the satellite navigation receiver last determined geographical position of the vehicle, X _{2 is} a first coordinate of the determined geographical reference position of the vehicle, Y _{2 is} a second coordinate of the particular geographic Reference position of the vehicle, and Χ- _{ά is} a coordinate of a previous specific geographical position of the vehicle.

According to a preferred embodiment of the apparatus, the processor is further configured to determine the second yaw rate Αφ / Αΐ of the vehicle based on the following formula: wherein a first coordinate is the last determined by the satellite navigation receiver geographical position of the vehicle, and K _{j is} a second coordinate of a previous specific geographical position of the vehicle.

According to a preferred embodiment of the device, the processor is further configured to detect the erroneous determination of the geographical position of the vehicle if a second difference between the first yaw rate and the second yaw rate exceeds a second predetermined tolerance threshold.

According to a preferred embodiment of the device, the processor is further configured to discard the last geographic position determined by the satellite navigation receiver if the processor detects the erroneous determination of the geographical position of the vehicle. According to a preferred embodiment of the device, the processor is further configured to use an estimation filter for determining the geographical reference position of the vehicle. According to a preferred embodiment of the device, the estimation filter is a Kalman filter.

According to a preferred embodiment of the apparatus, satellite navigation receiver is a NAVSTAR GPS, a GLONASS, a GALILEO, or a BEIDOU satellite navigation receiver.

According to a preferred embodiment of the device, the predetermined period is 5 seconds. According to a second aspect, the object is achieved by a method for detecting a faulty determination of a geographical position of a vehicle. The method comprises the steps of determining a first yaw rate of the vehicle, receiving satellite signals during a predetermined time period, determining a plurality of geographic positions of the vehicle based on the received satellite signals, determining a geographic reference position of the vehicle based on the determined plurality of geographic positions Determining a second yaw rate of the vehicle based on the determined geographic reference position of the vehicle, and comparing the first yaw rate with the second yaw rate to detect the erroneous determination of the geographic position of the vehicle.

The method may be performed by the device. Further features of the method result directly from the features and / or the functionality of the device. According to a third aspect, the object is achieved by a computer program having a program code for carrying out the method according to the second aspect, when the program code is executed on a computer.

DESCRIPTION OF THE FIGURES

Further exemplary embodiments are explained in more detail with reference to the enclosed figures: Fig. 1 shows a comparison between an actual trajectory of a vehicle and other trajectories of the vehicle, which are determined by various methods; FIG. 2 is a schematic illustration of an arrangement including a device for detecting an erroneous determination of a geographical position of a vehicle, according to one embodiment; FIG.

3 shows a schematic representation of a trajectory of a vehicle according to an embodiment; and

4 shows a schematic representation of a method for detecting a faulty determination of a geographical position of a vehicle according to an embodiment. DETAILED DESCRIPTION OF THE FIGURES

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration specific embodiments in which the invention may be practiced. It should be understood that other embodiments may be utilized and structural or logical changes may be made without departing from the concept of the present invention. The following detailed description is therefore not to be understood in a limiting sense. Further, it should be understood that the features of the various embodiments described herein may be combined with each other unless specifically stated otherwise.

Aspects and embodiments will be described with reference to the drawings, wherein like reference numerals generally refer to like elements. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects of the invention. However, it will be apparent to one skilled in the art that one or more aspects or embodiments may be practiced with a lesser degree of specific details. In other instances, well-known structures and elements are shown in schematic form to facilitate describing one or more aspects or embodiments. It is understood that other embodiments may be utilized and structural or logical changes may be made without departing from the concept of the present invention. Furthermore, while a particular feature or aspect of an embodiment may have been disclosed in terms of only one of several implementations, such feature or aspect may be combined with one or more other features or aspects of the other implementations, as for a given or particular one Application may be desirable and advantageous. Furthermore, to the extent that the terms "contain,""have,""with," or other variants thereof are used in either the detailed description or the claims, such terms are intended to include such terms in a manner similar to the term "comprising." The terms "coupled" and "connected" may have been used along with derivatives thereof. It should be understood that such terms are used to indicate that two elements independently cooperate or interact with each other, whether they are in direct physical or electrical contact or are not in direct contact with each other. In addition, the term "exemplary" is to be considered as an example only, rather than the term of best or optimum, and the following description is therefore not intended to be in a limiting sense.

FIG. 2 shows a schematic representation of an arrangement 100 comprising an apparatus for detecting an erroneous determination of a geographical position of a vehicle 102, according to an embodiment. In one embodiment, the arrangement 100 includes a vehicle 102, an object 108, and a satellite 106. In one embodiment, the vehicle 102 includes a device for detecting an erroneous determination of a geographic location of the vehicle 102, the device including a satellite navigation receiver 104, a sensor, and a satellite comprises a processor.

