EP3959904A1 - Method and system for processing a signal transmitted to a motor vehicle by a remote communicating entity - Google Patents
Method and system for processing a signal transmitted to a motor vehicle by a remote communicating entityInfo
- Publication number
- EP3959904A1 EP3959904A1 EP20725791.6A EP20725791A EP3959904A1 EP 3959904 A1 EP3959904 A1 EP 3959904A1 EP 20725791 A EP20725791 A EP 20725791A EP 3959904 A1 EP3959904 A1 EP 3959904A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- value
- plausibility
- signal
- parameter
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0244—Accuracy or reliability of position solution or of measurements contributing thereto
-
- 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]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/20—Monitoring; Testing of receivers
- H04B17/27—Monitoring; Testing of receivers for locating or positioning the transmitter
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Definitions
- TITLE Method and system for processing a signal transmitted to a motor vehicle by a remote communicating entity
- the present invention relates to the field of driving assistance systems for motor vehicles.
- the invention relates in particular to a method of processing by a computer system on board a motor vehicle of a signal transmitted by a remote communicating entity and received by means of a communication device by radiofrequency signals arranged within the vehicle. .
- the invention also relates to a computer system implementing such a method.
- the invention applies in particular to autonomous and connected motor vehicles.
- driver assistance systems that implement signal processing methods to verify the integrity of received signals have been developed.
- driving assistance systems of motor vehicles which rely on cryptography techniques to verify the authenticity and / or integrity of a received signal which has been transmitted by a remote communicating entity.
- these methods are of no help when it comes to verifying, beyond the authenticity and integrity of a signal, that its content is in phase with a particular driving context, in particular vis-à-vis a geographical position of a vehicle and / or a heading that it follows.
- the invention aims to provide a method for overcoming these drawbacks.
- a particular aim of the invention is to provide a method and a system which make it possible to better minimize the probability of having a corrupted signal taken into account for the provision of driving assistance functionalities. More specifically, the invention aims to provide a method and a system which make it possible to determine the plausibility of a radiofrequency signal transmitted by a remote communicating entity, in particular a signal which contains data relating to a course followed and / or a geographical position.
- determining, by using the signal, at least one characteristic parameter of the signal and data characterizing a content of the signal acquire measurement data generated using a detection apparatus arranged within the vehicle, a vehicle navigation system configured to interact with a satellite positioning system and / or the radio frequency signal communication apparatus, determine a value d a first primary plausibility parameter relating to a heading followed by the vehicle using the characteristic parameter of the signal, the data characterizing a content of the signal and the measurement data,
- the value of the first primary plausibility parameter and the value of the second primary plausibility parameter are identical, check the storage of the data characterizing a content of the signal on a data storage medium arranged in the vehicle so that they can be used by a system of 'driving aid for the provision of a driver assist functionality, or, if the value of the first primary plausibility parameter and the value of the second primary plausibility parameter are different, establishing that the signal should be ignored.
- the characteristic parameter of the signal can comprise an angular value
- the data characterizing a content of the signal can comprise data characterizing a heading established by the communicating entity
- the measurement data can comprise data characterizing a measured longitudinal axis
- Datas characterizing a measured heading may comprise the steps of:
- the characteristic parameter of the signal may comprise a measured power value and the step consisting in determining a value of a second primary plausibility parameter may comprise the steps of:
- the data characterizing a content of the signal can comprise data characterizing a duration of transmission of the signal and data characterizing a geographical position established by the communicating entity, the measurement data can comprise a duration of reception of the signal.
- measured and data characterizing a measured geographic position and the step of determining a value of a second primary plausibility parameter may include the steps of:
- a further subject of the invention is a processing system which can be carried on board a motor vehicle and process a signal transmitted by a remote communicating entity and received by means of a communication device by radiofrequency signals arranged within the vehicle, the processing system comprising at least one information processing unit, comprising at least one processor, and a support for data storage configured to implement a method as described above.
- the invention further relates to a program for the execution of the steps of a method as described above when said program is executed on a computer.
