Classifications

• • 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]
  • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
• • 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]
• • 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
  • 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
  • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
  • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
  • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
• • 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
  • 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
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
• • 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
  • 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
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • 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
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/88—Lidar systems specially adapted for specific applications
• • 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
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/88—Lidar systems specially adapted for specific applications
  • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
  • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • 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
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/01—Detecting movement of traffic to be counted or controlled
  • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
  • G08G1/0125—Traffic data processing
  • G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/09—Arrangements for giving variable traffic instructions
  • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
  • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
  • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
  • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/09—Arrangements for giving variable traffic instructions
  • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
  • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
  • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
  • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
• • 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
  • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
• • 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
  • 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
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
• • 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
  • 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
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9323—Alternative operation using light waves

Definitions

• the invention relates to a method for identifying an object as the source of a V2X signal.
• the invention also relates to a device for identifying an object as the source of a V2X signal and a vehicle with such a device.
• the invention also relates to a device that is designed to be identified as the source of a V2X signal and a vehicle with such a device.
• V2V communication vehicle-to-vehicle communication
• V2X communication vehicle-to-X communication
• V2V vehicle-to-vehicle
• Vehicle systems that Communication information from other vehicles received via the radio channel and who also know their own GPS position can use transformations, for example a UTM transformation, to calculate the relative distances between their own receiving vehicle and the surrounding, transmitting road users in a flat coordinate system.
• the V2V communication can be modeled in a figurative sense as a "sensor" which, analogous to the actual environment sensors of a vehicle, for example radar sensors, cameras, laser sensors and the like, detects objects in its environment and their relative distances and speeds are measured.
• Vehicle systems are also known from the prior art, which associate the communication information or communication objects, which are received via the vehicle-to-vehicle communication, with environmental data supplied by an environmental sensor.
• environment models are used here, in which the relative position of other objects is entered, with each of these objects being able to be assigned further information, for example the relative speed and/or other properties of the object.
• environment models can be enriched with further information about other vehicles using the communication information.
• a transmitter (a transmission device) which has supplied the communication information belongs to. It is known in the prior art, as described above, to determine a relative position and speed of the vehicle containing the transmitter as a vehicle-to-vehicle communication object from a GPS position and a transmitted speed. Relative positions and speeds of surroundings sensor objects detected by the surroundings sensors are now also known in the surroundings data. These relative positions and velocities can now be compared. If the environment sensor object, which is to be assigned to the transmitter, identified, an assignment of foreign vehicle information in the can accordingly Communication information is included, take place on this environment sensor object.
• DE 102012020297 A1 discloses a method for assigning at least one communication information transmitting transmitter in a motor vehicle to motor vehicle communication to an object described by environmental data of at least one environmental sensor in a receiving motor vehicle, in which the assignment is based on a comparison of surroundings data contained in the communication information of at least one surroundings sensor of the motor vehicle comprising the transmitter with corresponding surroundings data of the receiving motor vehicle.
• the data received from another vehicle via V2V communication and the data that the environment sensor determines from a corresponding object do not appear to belong together or, if there are more than two V2V partners involved, the receiving one Vehicle assigns the V2V data to an incorrect sensor object.
• a method for identifying an object as the source of a V2X signal comprising the steps:
• a relative position estimation using an environment sensor system of the first vehicle with an object from the environment of the first vehicle being detected using the environment sensor system and with a relative position between the first vehicle and the object, in particular a second vehicle, being determined using the environment sensor system, wherein the environment sensor system receives environment signals from the object and the object modulates the environment signals at least with part of a V2X signal of the object; Receiving the modulated environment signals by the environment sensors of the first vehicle and demodulating the received environment signals by a signal processing unit of the first vehicle and thereby determining a V2X identifier of the object; Comparing the object's V2X identifier to the source's V2X signal, identifying the object as a source of the V2X signal if the object's V2X identifier and the source's V2X signal are sufficiently correlated.
• V2X stands for the communication of a vehicle (V for "vehicle") with another road user, eg another vehicle or an RSU (Road-Side Unit). Other communication partners are conceivable and known from the prior art.
• V2X also includes communication between two vehicles (also known as V2V).
