GB2548461A - Method of determining a vehicle position - Google Patents
Method of determining a vehicle position Download PDFInfo
- Publication number
- GB2548461A GB2548461A GB1700886.3A GB201700886A GB2548461A GB 2548461 A GB2548461 A GB 2548461A GB 201700886 A GB201700886 A GB 201700886A GB 2548461 A GB2548461 A GB 2548461A
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- Prior art keywords
- ultrasonic
- signal
- beacon
- vehicle
- encoded
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 67
- 230000004913 activation Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 238000012790 confirmation Methods 0.000 claims description 13
- 230000003111 delayed effect Effects 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 description 9
- 238000004146 energy storage Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 230000002596 correlated effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000002592 echocardiography Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A method of determining a vehicle position of a vehicle 1 is provided using an ultrasonic beacon 20. An ultrasonic sensor 12 of vehicle 1 transmits an encoded ultrasonic signal 40 which comprises a transmission code. Ultrasonic signal 40 is received by beacon 20 and, in response to detection of ultrasonic signal 40, beacon 20 transmits a position signal 42 which is received by ultrasonic sensor 12 of vehicle 1. The vehicle position is determined relative to the position of beacon 20 using a travel time which has elapsed from transmission of ultrasonic signal 40 to reception of position signal 42. A beacon 20 and driver assistance system 10 suitable for use with the method are also disclosed; the system is particularly suitable for accurate movement of a vehicle to a target position 38, which may be a garage 32 where vehicle 1 may park. Beacon 20 may have an energy-saving mode and may be awakened on detection of an activation code in signal 40.
Description
Method of determining a vehicle position Prior art
The invention relates to a method of determining a vehicle position of a vehicle as well as an ultrasonic beacon and a driver assistance system used in conjunction with the method.
Driver assistance systems are known from the prior art which assist a vehicle driver when carrying out recurring driving manoeuvres such as parking in a garage. Based on the method known from DE 10 2012 220 052 Al, the driving manoeuvre is predefined by the driver in a learning mode and can be subsequently retrieved. During a learning manoeuvre from a starting position to a target position, the method may take account of markers mounted outside the vehicle, such as ultrasonic transmitters for example. When the driving manoeuvre is subsequently repeated, the ultrasonic sensors can be used to recognise the starting position again. A method of determining a position of a vehicle relative to a target position based on travel times of ultrasonic signals is known from DE 10 2012 219 986 A1. In this instance, an ultrasonic transmitter is disposed in a fixed spatial relationship with respect to the target position and the vehicle comprises several ultrasonic receivers. The target position might be a charging station for an electric vehicle, for example. The more sensors there are integrated in the vehicle, the more accurately the position of the vehicle can be determined. Furthermore, the configuration may be such that the ultrasonic transmitter only transmits an ultrasonic signal on receiving a trigger signal of the vehicle. The distance of the vehicle from the ultrasonic transmitter is determined on the basis of the time between transmission of the trigger signal and reception of the ultrasonic signal.
Disclosure of the invention A method of determining a vehicle position of a vehicle is proposed. To this end, at least one ultrasonic beacon is provided in a first step. In a second step, an encoded ultrasonic signal is transmitted by means of at least one ultrasonic sensor of a vehicle, the encoded ultrasonic signal comprising a transmission code. When the encoded ultrasonic signal is received by the ultrasonic beacon, the latter transmits a position signal when the transmission code is detected by the ultrasonic beacon. The position signal is then received by at least one ultrasonic sensor of the vehicle and the vehicle position relative to the position of the ultrasonic beacon is determined using a travel time which has elapsed from transmission of the encoded ultrasonic signal to reception of the position signal.
The encoded ultrasonic signals are preferably transmitted by the vehicle using ultrasonic sensors, for example as part of a driver assistance system provided for the vehicle. Such ultrasonic sensors are configured to transmit ultrasound and to receive ultrasound. The expression ultrasonic pulse used in the context of this description should be understood as meaning an ultrasonic wave limited in time which is transmitted or received via an ultrasonic sensor, for example. Hereafter, an ultrasonic signal should be understood as meaning sound comprising at least one ultrasonic pulse. As a rule, an ultrasonic signal comprises 1 to 256 ultrasonic pulses, preferably an ultrasonic signal comprises 1 to 8 ultrasonic pulses.