- a further subject of the invention is a medium that can be used in a computer on which a program as described above is recorded.
- FIG. 1 is a block diagram of a treatment system according to the invention.
- FIG. 2 is a flowchart illustrating certain steps of a treatment method according to the invention.
- a processing system 100 making it possible to process a signal transmitted by a remote communicating entity is a computer system, represented in FIG. 1, which comprises an information processing unit 101, comprising one or more processors, a data storage medium 102, at least one input and output interface 103, allowing the reception of data (or signals) and the transmission of data (or signals), and, optionally, a digital signal 104 capable of receiving, demodulating and amplifying data, in accordance with the general knowledge of those skilled in the art.
- an information processing unit 101 comprising one or more processors, a data storage medium 102, at least one input and output interface 103, allowing the reception of data (or signals) and the transmission of data (or signals), and, optionally, a digital signal 104 capable of receiving, demodulating and amplifying data, in accordance with the general knowledge of those skilled in the art.
- the processing system 100 is embedded in a motor vehicle and it is hosted on one or more of the computers, electronic control units and other telematics units of the vehicle. According to other embodiments, the processing system 100 is hosted on a computer independent of a motor vehicle and it interacts through its input and output interface 103 with a computer of a support system. driving the vehicle. According to the preferred embodiment, the processing system 100 is an integral part of a computer of a driving assistance system of a motor vehicle. Consequently, whatever the embodiment of the invention, the processing system 100 is always able to interact, through its input and output interface 103, not only with the assistance system. driving the vehicle but also with any other system and / or equipment of the vehicle which, from time to time, periodically and / or continuously, is called upon to act in conjunction with the vehicle driving assistance system.
- the vehicle driving assistance system is based on a plurality of detection devices arranged in the vehicle and on one or more dedicated computers, computers and / or processors which, according to pre-established roles and in function of signals and / or data generated by detection devices, can control the operation of certain parts of the vehicle to help provide various driving assistance functions (eg emergency braking assistance , obstacle avoidance assistance, lane keeping aid, parking aid, etc.).
- the driving assistance system comprises at least one laser remote sensing device, a radiodetection device, a camera, a ultrasonic sensor, a compass and / or an inertial unit, each of these detection devices preferably comprising a signal processing module capable of generating data on the basis of received signals.
- the driving assistance system comprises a central signal processing module capable of generating data on the basis of signals transmitted by each of the detection devices.
- the driving assistance system is also provided with interfaces and other dedicated hardware and software elements which allow it to interact with other vehicle equipment that is used to interact within intelligent transport systems.
- vehicle equipment includes in particular a radiofrequency signal communication device arranged in the vehicle with which the driving assistance system can interact to exchange data with other components of an intelligent transport system (eg road infrastructure, sources remote data, other vehicles, electronic devices worn by pedestrians, etc.) and / or a smartphone in the vehicle.
- an intelligent transport system eg road infrastructure, sources remote data, other vehicles, electronic devices worn by pedestrians, etc.
- the processing system 100 which interacts with it or forms an integral part thereof, is able to obtain signals transmitted by communicating entities and received using the device. communication by radiofrequency signals.
- the driving assistance system includes dedicated hardware and software means for interacting with a navigation system. of the vehicle, which, conventionally, comprises a receiver interacting with a satellite positioning system.
- the support system driving, and therefore the processing system 100 which interacts with it or forms an integral part thereof, is able to obtain data from the navigation system, in particular measurement data relating to a heading followed by the vehicle and / or to a geographical position of the vehicle (eg GPS coordinates).
- all the elements described above contribute to enable the processing system 100 to implement a method for processing a signal transmitted by a remote communicating entity and received by means of a signal communication device.
- radio frequencies as described below in connection with figure 2.
- the processing system 100 uses the received signal to determine at least one characteristic parameter of the signal and of data characterizing a content of the signal.
- the characteristic parameter of the signal thus determined can comprise an angular value, corresponding for example to the angle of arrival of the signal, and a power value, corresponding for example to a power value of the measured signal (eg RRSI ).