• Sufficient correlation can be understood to mean that the V2X identifier of the object and the V2X signal of the source at least partially match. For example, a correlation value of the signals can be calculated, with the object being identified as the source of the V2X signal, the correlation value exceeding a specific, predetermined limit value.
• the steps of receiving a V2X signal and performing a relative position estimation may be performed sequentially, the order not being significant. These steps can also be performed simultaneously.
• the invention is therefore based on a modulation (i.e. change) of that signal which is detected by an environment sensor system in a way that correlates with a V2X message sent in the same period.
• the invention can be applied to different sensors such as radar, lidar or camera systems with corresponding image recognition.
• the invention advantageously enables objects to be uniquely assigned to the V2X messages they have sent.
• a further advantage is the independence from any kind of localization technique insofar as neither transmitter nor receiver need a priori knowledge of their own position or that of their partner.
• the method according to the invention is suitable, for example, for cooperative localization methods in which the partners involved initially do not know their position or only know it imprecisely.
• the invention is suitable for implementation in vehicles for assigning V2V messages from other vehicles, but also for implementation in stationary devices (Road Side Units RSU) for assigning V2X messages in both directions.
• stationary devices Road Side Units RSU
• the V2X source signal comprises a unique V2X source identifier.
• V2X identifiers In order to protect the privacy of the vehicle driver, it is known that road users in V2X communication (temporarily) change pseudonyms (so-called station ID) use. These are referred to below as V2X identifiers.
• the V2X identifier of a participant is sent with every transmission in order to be able to clearly identify the sender.
• an environment signal of the object is modulated with a unique V2X identifier of the object. Accordingly, the unique V2X identifier of the object is determined when the surrounding signal is demodulated.
• the object By comparing the V2X identifier of the object with the V2X identifier of the source of the V2X signal, the object can be identified as the source of the V2X signal if the V2X identifiers have a sufficient correlation with one another, in particular if they match.
• the relative position is estimated on the basis of a runtime measurement, with the surroundings sensor system of the first vehicle emitting a measurement signal, in particular an electromagnetic wave, at a first point in time, and with the surroundings signal being sent by the object in response to the arrival of the measurement signal .
• the surroundings sensor system of the first vehicle receives the surroundings signal at a second point in time, with a distance between the first vehicle and the object, for example a second vehicle, being calculated based on the time difference between the first point in time and the second point in time.
• the relative position estimation in this embodiment is based on the transmission of a measurement signal and the reception of a measurement signal, usually assumed to be reflected by an object, as an environment signal.
• a time difference between the transmission and the reception can be determined in a known manner and a distance or distance between the transmitter and the reflecting object can be calculated from this if the propagation speed of the signal is known.
• Various examples of surroundings sensor systems that work according to this principle are known from the prior art.
• this known principle is changed in such a way that, in response to the incident measurement signal, a corresponding device of the object, eg an active transmitter, sends an environment signal which is perceived by the environment sensors of the first vehicle as a reflected signal.
• This transmitted signal is with at least a part a V2X signal of the object, in particular with a unique V2X identifier of the object.
• the area sensor system of the first vehicle includes a radar sensor, a radar signal being transmitted as a measurement signal to the area surrounding the first vehicle by means of the radar sensor.
• the object has at least one active radar reflector, the active radar reflector receiving the transmitted radar signal and, in response, transmitting a second radar signal as an environment signal, the second radar signal being associated with at least part of a V2X signal of the object, in particular with a unique V2X identifier of the object is modulated.
• Active radar reflectors are known from the prior art, e.g. from shipping and aviation under the term SART (“Search and Rescue Radar Transponder”). Such active radar reflectors can receive incoming radar waves and send them back amplified and modulated, with a small delay of typically a few nanoseconds. According to the invention, the amplified, returned radar waves are modulated with a part of the simultaneously sent V2X message, e.g. with the V2X identifier. The receiving vehicle may recognize several objects via radar, but only one that has a sufficient correlation with the V2X message received at the same time.
• the environment sensors of the first vehicle can include a lidar sensor, with the lidar sensor transmitting a lidar signal as a measurement signal into the environment of the first vehicle.