In order to transmit information, in particular codes, the ultrasound is modulated. Appropriate modulation methods are frequency modulation and amplitude modulation, for example. In the case of amplitude modulation, the amplitude, in other words the volume of the ultrasound within an ultrasonic pulse, or, if an ultrasonic signal comprises several ultrasonic pulses, from one ultrasonic pulse to the next ultrasonic pulse is varied. In the case of a frequency modulation, the frequency of the ultrasound, in other words the pitch of the ultrasound, is varied, likewise within an ultrasonic pulse or, if an ultrasonic signal comprises several ultrasonic pulses, from one ultrasonic pulse to the next ultrasonic pulse.
Encoded ultrasonic signals comprising a series of several ultrasonic pulses are preferably used to transmit information, in particular to transmit the codes, and each individual ultrasonic pulse has a frequency modulation. In this respect, an individual ultrasonic pulse Is preferably frequency modulated so that the ultrasonic frequency within an ultrasonic pulse constantly rises or constantly falls. An ultrasonic pulse where the frequency constantly rises is referred to as chirp-up and an ultrasonic pulse where the frequency constantly falls is referred to as chirp-down. Accordingly, information, in particular the codes such as the transmission code for example, is transmitted with the aid of an encoded ultrasonic signal comprising a series of several ultrasonic pulses, and the Individual ultrasonic pulses are either a chirp-up or a chirp-down ultrasonic pulse respectively. The respective series of chirp-up and chirp-down ultrasonic pulses thus represents the transmitted information or the transmitted codes. In the context of this description, therefore, by transmitting a code, for example by transmitting a transmission code, is meant that an encoded ultrasonic signal Is transmitted and encoding is achieved by modulating the ultrasonic signal accordingly so that it carries the code as information. Similarly, by receiving the encoded ultrasonic signal is meant that the corresponding ultrasonic signal is received by an appropriate ultrasonic receiver, for example an ultrasonic sensor, and an appropriate decoding or demodulation takes place whereby the information transmitted with the aid of the ultrasonic signal respectively the transmitted code is extracted. The extracted information or the extracted code may then be further processed. For example, the received code may be compared with a previously stored code and a predefined action can be triggered when a known code is detected.
Accordingly in the present invention, the expression "a code is detected" should be understood as meaning that a code from a received ultrasonic signal is compared with a stored code and a match is therefore found.
Before sending the transmission code, an encoded ultrasonic signal comprising an activation code is preferably transmitted by the at least one ultrasonic sensor of the vehicle and the ultrasonic beacon switches from an energy saving mode to an operating mode when the activation code is detected.
Especially in situations when the ultrasonic beacon is operating independently of a power grid, i.e. is supplied with energy by means of a battery, a rechargeable battery and/or a solar cell for example, it is of advantage to provide an energy saving mode whereby the energy consumption of the ultrasonic beacon is reduced compared with a regular operating mode. In this respect, it may be that the ultrasonic beacon automatically switches from the operating mode to energy saving mode if no transmission code is detected over a predefined period of time. In situations where a power grid is available, on the other hand, it may be of advantage for the system to be made available for the maximum possible, in particular held in readiness to react immediately, in which case no energy saving mode is provided.
If the ultrasonic beacon is provided with an energy saving mode, an encoded ultrasonic signal comprising a confirmation code Is preferably transmitted when the activation code is detected and in addition, the vehicle does not transmit the encoded ultrasonic signal comprising the transmission code until the confirmation code is detected. This ensures that the ultrasonic beacon is in operating mode before the method sequence is continued by transmitting the transmission code. It may also be preferable to repeat transmission of the activation code if no ultrasonic signal comprising the confirmation code is received within a predefined period of time. The ultrasonic signal comprising the activation code may also be transmitted continuously until the confirmation code is detected.