- the data characterizing a content of the signal can comprise data characterizing a heading followed by the vehicle established by the communicating entity, data characterizing a duration of transmission of the signal and data characterizing a geographical position of the vehicle established by the communicating entity. communicating entity.
- the processing system 100 acquires (ie extracts and / or receives) measurement data generated by using a detection device of the driving assistance system, the system vehicle navigation device and / or the radio frequency signal communication device.
- these measurement data may include data characterizing a measured longitudinal axis and / or a measured heading, this data being determined using, for example, a compass from the driver assistance system and / or the vehicle's navigation system.
- the measurement data may include data characterizing a duration of signal reception measured using the radio frequency signal communication apparatus and / or data characterizing a geographic position measured using the vehicle's navigation system. .
- the processing system 100 determines a value of a first primary plausibility parameter relating to a heading followed by the vehicle by using a characteristic parameter of the signal, the data characterizing a contents of the signal which were determined during the first step 201 and the measurement data which were acquired during the second step 202.
- the processing system 100 does this by using an angular value which corresponds to the angle of arrival of the radio signal determined during the first step 201 and the longitudinal axis of the vehicle contained in the data of measurement acquired during step 202 to determine a value of a first angle. Then, the processing system 100 uses the heading established by the communicating entity determined during the first step 201 and the measured heading acquired during the second step 202 in order to determine a value of a second angle.
- the processing system 100 determines the difference between the first and the second angle and, if the difference between the first angle and the second angle is less than or equal to a first preset threshold value, the processing system 100 assigns a first value plausibility preset to the first primary plausibility parameter, for example a first Boolean value chosen for characterize a plausible character. On the contrary, if the difference between the first angle and the second angle is greater than the first threshold value, the processing system 100 assigns a second plausibility value to the first primary plausibility parameter, for example a Boolean value chosen to characterize a character. unlikely.
- the processing system 100 determines a value of a second primary plausibility parameter relating to a geographical position of the vehicle as a function of a value of a first secondary parameter of plausibility and a value of a second secondary plausibility parameter.
- the value of the first secondary plausibility parameter is determined by using the characteristic parameter of the signal determined during the first step 201 while the value of the second secondary plausibility parameter is determined by using the data characterizing a content of the determined signal. during the first step 201 and the measurement data acquired during the second step 202.
- the processing system 100 assigns the first plausibility value (ie plausible) to the second primary plausibility parameter when the value of the first secondary plausibility parameter and the value of the second secondary plausibility parameter are identical.
- the processing system 100 assigns the second plausibility value (i.e. improbable) to the second primary plausibility parameter when the value of the first secondary plausibility parameter and the value of the second secondary plausibility parameter are different.
- the processing system 100 to determine the value of the first secondary plausibility parameter, the processing system 100 first determines a theoretical power value using a modeling module. Then, the processing system 100 determines the difference between the measured power value which was determined during step 201 and the theoretical power value. Finally, if the difference between the measured power value and the theoretical power value is less than or equal to a second pre-established threshold value, the processing system 100 assigns the first pre-established plausibility value (ie plausible) to the first secondary plausibility parameter . On the contrary, if the difference between the measured power value and the theoretical power value is greater than the second preset threshold value, the processing system 100 assigns the second preset plausibility value (ie improbable) to the first secondary plausibility parameter.
- the system proceeds by first determining a first distance value on the basis of the duration of transmission of the signal determined during the first step 201, of the duration of reception of the signal acquired during the second step 202 and of a preset propagation speed value. Then, the processing system 100 determines a second distance value by using the geographic position established by the communicating entity determined during the first step 201 and the measured geographic position acquired during the second step 202.
- the system processing 100 determines the difference between the first distance value and the second distance value and, if the difference between the first distance value and the second distance value is less than or equal to a third preset threshold value, the processing system 100 assigns the first plausibility value (ie plausible) to the second secondary plausibility parameter. On the contrary, if the difference between the first distance value and the second distance value is greater than the third preset threshold value, the system Treatment 100 assigns the second plausibility value (ie improbable) to the second secondary plausibility parameter.