• the object has at least one photo sensor and a lidar signal transmitter, wherein the photo sensor receives the transmitted lidar signal and in response thereto a second lidar signal is transmitted as an environment signal by the lidar signal transmitter, the second lidar signal being combined with at least part of a V2X signal of the object, in particular with a unique V2X identifier of the object.
• the transmitting object carries infrared transmitters (IRLEDs) visible all around for lidar, which transmit IR signals that are associated with at least part, in particular the V2X identifier, of the V2X messages sent at the same time. Message are modulated as soon as a lidar scan of the first vehicle is registered.
• the latter requires a photo sensor, eg an IR photo detector, on the side of the V2X transmitting object.
• the IR photodetectors used do not have to be very sensitive here, since only the relatively strong laser scanning light of the incident lidar signal has to be registered (and not its backscatter, for example). Another advantage of IR photodetectors is their high detection speed.
• the V2X receiving vehicle can now, for example, receive the sequential V2X identifier of the transmitting object.
• the first vehicle may use its lidar sensor to detect multiple objects, but only one that has a sufficient correlation with the V2X message that was received at the same time or previously.
• the modulated reflection which emanates from the all-round visible infrared transmitter, is valid for all received vehicles.
• the distances can vary, but are determined correctly by all receiving vehicles due to the different transit times. Or the impact of the lidar rays occurs with a time difference that is greater than the time window. Then each receiving vehicle gets its own lidar reflex.
• the modulation of the omni-visible IRLED can be continuous with at least a portion of the V2X signal if the modulation is slower than the lidar sample rate (data refresh rate).
• the surroundings sensors of the first vehicle can include a camera system, eg a stereo camera system or a video camera system.
• the object sends an environment signal (passive in this case, since the camera system captures one or more images of the sending object for relative position estimation), which includes an optical signal, in particular a continuously sent optical signal, wherein the optical signal is modulated with at least part of a V2X signal of the object, in particular with a unique V2X identifier of the object.
• the object can have, for example, one or more light sources that are designed to transmit the modulated surroundings signal.
• the object can have one or more light sources specially provided for this purpose, e.g. one or more LEDs.
• lighting means that are present in the vehicle such as headlights, indicators, brake lights and/or the like, can be used as an alternative or in addition to transmit the optical signal.
• the optical signal can have a spatial modulation, for example.
• the illuminant includes a line or an array of LEDs.
• a standardized V2X message of the type CAM or DENM always has a "Station ID" with a length of 4 bytes. The station ID can thus be made readable for video cameras, e.g. by a line of 32 LEDs, without any restrictions due to the frame rate.
• a time modulation of the optical signal can be provided.
• a signal with a bandwidth of 15Hz can be sampled.
• a maximum of 30 bits/second can be transmitted. If, for example, each object transmits its V2X identifier via LED once per second, a maximum of 2 30 objects could be clearly distinguished in this way.
• the complete V2X station ID with a length of 4 bytes cannot be transmitted in one second, the remaining character set is sufficient when dimensioning the alternative described here to reliably distinguish between the objects involved.
• a device which is designed to be identified as the source of a V2X signal using a method according to an embodiment of the invention.
• the device comprises at least: a computing unit which is designed to generate a V2X signal, the V2X signal including in particular a unique V2X identifier; a communication unit to broadcast the V2X signal in the vicinity of the device; a signal transmission unit which is set up to transmit an environment signal, the environment signal being modulated with at least part of the V2X signal, in particular with that of the V2X identifier, of the device.
• the signal transmission unit is preferably set up to transmit the surroundings signal in response to detection of a measurement signal coming from outside, the device having a sensor for detecting the measurement signal.
• the signal transmission unit can comprise an active radar reflector, with the active radar reflector receiving a radar signal as a measurement signal and, in response, transmitting a second radar signal as an environment signal, with the second radar signal having at least part of the V2X signal , specifically modulated with the V2X identifier of the device.
• the signal transmission unit can include a photo sensor, in particular an IR sensor.
• the photo sensor receives a lidar signal as the measurement signal.
• a second lidar signal is transmitted by a lidar signal transmitter of the device as an environment signal, the second lidar signal being modulated with at least part of the V2X signal, in particular with that of the V2X identifier of the device.