At least two ultrasonic beacons are preferably provided for the purpose of the method, in which case each ultrasonic beacon has an individual transmission code and/or an individual activation code. The ultrasonic beacons may be placed in different positions, in which case the area in which the vehicle position can be determined is made bigger on the one hand and, by providing several ultrasonic sensors, the problem whereby blind spots are created in which no position can be detected because the sound propagation between the vehicle and an ultrasonic beacon is blocked due to obstacles such as walls, hedges, rubbish bins and such like, for example, is prevented on the other hand. By providing individual codes for each ultrasonic beacon, in particular individual transmission codes and individual activation codes, the vehicle is also placed in a position of being able to distinguish the individual ultrasonic beacons from one another. Using several ultrasonic beacons also means that the reference point with respect to which the vehicle position is determined can be unambiguously identified.
Transmission of the position signal is preferably delayed so that a predefined waiting time elapses between reception of the encoded ultrasonic signal by the ultrasonic beacon and transmission of the position signal, and the waiting time is subtracted from the travel time. Providing the waiting time improves accuracy in determining the position because the instant at which the position signal is transmitted depends exclusively on the predefined waiting time and not an internal processing time of the ultrasonic beacon. Such a processing time is necessary for the ultrasonic beacon to decode the received ultrasonic signal and compare the decoded information or decoded code with a stored code, for example with the transmission code of the ultrasonic beacon. Since the processing time can depend on the technical system specifically integrated in the ultrasonic beacon and optionally on the selected code and ambient conditions, for example the reception quality of the ultrasonic signal, an undefined period of time would elapse, namely the processing time between reception of the encoded ultrasonic signal by the ultrasonic beacon and retransmission of the position signal, if the waiting time were not provided. Since the vehicle determines its position relative to the ultrasonic beacon on the basis of the travel time which has elapsed from transmission of the encoded ultrasonic signal to reception of the position signal, the travel time is susceptible to a certain degree of error which affects the calculation of the distance without the waiting time .
Another aspect of the invention relates to an ultrasonic beacon comprising an ultrasonic transmitter and also an ultrasonic receiver as well as a control device, and the ultrasonic beacon is configured to receive and evaluate encoded ultrasonic signals of a vehicle and to transmit a position signal to the vehicle on detection of a transmission code.
The ultrasonic beacon is preferably designed and/or configured for use in conjunction with the described method proposed by the invention. Accordingly, the features described in connection with the method apply in the same way to the ultrasonic beacon and conversely the features described in connection with the ultrasonic beacon apply in the same way to the method.
Based on different embodiments, the ultrasonic transmitter and ultrasonic receiver of the ultrasonic beacon may be provided in the form of separate components or in the form of a combined ultrasonic transmitter and receiver. Furthermore, several ultrasonic transmitters and/or receivers may be provided, in which case the ultrasonic beacon has a large range of sight within which it can receive ultrasonic signals and a large transmission range in which it can transmit ultrasonic signals.
The ultrasonic beacon is preferably configured to delay transmission of the position signal so that a predefined waiting time elapses between reception of the encoded ultrasonic signal and transmission of the position signal.
The ultrasonic beacon preferably has an operating mode in which it is configured to receive and evaluate encoded ultrasonic signals continuously and it has an energy saving mode in which it is configured to receive and evaluate encoded ultrasonic signals at predefined time intervals only, and the ultrasonic beacon is also configured to switch from the energy saving mode to the operating mode on detection of an activation code.
If the ultrasonic beacon has an energy saving mode, the ultrasonic beacon is preferably configured to switch to the energy saving mode after a predefined period of time has elapsed since a transmission code was last detected.
Providing an energy saving mode is of advantage in particular in the case of embodiments of the ultrasonic beacon which are capable of operating independently of a power grid. To this end, a power supply can be provided in the form of batteries, rechargeable batteries, solar cells or a combination of several of these means.
The ultrasonic beacon is preferably also configured to detect other codes in encoded ultrasonic signals and hence trigger correlated actions. For example, on detecting a door code, a door connected to the ultrasonic beacon can be opened or closed. The door connected to the ultrasonic beacon might be a garage door, for example.