- a fifth step 205 of the method according to the invention when the value of the first primary plausibility parameter and the value of the second primary plausibility parameter are identical, the processing system 100 controls the storage of data characterizing a content of the signal. on a data storage medium arranged in the vehicle for use by a driving assistance system of the vehicle for the provision of a driving assistance functionality.
- the processing system 100 determines that the signal should be ignored.
- the functional bricks are provided in order to better minimize the probability of seeing a corrupted signal taken into account for the provision of driving assistance functionalities.
- the method and the system according to the invention contribute to enable an autonomous and connected vehicle to determine in a manner more reliable if a received signal is plausible or corrupt, in particular a signal which contains data relating to a course followed and / or a geographical position.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1904472A FR3095561B1 (en) | 2019-04-26 | 2019-04-26 | Method and system for processing a signal transmitted to a motor vehicle by a remote communicating entity |
PCT/FR2020/000124 WO2020217002A1 (en) | 2019-04-26 | 2020-04-16 | Method and system for processing a signal transmitted to a motor vehicle by a remote communicating entity |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3959904A1 true EP3959904A1 (en) | 2022-03-02 |
Family
ID=67956989
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20725791.6A Withdrawn EP3959904A1 (en) | 2019-04-26 | 2020-04-16 | Method and system for processing a signal transmitted to a motor vehicle by a remote communicating entity |
Country Status (5)
Country | Link |
---|---|
US (1) | US11402460B2 (en) |
EP (1) | EP3959904A1 (en) |
CN (1) | CN114128326A (en) |
FR (1) | FR3095561B1 (en) |
WO (1) | WO2020217002A1 (en) |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1235017C (en) * | 2002-10-08 | 2006-01-04 | 曲声波 | Vehicle position detection apparatus and treatment method |
CN102725780B (en) * | 2010-04-19 | 2015-04-22 | 丰田自动车株式会社 | Vehicle control apparatus |
DE102011084784A1 (en) * | 2011-10-19 | 2013-04-25 | Robert Bosch Gmbh | Method for checking the plausibility of sensor signals and method and device for outputting a triggering signal |
US9669926B2 (en) * | 2012-12-19 | 2017-06-06 | Elwha Llc | Unoccupied flying vehicle (UFV) location confirmance |
DE102015219933A1 (en) * | 2015-05-07 | 2016-11-10 | Volkswagen Aktiengesellschaft | Method of checking the plausibility of a mobile device |
JP6330732B2 (en) * | 2015-06-02 | 2018-05-30 | 株式会社デンソー | Control device and support system |
US10466700B1 (en) * | 2015-09-25 | 2019-11-05 | Amazon Technologies, Inc. | Detecting of navigation data spoofing based on signal strength variance |
US10120003B2 (en) | 2016-06-19 | 2018-11-06 | Autotalks Ltd | RSSI based V2X communication plausability check |
US10262475B2 (en) * | 2017-01-19 | 2019-04-16 | Ford Global Technologies, Llc | Vehicle sensor health monitoring |
NL2018961B1 (en) * | 2017-05-22 | 2018-12-04 | Cyclomedia Tech B V | Mobile device, and method for estimating a position of a mobile device |
-
2019
- 2019-04-26 FR FR1904472A patent/FR3095561B1/en active Active
-
2020
- 2020-04-16 US US17/601,838 patent/US11402460B2/en active Active
- 2020-04-16 WO PCT/FR2020/000124 patent/WO2020217002A1/en unknown
- 2020-04-16 CN CN202080031453.4A patent/CN114128326A/en active Pending
- 2020-04-16 EP EP20725791.6A patent/EP3959904A1/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
US11402460B2 (en) | 2022-08-02 |
WO2020217002A1 (en) | 2020-10-29 |
FR3095561B1 (en) | 2021-03-19 |
FR3095561A1 (en) | 2020-10-30 |
CN114128326A (en) | 2022-03-01 |
US20220091219A1 (en) | 2022-03-24 |
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