FR3047089B1 - Procede et dispositif pour determiner la position d'un vehicule - Google Patents

Procede et dispositif pour determiner la position d'un vehicule Download PDF

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Publication number
FR3047089B1
FR3047089B1 FR1750410A FR1750410A FR3047089B1 FR 3047089 B1 FR3047089 B1 FR 3047089B1 FR 1750410 A FR1750410 A FR 1750410A FR 1750410 A FR1750410 A FR 1750410A FR 3047089 B1 FR3047089 B1 FR 3047089B1
Authority
FR
France
Prior art keywords
ultrasound
signal
vehicle
terminal
determining
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.)
Expired - Fee Related
Application number
FR1750410A
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English (en)
Other versions
FR3047089A1 (fr
Inventor
Marcus Schneider
Michael Schoenherr
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of FR3047089A1 publication Critical patent/FR3047089A1/fr
Application granted granted Critical
Publication of FR3047089B1 publication Critical patent/FR3047089B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
    • G01S1/725—Marker, boundary, call-sign or like beacons transmitting signals not carrying directional information
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/74—Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar 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
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G01S7/006—Transmission of data between radar, sonar or lidar systems and remote stations using shared front-end circuitry, e.g. antennas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)

Abstract

Procédé pour déterminer la position d'un véhicule (1) consistant à utiliser une borne d'ultrasons (20, 20'), émettre un signal d'ultrasons codé (40) à l'aide d'un capteur d'ultrasons (12) du véhicule (1), le signal (40) comportant un code d'émission, recevoir le signal d'ultrasons codé (40) par la borne d'ultrasons (20, 20'), émettre un signal de position (42) par la borne d'ultrasons (20, 20') si le code d'émission est reconnu par la borne d'ultrasons (20, 20'), recevoir le signal de position (42) avec un capteur d'ultrasons (12) du véhicule (1), et déterminer la position du véhicule par rapport à la position de la borne d'ultrasons (20, 20') en utilisant le temps de parcours entre l'émission du signal d'ultrasons codé (40) et la réception du signal de position (42).
FR1750410A 2016-01-21 2017-01-19 Procede et dispositif pour determiner la position d'un vehicule Expired - Fee Related FR3047089B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016200813.7A DE102016200813A1 (de) 2016-01-21 2016-01-21 Verfahren zur Bestimmung einer Fahrzeugposition
DE102016200813.7 2016-01-21

Publications (2)

Publication Number Publication Date
FR3047089A1 FR3047089A1 (fr) 2017-07-28
FR3047089B1 true FR3047089B1 (fr) 2020-01-31

Family

ID=58463360

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1750410A Expired - Fee Related FR3047089B1 (fr) 2016-01-21 2017-01-19 Procede et dispositif pour determiner la position d'un vehicule

Country Status (3)

Country Link
DE (1) DE102016200813A1 (fr)
FR (1) FR3047089B1 (fr)
GB (1) GB2548461B (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2568880A (en) * 2017-11-28 2019-06-05 Jaguar Land Rover Ltd Parking assist method and apparatus
GB2568747B (en) * 2017-11-28 2020-04-22 Jaguar Land Rover Ltd Vehicle parking apparatus
DE102018109666A1 (de) 2018-04-23 2019-10-24 Valeo Schalter Und Sensoren Gmbh Verfahren zur Übertragung von Informationen zwischen einem Kraftfahrzeug und einer Parkieranlage
DE102018109667A1 (de) 2018-04-23 2019-10-24 Valeo Schalter Und Sensoren Gmbh Verfahren zum Auffinden einer Parkfläche mit einem Kraftfahrzeug in einer Parkieranlage
DE102018109662A1 (de) 2018-04-23 2019-10-24 Valeo Schalter Und Sensoren Gmbh Verfahren zur Positionsbestimmung eines Kraftfahrzeugs in einer Parkieranlage
US11733377B2 (en) 2018-05-07 2023-08-22 Texas Instruments Incorporated Time of flight and code signature detection for coded ultrasonic transmission
US11644555B2 (en) 2018-07-27 2023-05-09 Texas Instruments Incorporated Threshold generation for coded ultrasonic sensing
US11378686B2 (en) 2018-12-26 2022-07-05 Texas Instruments Incorporated Ultrasonic echo processing in presence of Doppler shift
DE102020200130B4 (de) * 2020-01-08 2022-12-22 Volkswagen Aktiengesellschaft Verfahren, Vorrichtung und Computerprogramm für ein Fahrzeug zum Senden eines schallmodulierten Anfragesignals an eine Verkehrsinfrastruktur
DE102021103071A1 (de) 2021-02-10 2022-08-11 Valeo Schalter Und Sensoren Gmbh Parkassistenzsystem und gebäude

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4326016C1 (de) * 1993-08-03 1994-09-15 Bail Guenther Selbstfahrendes Fahrzeug, vorzugsweise Golfwagen
JPH07128444A (ja) * 1993-10-30 1995-05-19 Suzuki Motor Corp 車両用距離測定装置
DE19509320A1 (de) * 1995-03-15 1996-09-19 Technologietransfer Anstalt Te Folgesteuerung für ein selbstfahrendes Fahrzeug
US6674687B2 (en) * 2002-01-25 2004-01-06 Navcom Technology, Inc. System and method for navigation using two-way ultrasonic positioning
FR2936996B1 (fr) * 2008-10-09 2010-10-22 Peugeot Citroen Automobiles Sa Vehicule automobile electrique ou partiellement electrique et infrastructure de recharge associee pour le positionnement automatique du vehicule par rapport a l'infrastrusture et procede associe
CN102495410B (zh) * 2011-12-12 2014-02-05 北京华环电子股份有限公司 一种特种车辆考场定位系统及方法
US20130322214A1 (en) * 2012-05-29 2013-12-05 Corning Cable Systems Llc Ultrasound-based localization of client devices in distributed communication systems, and related devices, systems, and methods
DE102012219986A1 (de) 2012-10-31 2014-06-12 Siemens Aktiengesellschaft Positionsbestimmung eines Fahrzeugs relativ zu einer Zielposition
DE102012220052A1 (de) 2012-11-02 2013-10-24 Robert Bosch Gmbh Verfahren zur Unterstützung eines Fahrers eines Fahrzeugs bei einem wiederkehrenden Fahrmanöver
DE102014224455B4 (de) * 2014-11-28 2021-06-10 Robert Bosch Gmbh Verfahren zum berührungslosen Aufladen eines elektrisch angetriebenen Fahrzeugs

Also Published As

Publication number Publication date
GB2548461B (en) 2021-04-28
FR3047089A1 (fr) 2017-07-28
GB2548461A (en) 2017-09-20
GB201700886D0 (en) 2017-03-01
DE102016200813A1 (de) 2017-07-27

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