The codes used are preferably set individually for each ultrasonic beacon. The codes may be fixed predefined codes, for example, but the encoded ultrasonic signals may also transmit information enabling the use of encryption methods, such as the RSA method, for example. It is expedient to use such encryption methods in particular if a high security level is necessary, such as when transmitting a door code by means of which a door connected to the ultrasonic beacon is opened, for example.
Another aspect of the invention relates to a driver assistance system comprising at least one ultrasonic sensor configured to transmit encoded ultrasonic signals and receive position signals and a control device, and the driver assistance system is configured to transmit an encoded ultrasonic signal comprising a transmission code, receive a position signal and determine a vehicle position using the received position signal.
The driver assistance system is designed and/or configured for use in conjunction with the described method. The driver assistance system is also designed and configured so that it can be used in conjunction with the described ultrasonic beacon and vice versa. Consequently, features described in connection with the method and/or ultrasonic beacon apply in the same way to the driver assistance system and conversely, the features described in connection with the driver assistance system apply in the same way to the method and ultrasonic beacon.
When determining the vehicle position, the driver assistance system is preferably configured to determine a travel time from transmission of the encoded ultrasonic signal to reception of the position signal. A predefined waiting time is preferably subtracted from the travel time. The predefined waiting time in this instance is identical to the predefined waiting time for the ultrasonic beacon.
The driver assistance system is preferably configured to assist a driver with a recurring driving manoeuvre, and the driver assistance system has a learning mode in which a driving manoeuvre is recorded and an application mode in which a recorded driving manoeuvre is implemented. To this end, as part of the learning mode, a trajectory or a travel path along which the vehicle can be guided from a starting position to a target position is defined. The vehicle position as well as the starting position and target position are determined with reference to the positions of at least one ultrasonic beacon. In this manner, when the driver assistance system is in application mode, the vehicle Is able to determine the vehicle position again with reference to the ultrasonic beacon and guide the vehicle along the recorded trajectory to the target position. The vehicle Is preferably guided automatically in application mode and the driver assistance system takes over both the longitudinal guidance and acceleration and braking of the vehicle, as well as transverse guidance, in other words steering of the vehicle.
The driver assistance system is preferably also configured to transmit an encoded ultrasonic signal comprising a door code. This being the case, the driver assistance system is able to open or close a door connected to the ultrasonic beacon via an ultrasonic beacon configured accordingly. In particular, the door code can also be transmitted as part of the implementation of a driving manoeuvre, for example when parking in a garage, the driver assistance system is able to open or close the garage door as required.
Advantages of the invention
The use of ultrasonic beacons for determining a position is of advantage compared with passive beacons or reference objects because, by contrast with a passive beacon or a reference object, the ultrasonic beacon transmits ultrasound itself, as a result of which the detection range is approximately doubled. An ultrasonic signal emitted by an ultrasonic sensor of a vehicle merely has to be able to reach the ultrasonic beacon and it is not necessary for the signal to also have sufficient amplitude to generate an ultrasonic echo which can be detected again by the ultrasonic sensor of the vehicle. The use of encoded ultrasonic signals comprising a transmission code enables an unambiguous distinction to be made between ultrasonic signals used in conjunction with the method and background noises or ultrasonic signals of other apparatuses and sensors. Furthermore, the use of encoded ultrasonic signals also enables several ultrasonic beacons to be provided because they can be unambiguously addressed and hence distinguished.
Providing a predefined waiting time in the case of the ultrasonic beacon also enables determination of the position to be improved because in this manner, the time between reception of the encoded ultrasonic signal and transmission of the position signal can be exactly predefined and is not dependent on ambient conditions or the specific technical design of the ultrasonic beacon.
Providing encoded ultrasonic signals also means that other information can be transmitted, for example a driver assistance system can transmit a code to the ultrasonic beacon by means of which a garage door can be opened.
Another advantage of using encoded ultrasonic signals is that the ultrasonic beacons only become active and transmit a position signal when they detect a corresponding transmission code. In parallel with determining the position of the vehicle with the aid of the ultrasonic beacons, this also allows a position to be determined on the basis of ultrasonic echoes with which non-coded ultrasonic signals or simple ultrasonic pulses can be transmitted and are reflected by objects in the area around the vehicle. The ultrasonic beacons proposed by the invention do not react to the simple ultrasonic pulses, which means that the received ultrasonic echoes can be unambiguously correlated with objects in the area around the vehicle.