• the device can have a light source as a signal transmission unit as described above, the light source continuously sending an optical signal as an environment signal, the optical signal modulating with at least part of the V2X signal, in particular with the V2X identifier of the device is.
• a vehicle in particular a motor vehicle, is proposed which includes a device according to the invention which is designed to be identified as the source of a V2X signal using a method according to an embodiment of the invention.
• a device which is designed to identify an object as the source of a V2X signal using a method according to the invention.
• the device comprises at least one receiver set up to receive V2X signals; an environment sensor system, in particular comprising a camera system and/or a radar sensor and/or a lidar sensor, which is set up to receive an environment signal from the environment surrounding the device and to carry out a relative position estimation between the first vehicle and an object transmitting the environment signal using the environment sensor system; a signal processing unit that is set up to demodulate the surroundings signal and thereby determine a V2X identifier of the object; a computing unit set up to compare the V2X identifier of the object with the V2X identifier of the source of the V2X signal, the object being identified as the source of a V2X signal if the V2X identifiers have a sufficient correlation.
• a vehicle in particular a motor vehicle, which includes a device according to the invention which is designed to identify an object as the source of a V2X signal using a method according to the invention.
• the vehicles according to the invention are particularly preferably designed as at least partially automated vehicles, in particular as highly automated or fully automated vehicles.
• at least partially automated guidance includes one or more of the following cases: assisted guidance, partially automated guidance, highly automated guidance, fully automated guidance.
• Assisted driving means that a driver of the vehicle permanently carries out either the lateral or the longitudinal guidance of the vehicle.
• the other driving task in each case ie controlling the longitudinal or lateral guidance of the vehicle) is carried out automatically. This means that when the vehicle is driven with assistance, either the lateral or the longitudinal guidance is controlled automatically.
• Partially automated driving means that in a specific situation (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings) and/or for a certain period of time, a longitudinal and a Lateral control of the vehicle can be controlled automatically.
• a driver of the vehicle does not have to manually control the longitudinal and lateral guidance of the vehicle himself.
• the driver must constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
• the driver must be ready to take full control of the vehicle at any time.
• Highly automated driving means that for a certain period of time in a specific situation (e.g.: driving on a motorway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings) longitudinal and lateral guidance of the vehicle be controlled automatically.
• a driver of the vehicle does not have to manually control the longitudinal and lateral guidance of the vehicle himself.
• the driver does not have to constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
• a takeover request is automatically issued to the driver to take over control of the longitudinal and lateral guidance, in particular with a sufficient time reserve.
• the driver must therefore potentially be able to take over control of the longitudinal and lateral guidance.
• Limits of automatic control of the aileron and Longitudinal guides are recognized automatically. With highly automated guidance, it is not possible to automatically bring about a risk-minimum state in every initial situation.
• Fully automated driving means that in a specific situation (for example: driving on a freeway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings), longitudinal and lateral guidance of the vehicle is controlled automatically.
• a driver of the vehicle does not have to manually control the longitudinal and lateral guidance of the vehicle himself.
• the driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
• the driver is automatically prompted to take over the driving task (control of the lateral and longitudinal guidance of the vehicle), in particular with a sufficient time reserve. If the driver does not take over the task of driving, the system automatically returns to a risk-minimum state. Limits of the automatic control of the lateral and longitudinal guidance are recognized automatically. In all situations it is possible to automatically return to a risk-minimum system state.
• FIG. 1 schematically shows a traffic situation with a number of vehicles and an RSU, in which a method according to a possible embodiment of the invention is used.
• FIG. 2 shows a vehicle that is designed to be identified as the source of a V2X signal according to a method according to an embodiment of the invention according to a first possible embodiment of the invention.
• 3 shows a vehicle that is designed to identify an object as the source of a V2X signal according to a method according to an embodiment of the invention according to two possible embodiments of the invention.
• FIG. 4 shows a flowchart of a method according to a possible embodiment of the invention.
• Vehicles 101, 102, 103 and 104 and a stationary RSU (Road Side Unit) 110 are involved in the traffic situation illustrated in FIG. All participating vehicles 101, 102, 103 and 104 and the RSU 110 are set up to send and receive messages via V2X communication.