The satellite navigation receiver 104 may be configured to receive satellite signals for a predetermined period of time, to determine a plurality of geographical locations of the vehicle 102 based on the received satellite signals, and to determine a geographic reference location 102b of the vehicle 102 based on the plurality of geographic locations. Further, the satellite navigation receiver 104 may be configured to rate a speed of the vehicle 102, wherein the speed of the vehicle 102 may be determined based on Doppler effects of the satellite signals. The determination of a plurality of geographical positions of the vehicle 102 during a predetermined time period or a covered distance, for example, has the advantage that the yaw rate of the vehicle 102 on the one hand based on changes in position of the vehicle 102 and on the other hand based on changes in the Directions of the speed of the vehicle 102 from the satellite navigation receiver 104 can be determined.

Thereby, for example, the technical advantage is achieved that an evaluation of the interference of the satellite signals independently between position of the vehicle 102 and speed of the vehicle 102 can be made or correlated, if the speed of the vehicle 102 also to the changes of the particular geographical positions of the vehicle 102nd fits. In one embodiment, the sensor is configured to determine a first yaw rate of the vehicle 102. The sensor and satellite navigation receiver 104 may be connected to the processor. The processor may be configured to determine a second yaw rate of the vehicle 102 based on the determined geographic reference position 102b of the vehicle 102, and to compare the first yaw rate with the second yaw rate to detect the erroneous determination of the geographic location of the vehicle 102.

As a result, for example, the technical advantage is achieved that an erroneous determination of the geographical position of the vehicle 102 or a position drift laterally to the direction of travel (see FIG. 1) in a resulting yaw rate reflect. This can be very well compared with values from other yaw rates, the values of the other yaw rates, for example, based on an inertial measurement unit (IMU) sensor, a steering wheel angle, an odometry sensor, a magnetic sensor, wheel speeds, or Fusion filters can be determined. Thereby, for example, the technical advantage is achieved that multipath effects that would lead to an erroneous determination of the geographical position of the vehicle 102 or to a change in orientation of the vehicle 102 are very well and quickly recognizable if a difference between the determined based on satellite signals yaw rate and a yaw rate determined by sensors or fusion filters exceeds a predetermined tolerance threshold. The tolerance threshold may be determined, for example, based on the accuracy of the second yaw rate and the accuracy of the first yaw rate.

The erroneous determination of the geographic location of the vehicle 102 may be caused by multipath effects, where the multipath effects occur when an antenna of the satellite navigation receiver 104 is in proximity to a large reflective object 108, such as a building. Then the satellite signal does not run directly to the antenna, but first encounters the object 108, to then be reflected onto the antenna, which can lead to an erroneous determination of the geographical position of the vehicle 102. 3 shows a schematic representation of a trajectory of a vehicle 102 according to an embodiment. The trajectory of the vehicle 102 may be determined based on a plurality of geographic locations determined by the satellite navigation receiver 104. Furthermore, the satellite navigation receiver 104 may be configured to use with each new determination of the geographical position of the vehicle 102, the position history of the vehicle 102 over the last 5 seconds or 100 m, for example, to determine a second yaw rate Αφ /,, where Αφ / At can be determined by the processor based on the following formula:

Αφ 1 Y - Y ₂

- = - atan

At At ^{■ Λ} 2 where Δφ is a yaw angle of the vehicle 102, At is a time interval, Y _{T is} a second coordinate of the satellite navigation receiver 104 last determined geographical position 102 a of the vehicle 102, X _{2 is} a first coordinate of a geographic reference position 102 b of the vehicle 102nd is Y _{2 is} a second coordinate of the geographical reference position 102b of the vehicle 102, and Χ _{Λ is} a coordinate of a previous specific geographical position 102 c of the vehicle 102. According to one embodiment, the satellite navigation receiver 104 may be configured to determine the previously determined geographic location 102c of the vehicle 102 and the geographical reference location 102b of the vehicle 102 based on a Kalman filter. Furthermore, the processor may be configured to determine the reference position of the vehicle 102 using a movement theory or an orientation model.

The position 102a of the vehicle 102 may be determined by pseudorange measurements or carrier phase measurements or a combination thereof from satellite navigation receivers 104.

In accordance with another embodiment, the processor may be configured to convert the coordinates of the last determined geographic location 102a, the previous geographic location 102c, and the geographic reference location 102b to vehicle coordinates. Furthermore, the processor may be configured to compare the second yaw rate Αφ / Αΐ with a first yaw rate, which is determined for example by a yaw rate sensor of the vehicle 102, and to discard the last determined geographical position 102a if a difference between the second yaw rate Αφ / At and the first yaw rate exceeds a predetermined tolerance threshold.

According to another embodiment, the processor may be configured to determine a third yaw rate Αφ ^* / Αΐ based on the following formula: where v _x and v _{y are} velocity components of the vehicle 102 that may be determined based on GNSS Doppler velocity measurement. According to another embodiment, the processor may be configured to determine the third yaw rate Αφ ^* / Αΐ based on the following formula: where ν _{¥ ι} , v _x _ ,, ν _Υι and ν _{Χχ are} velocity components of the vehicle 102 that can be determined based on GNSS Doppler velocity measurements.