Furthermore, providing an energy saving mode in conjunction with an activation code enables the power consumption of the ultrasonic beacon to be kept low. In particular, this makes it easier to supply an ultrasonic beacon with power using regenerative energies, such as with a solar cell in conjunction with a rechargeable energy storage, for example.
Brief description of the drawings
Examples of embodiments of the invention are illustrated in the drawings and will be explained in more detail in the following description.
The drawings illustrate:
Figure 1 a vehicle during parking in a garage.
Figure 2 an ultrasonic beacon.
Figure 3 a schematic diagram of the sequence of the method and
Figure 4 a diagram illustrating communication between the beacon and vehicle.
In the following description of examples of embodiments of the invention, identical or similar components and elements are denoted by the same reference numbers and a repeated description of these components or elements will be dispensed with in individual cases. The drawings provide only a schematic illustration of the subject matter of the invention.
Figure 1 illustrates a vehicle 1 disposed at the start of an entry manoeuvre 30. The intention is to guide the vehicle 1 to a target position 38 in a garage 32.
The vehicle 1 comprises a driver assistance system 10, comprising a control device 14 and several ultrasonic sensors 12. The ultrasonic sensors 12 are each configured to transmit ultrasound and to receive ultrasound. The control device 14 of the driver assistance system 10 is also configured to assist a driver of the vehicle 1 with implementation of a recurring driving manoeuvre. To this end, the driver assistance system 10 comprises a learning mode and an application mode. The driver of the vehicle 1 has already carried out a learning manoeuvre during which the driver assistance system 10 was operated in learning mode. During the learning manoeuvre, the vehicle 1 was moved by the driver along a trajectory 36 to the target position 38 in the garage 32. In this instance, the vehicle position relates to a reference point 16 of the vehicle 1 which, in the illustrated example, is disposed between the wheels of the rear axle. The trajectory 36 recorded during the learning manoeuvre is stored in the control device 14 of the driver assistance system 10.
To carry out the driving manoeuvre again, the driver assistance system 10 is operated in application mode, whereupon control of the vehicle 1 is taken over by the driver assistance system 10 and the vehicle 1 is automatically guided along the trajectory 36 to the target position 38. Both during the learning manoeuvre in the learning mode of the driver assistance system 10 and during subsequently repeated manoeuvres in application mode of the driver assistance system 10, it is of advantage to determine the position of the vehicle 1 exactly. In learning mode, the vehicle position is needed in order to unambiguously determine both the target position 38 and the trajectory 36 for example. In application mode, the vehicle position is needed in order to guide the vehicle 1 to a starting point of the trajectory 36 and then to guide the vehicle 1 along the trajectory 36 to the target position 38. If the vehicle position could not be determined or if it was flawed by a major error, the vehicle 1 would possibly stray off course from the entry manoeuvre 30 on repeated implementation of the previously learned driving manoeuvre or collide with obstacles such as a wall 34, for example.
In order to detect the position of the vehicle 1 precisely, at least one ultrasonic beacon 20, 20' is provided in the area in which the driving manoeuvre is to be carried out by the driver assistance system 10.
In the example illustrated in Figure 1, two ultrasonic beacons 20, 20' are provided for this purpose.