• the vehicles 101, 102, 103 and 104 and the RSU 110 have communication devices 113 which emit V2X signals into the environment of the respective vehicle 101, 102, 103, 104 or the RSU 110, for example by radio.
• a V2X message or a V2X signal sent in this way includes a unique V2X identifier for the sending vehicle 101, 102, 103 and 104 or the sending RSU 110.
• This unique V2X identifier can also be referred to as a station ID and allows it to clearly identify the source of the V2X signal. Provision can be made for the station ID to be changed at regular time intervals in order to maintain anonymity, but it always remains unique.
• the vehicle 101 receives a V2X signal from its environment and would like to identify one of the other objects in its environment, ie the vehicle 102 or the vehicle 103 or the RSU 110 as the source of the V2X signal.
• a relative position estimation is carried out using an environment sensor system of vehicle 101 .
• the vehicle 101 a radar sensor 111, for example.
• Distances to objects in the vicinity of vehicle 101 are determined by means of radar sensor 11 based on a transit time measurement.
• the radar sensor 111 emits a radar signal as a measurement signal. If the radar signal is reflected back to radar sensor 111 by an object in the vicinity, a distance between vehicle 101 and the object can be calculated in a known manner from the time interval between the transmission of the radar signal and the arrival of the reflected signal.
• the V2X signal was sent by the vehicle 102 in the present example. So that the vehicle 102 can be clearly identified as the source of the V2X signal, the vehicle 102 has at least one active radar reflector 115 as a signal transmission unit. Vehicle 102 preferably has a plurality of active radar reflectors, which are aligned, for example, to the rear, front, right and left of vehicle 102 . When the radar signal sent by vehicle 101 to estimate the relative position hits the active radar reflector of vehicle 102, the radar reflector modulates the incoming signal with the station ID of vehicle 102 and sends a radar signal modulated in this way as an environment signal back in the direction of vehicle 101, where it is received by the radar sensor 111 .
• a device according to the invention in vehicle 101 demodulates the surroundings signal received in this way and thus determines the station ID of vehicle 102 in addition to a relative position or a relative distance between vehicles 101 and 102 .
• the station ID obtained from this measurement can now be compared to the station ID of the previously received V2X signal. If the two station IDs match or at least have a certain correlation, then the vehicle 102 can be clearly identified as the source of the V2X signal.
• vehicle 103 is also recognized as an object by means of radar sensor 111 of vehicle 101 .
• Vehicle 103 can also have at least one active radar reflector 115, for example. If the vehicle 101 for relative position estimation or for determining a distance transmitted radar signal on the active radar reflector of Vehicle 103 hits, the radar reflector 115 modulates the incoming signal with the station ID of the vehicle 103 and reflects the radar signal modulated in this way as an environment signal back to the vehicle 101, where it is received by the radar sensor 111. The station ID of the vehicle 103 can now be determined by demodulating the surroundings signal. Since this does not match the station ID of the received V2X signal (which originates from vehicle 102), vehicle 103 can be excluded as the source of the received V2X signal.
• the RSU 110 can be eliminated as the source of the received V2X signal.
• FIG. 2 shows a vehicle 202 which is designed to be identified as the source of a V2X signal using a method according to a possible exemplary embodiment of the invention.
• the vehicle 202 has a device 212 which has a first processing unit 230 for generating a V2X message.
• the V2X message is generated in such a way that it also includes the current station ID of the vehicle 202 .
• the device 212 also includes a transmission unit 213 which is designed to transmit the V2X message as a V2X signal 240 to the surroundings of the vehicle 202 .
• the device 212 has a control unit 220 to which the station ID of the vehicle 202 is made available.
• the device 212 also includes a signal transmission unit 215 which is set up to transmit an environment signal.
• the signal transmission unit 215 includes a display 216 with a plurality of LED light sources.
• the display sends an optical signal as an environment signal.
• This environment signal can be received and evaluated by another road user, for example another vehicle, in a relative position estimation that uses an optical sensor, such as a camera system.