Since the yaw rate sensors measure a vehicle-fixed orientation change, but the measurements of the satellite navigation receiver 104 only describe vehicle-independent point movements, a device is thus created which detects and filters out an erroneous determination of the position or a lateral position drift.

4 shows a schematic representation of a method 400 for detecting an erroneous determination of a geographical position of a vehicle 102 according to an embodiment. The method 400 includes the steps of determining 402 a first yaw rate of the vehicle 102, receiving 404 satellite signals during a predetermined time period, determining 406 a plurality of geographic positions of the vehicle 102 based on the received satellite signals, determining 408 a geographic reference position 102b of the vehicle 102 based on the determined plurality of geographic positions, determining 410 a second yaw rate of the vehicle 102 based on the determined geographic reference position 102b of the vehicle 102, and comparing 412 the first yaw rate with the second yaw rate to detect the erroneous determination of the geographic location of the vehicle 102.

LIST OF REFERENCE NUMBERS

10 actual trajectory

20 unfiltered GPS trajectory

30 fusion algorithm trajectory

40 filtered GPS trajectory

100 arrangement

102 vehicle

102a position (measured) Pi

102b reference position P2

102c Position (history) P3

104 satellite navigation receiver

106 satellite

108 object

400 procedures

402 Determine

404 receiving

406 Determine

408 Determine

410 Determine

412 Compare

Claims

An apparatus for detecting an erroneous determination of a geographical position of a vehicle (102), comprising: a sensor configured to determine a first yaw rate of the vehicle (102); a satellite navigation receiver (104) configured to receive satellite signals for a predetermined time period, to determine a plurality of geographical positions of the vehicle (102) based on the received satellite signals, and a geographic reference position (102b) of the vehicle (102) on the satellite Determine the basis of the plurality of geographical positions; and a processor configured to determine a second yaw rate of the vehicle (102) based on the determined geographic reference position (102b) of the vehicle (102), and to compare the first yaw rate with the second yaw rate to determine the erroneous determination of geographical position of the vehicle (102) to recognize.

2. Device according to claim 1, wherein the sensor is a rotation rate sensor.

The apparatus of any one of the preceding claims, wherein the satellite navigation receiver (104) is further configured to determine a speed of the vehicle (102) based on a Doppler effect of the received satellite signals.

The apparatus of claim 3, wherein the processor is further configured to determine a third yaw rate of the vehicle (102) based on the speed of the vehicle (102) determined by the satellite navigation receiver (104) and to compare the third yaw rate with the first yaw rate to detect the erroneous determination of the geographical position of the vehicle (102) if a first difference between the first yaw rate and the third yaw rate exceeds a first predetermined tolerance threshold.

The apparatus of any one of the preceding claims, wherein the processor is further configured to determine the second yaw rate Αφ / Ae of the vehicle (102) based on the following formula:

Αφ 1

- = - atan

At At ^{■ Λ} 2 ~ ^Λ 3 where Αφ is a yaw angle of the vehicle (102), At is a time interval, Y _{t is} a second coordinate of the satellite navigation receiver (104) last determined geographical position (102 a) of the vehicle (102), X _2, a first coordinate of the particular geographical reference position (102b) of the vehicle (102), Y ₂ is a second coordinate of the particular geographical reference position (102b) of the vehicle (102) and X ₃ is a coordinate of a previous specific geographical position (102c) of the Vehicle (102) is.

The apparatus of any one of the preceding claims, wherein the processor is further configured to detect the erroneous determination of the geographic location of the vehicle (102) if a second difference between the first yaw rate and the second yaw rate exceeds a second predetermined tolerance threshold.

The apparatus of any one of the preceding claims, wherein the processor is further configured to discard the last determined geographic location (102a) from the satellite navigation receiver (104) if the processor detects the erroneous determination of the geographic location of the vehicle (102).

The apparatus of any one of the preceding claims, wherein the processor is further configured to use an estimation filter to determine the geographic reference position (102b) of the vehicle (102).

9. Apparatus according to claim 8, wherein the estimation filter is a Kalman filter.

The apparatus of any one of the preceding claims, wherein the satellite navigation receiver (104) is a NAVSTAR GPS, a GLONASS, a GALILEO, or a BEIDOU satellite navigation receiver.

1 1. The device of claim 9, wherein the predetermined period of time is 5 seconds.

12. A method (400) for detecting an erroneous determination of a geographical position of a vehicle (102), comprising:

Determining (402) a first yaw rate of the vehicle (102);

Receiving (404) satellite signals for a predetermined period of time;

Determining (406) a plurality of geographical locations of the vehicle (102) based on the received satellite signals;

Determining (408) a geographic reference location (102b) of the vehicle (102) based on the determined plurality of geographic locations;

Determining (410) a second yaw rate of the vehicle (102) based on the determined geographic reference position (102b) of the vehicle (102); and

Comparing (412) the first yaw rate with the second yaw rate to detect the erroneous determination of the geographic location of the vehicle (102).

A computer program comprising program code for carrying out the method (400) of claim 12 when the program code is executed on a computer.