The process of determining the vehicle position of the vehicle 1 relative to one of the ultrasonic beacons 20, 20' is initiated by the driver assistance system 10 by transmitting an encoded ultrasonic signal 40 comprising a transmission code by means of at least one of the ultrasonic sensors 12. The ultrasonic beacon 20 comprises an ultrasonic receiver 24 by means of which the encoded ultrasonic signal 40 is received. By means of a control device 26 of the ultrasonic beacon 20, the encoded ultrasonic signal 40 is decoded and the transmitted information or transmitted code is extracted. If the code transmitted in the encoded ultrasonic signal 40 matches the transmission code assigned to the ultrasonic beacon 20, the ultrasonic beacon 20 transmits a position signal 42 via an ultrasonic transmitter 22. The position signal 42 is received again by the ultrasonic sensors 12 of the vehicle 1. In the embodiment illustrated in Figure 1, the vehicle 1 comprises four ultrasonic sensors 12 in the front region which are able to receive the position signal 42. When the position signal 42 is received, the instant at which the respective ultrasonic sensor 12 received the position signal 42 is logged in each case. From the travel time that has elapsed from transmitting the encoded ultrasonic signal 40 with the transmission code to reception of the position signal 42 by the respective ultrasonic sensors 12 and the known speed of sound in air, the distance between the respective ultrasonic sensor 12 and the ultrasonic beacon 20 can be determined. Since it is also known how the ultrasonic sensors 12 are disposed relative to one another, not only can the distance between the vehicle 1 and the ultrasonic beacon 20 be determined on the basis of triangulation, it can also be determined in what direction the ultrasonic beacon 20 is disposed as viewed from the vehicle 1. Consequently, the position of the vehicle 1 by reference to a reference point 28 of the ultrasonic beacon 20 is unambiguously determined.
To further improve accuracy and extend the range within which the position can be determined using the proposed method, several ultrasonic beacons are preferably used. In the example of Figure 1, another ultrasonic beacon 20' is provided. The other ultrasonic beacon 20' essentially corresponds to ultrasonic beacon 20 but reacts to a different transmission code so that a position signal 42 received by the vehicle 1 can be unambiguously correlated with one of the ultrasonic beacons 20, 20'.
To further improve accuracy, the ultrasonic beacons 20, 20' do not start transmitting the position signal 42 until a predefined waiting time has elapsed after receiving the encoded ultrasonic signal 40 comprising the transmission code. This means that the time at which the position signal 42 is transmitted does not depend on the internal processing speed of the control device 26 of the ultrasonic beacon 20. The control device 14 of the driver assistance system 10 also knows the predefined waiting time and subtracts it from the determined travel time before the distance between the respective ultrasonic sensor 12 and the ultrasonic beacon 20 is calculated.
Figure 2 is a schematic illustration of the ultrasonic beacon 20. In the embodiment illustrated as an example, the ultrasonic beacon 20 comprises the control device 26, an energy storage 29, several ultrasonic transmitters 22 and several ultrasonic receivers 24. In other embodiments of the ultrasonic beacon 20, the separately provided ultrasonic transmitters 22 and ultrasonic receivers 24 illustrated in Figure 2 may also be provided in the form of a combined ultrasonic transmitter and ultrasonic receiver. The ultrasonic transmitters 22 respectively ultrasonic receivers 24 are arranged distributed on the ultrasonic beacon 20 in such a way that they are able to receive encoded ultrasonic signals 40 from a large solid angle and conversely are able to emit position signals 42 in a large solid angle.
The ultrasonic beacon illustrated as an example in Figure 2 is configured so that it can be operated by means of the energy storage 29 independently of a power grid. The energy storage 29 may be provided in the form of a rechargeable battery, for example. The electrical energy needed to operate the ultrasonic beacon 20 in this instance is generated by means of a solar cell 25 connected to the energy storage 29, for example.
Based on other embodiments of the ultrasonic beacon 20, the latter may also be operated using a battery as the energy storage 29 or, instead of the energy storage 29, a connector to a power grid may also be provided.
Figure 3 is a schematic illustration of the sequence of the proposed method. The driver assistance system 10 starts implementing the method at start block 100 and the ultrasonic beacon 20 starts implementing its part of the method at block 115.
The first step of the method is transmitting an activation code with the aid of ultrasonic sensors 12 of the vehicle 1 in block 110. The ultrasonic beacon 20 is initially in an energy saving mode from which it is awoken in block 115 to enable encoded ultrasonic signals 40 to be received for a short time. In the following block 120, the ultrasonic beacon 20 receives the encoded ultrasonic signal 40 with the activation code transmitted in block 110. In the following block 130, the received encoded ultrasonic signal 40 is evaluated and if no activation code is detected, the energy saving mode will continue to prevail in block 135 so that the ultrasonic beacon 20 is then not ready to receive encoded ultrasonic signals 40 again until the next periodic wake-up in block 115. If, on the other hand, the activation code is detected in block 130, a switch takes place in block 140 to operating mode during which the ultrasonic beacon 20 is configured to permanently receive encoded ultrasonic signals 40. As confirmation, the ultrasonic beacon 20 transmits the confirmation signal in block 150 in the form of an encoded ultrasonic signal 40.