• the optical signal is modulated with at least part of the V2X signal, in particular with that of the V2X identifier of the device, that is to say the station ID of the vehicle 202 in this example.
• the modulation can be a spatial one modulation be formed.
• the individual LEDs can be controlled in such a way, for example, that they have different intensities.
• a receiver for example a computing unit that evaluates the signal from an imaging sensor such as a camera, can now derive the station ID of vehicle 202 from the spatial intensity profile.
• the modulation can be designed as a time modulation, ie the LEDs can be controlled in such a way, for example, that their intensity varies over time.
• a receiver for example a computing unit that evaluates the signal from a photo sensor or a camera, could derive the station ID of the vehicle 202 from the intensity curve over time.
• Other possibilities of modulation can be used alternatively or additionally, eg a modulation of the wavelength or the color of the emitted light.
• the signal transmission unit 215 can have an active radar reflector (not shown). This is designed to modulate an incident radar signal, which is transmitted by another road user, for example another vehicle, with the station ID of the vehicle 202 in a relative position estimation that uses a radar sensor, and to send back a radar signal modulated in this way as an environment signal.
• This environment signal can be received and evaluated by other road users in order to identify the vehicle as the source of a V2X signal that has the same station ID as has already been described in connection with FIG. 1 .
• the vehicle 301 has a device 312 for this purpose.
• the device includes a receiver 313 set up to receive V2X signals.
• An evaluation unit 323 is assigned to the receiver, which is set up to evaluate the received V2X signal and to separate a station ID of the source of the V2X signal from the V2X signal.
• Device 312 also includes an environment sensor system 311, which includes a camera system 321 in this example. Additionally or alternatively, surroundings sensor system 311 can have a radar sensor and/or a lidar sensor (not shown).
• Environment sensor system 311 is set up to receive an environment signal from the environment surrounding device 312 and to carry out a relative position estimation between the device and an object emitting the environment signal using the environment sensor system.
• the relative position can be estimated, for example, by evaluating the captured camera images. This is known from the prior art and will not be explained further at this point.
• the device 312 also includes a signal processing unit 317, which is set up to demodulate the surroundings signal captured by the camera and thereby determine a V2X identifier of the object.
• the environment signal can be generated by a signal transmission unit 213 of the object, as described in connection with FIG. 2 .
• the signal processing unit 317 can also be set up to recognize objects and their positions relative to the vehicle 301 from the received images.
• the device 312 also includes a computing unit 318 which is set up to compare the V2X identifier of the object determined from the surrounding signal with the V2X identifier (station ID) of the source of the V2X signal.
• the object is identified as the source of a received V2X signal if the V2X identifiers or station IDs show sufficient correlation.
• step 410 a V2X signal is received by a receiver of a first vehicle from a source. Thereafter, optionally in step 415, a V2X identifier, for example the station ID, of the source of the V2X signal can be extracted from the V2X signal.
• step 420 which is carried out independently of steps 410, 415, a relative position estimation is carried out by means of an environment sensor of the first vehicle, with an environment signal being received from an object in the environment of the first vehicle by means of the environment sensor and with a relative position between the first vehicle and an object emitting the signal from the surroundings, in particular a second vehicle, is determined by means of the surroundings sensors.
• the relative position estimation performed based on a runtime measurement.
• the surroundings sensor system of the first vehicle emits a measurement signal at a first point in time.
• the signal surrounding the object is transmitted in step 430 in response to the arrival of the measurement signal.
• the environment sensors of the first vehicle receive the reflected measurement signal as
• the Environment signal at a second point in time wherein the distance between the first vehicle and the object is calculated based on the time difference between the first point in time and the second point in time.
• the environment signal emitted by the object is modulated with a V2X identifier of the object.
• step 450 the V2X identifier of the object is compared with that from the V2X signal of the source of the V2X signal, in particular the station ID determined in step 415, the object being identified as the source of the V2X signal if the V2X identifier and the V2X-
• Source signal have sufficient correlation.

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• 2020
  • 2020-09-28 DE DE102020212174.5A patent/DE102020212174A1/de active Pending
• 2021
  • 2021-09-24 WO PCT/EP2021/076341 patent/WO2022063976A1/de active Application Filing
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