Until now, the driver assistance system 10 of the vehicle 1 in block 160 has been waiting to receive the confirmation signal. As soon as this is received, the transmission code assigned to the ultrasonic beacon 20 is transmitted with the aid of the encoded ultrasonic signal 40 in block 170 of the method. In a block 180, the ultrasonic beacon 20 is waiting to receive an encoded ultrasonic signal 40 and evaluates the latter. In parallel, the method branches off to block 195 where a timer is started. In block 190, the received code is evaluated and if the transmission code is detected, the method branches off to block 200. If the transmission code is not detected, the method branches off to block 205 and then returns to block 180 and waits to receive an encoded ultrasonic signal 40. On detecting the transmission code in block 200, a period of waiting takes place in block 210 until a predefined waiting time has elapsed with effect from start-up of the timer 195. As soon as the waiting time has elapsed, the position signal 42 is transmitted in block 220. The method sequence then branches off back to block 180.
The driver assistance system 10 in turn is waiting to receive the position signal 42 in block 230. As soon as this is received, the predefined waiting time is subtracted in block 240 and in the following, final block 250 the distance between the ultrasonic sensors 12 of the vehicle 1 and the ultrasonic beacon 20 is determined on the basis of the determined travel time.
In order to determine the position again, the sequence branches back to block 170. Once a predefined period since the transmission code was last detected in block 180 has elapsed, the ultrasonic beacon 20 switches back to the energy saving mode. The method sequence is then continued in block 115.
Figure 4 is a schematic illustration of the communication between the ultrasonic beacon 20, 20' and the vehicle 1. To this end, a beacon state 60 is iiiustrated in the top diagram, the transmission of vehicle signals 70 is illustrated in the middle diagram and the transmission of beacon signals 80 over the time t respectively is illustrated in the bottom diagram. In the top diagram, the beacon state 60 switches between an energy saving mode 61 and an operating mode 62. The vehicle signal 70 switches between the "not transmitting" state denoted by reference 71 and the "transmitting" state denoted by reference 72.
Similarly, the beacon signal 80 switches between the "not transmitting" state denoted by reference 81 and the "transmitting" state denoted by reference 82.
The beacon 20, 20' is initially in energy saving mode 61 from which it is periodically awoken for a short period of time tp in order to check whether an encoded ultrasonic signal 40 comprising an activation code is being received. Since no vehicle signal 70 is being transmitted by the vehicle 1 at this point in time and hence also no encoded ultrasonic signal 40 comprising an activation code, the ultrasonic beacon 20, 20' immediately switches back to energy saving mode 61.
In order to determine the vehicle position, the vehicle 1 starts transmitting an activation signal 73. This activation signal 73 is detected by the ultrasonic beacon 20, 20' on the next switch from energy saving mode 61 to operating mode 62 so that there is initially no switch back to energy saving mode 61. Instead, the ultrasonic beacon 20, 20' transmits a confirmation signal 83. The confirmation signal 83 is configured as an encoded ultrasonic signal comprising the confirmation code. The confirmation signal 83 is received by the vehicle 1, whereupon the latter interrupts transmission of the activation signal 73 and transmits a transmission signal 74. The transmission signal 74 is configured as an encoded ultrasonic signal 40 comprising the transmission code. The transmission signal 74 is received by the ultrasonic beacon 20, 20' so that the latter starts transmitting the position signal 84 once the waiting time to has elapsed. This is in turn received by the vehicle 1 so that the latter is able to determine its position relative to the ultrasonic beacon 20, 20'. In order to determine the vehicle position again, for example because the vehicle 1 has moved, the vehicle 1 transmits a transmission signal 75 again, whereupon the ultrasonic beacon 20, 20' in turn responds with a position signal 85 once the waiting time to has elapsed.
If the ultrasonic beacon 20, 20' is no longer required by the vehicle 1, the latter stops transmitting transmission signals 74, 75. The ultrasonic beacon 20, 20' then switches back to energy saving mode 61 once a predefined period of time ti has elapsed since receiving the last transmission signal 75 or since last detecting the transmission code.
For the sake of simplicity, the sonic travel time is not shown in Figure 4 so that the waiting time to directiy follows transmission of the transmission signal 74.
The invention is not restricted to the embodiments described as examples and the specific aspects described here. Instead, there are numerous variants within the range specified by the claims which are within the reach of the person skilled in the art in this field.
Claims (10)
1. Method of determining a vehicle position of a vehicle (1) comprising the steps: a) providing at least one ultrasonic beacon (20, 20' ) , b) transmission of an encoded ultrasonic signal (40) by at least one ultrasonic sensor (12) of the vehicle (1), the encoded ultrasonic signal (40) comprising a transmission code, c) reception of the encoded ultrasonic signal (40) by the ultrasonic beacon (20, 20'), d) transmission of a position signal (42) by the ultrasonic beacon (20, 20') when the transmission code is detected by the ultrasonic beacon (20, 20'), e) reception of the position signal (42) by at least one ultrasonic sensor (12) of the vehicle (1) and f) determination of the vehicle position relative to the position of the ultrasonic beacon (20, 20') using a travel time which has elapsed from transmission of the encoded ultrasonic signal (40) to reception of the position signal (42).
2. Method as claimed in claim 1, characterised in that before transmitting the transmission code in step b), an encoded ultrasonic signal (40) comprising an activation code is transmitted by the at least one ultrasonic sensor (12) of the vehicle (1) and the ultrasonic beacon (20, 20') switches from an energy saving mode (61) to an operating mode (62) on detecting the activation code .
3. Method as claimed in claim 2, characterised in that, on detecting the activation code, the ultrasonic beacon (20, 20') transmits an encoded ultrasonic signal (40) comprising a confirmation code and the vehicle (1) does not transmit the encoded ultrasonic signal (40) comprising the transmission code in step b) until the confirmation code has been detected.
4. Method as claimed in one of claims 1 to 3, characterised in that at least two ultrasonic beacons (20, 20') are provided, and each ultrasonic beacon (20, 20') has an individual transmission code and/or an individual activation code .
5. Method as claimed in one of claims 1 to 4, whereby transmission of the position signal (42) in step d) is delayed so that a predefined waiting time elapses between reception of the encoded ultrasonic signal (40) by the ultrasonic beacon (20, 20') and transmission of the position signal (42), and the waiting time is subtracted from the travel time.
6. Ultrasonic beacon (20, 20') comprising an ultrasonic transmitter (22), characterised in that the ultrasonic beacon (20, 20') further comprises an ultrasonic receiver (24) and a control device (26), and the ultrasonic beacon (20, 20') is configured to receive and evaluate encoded ultrasonic signals (40) of a vehicle (1) and to transmit a position signal (42) to the vehicle (1) on detecting a transmission code.
7. Ultrasonic beacon (20, 20') as claimed in claim 6, characterised in that it is configured to delay transmission of the position signal (42) so that a predefined waiting time elapses between reception of the encoded ultrasonic signal (40) and transmission of the position signal (42).
8. Ultrasonic beacon (20, 20') as claimed in claim 6 or 7, characterised in that it has an operating mode (62) in which it is configured to continuously receive and evaluate encoded ultrasonic signals (40) and an energy saving mode (61) in which it is configured to receive and evaluate encoded ultrasonic signals (40) at predefined time intervals only, and the ultrasonic beacon (20, 20) is also configured to switch from energy saving mode (61) to operating mode (62) on detection of an activation code.
9. Driver assistance system (10) comprising at least one ultrasonic sensor (12) configured to transmit encoded ultrasonic signals (40) and receive position signals (42) and a control device (14), characterised in that the driver assistance system (10) is configured to transmit an encoded ultrasonic signal (40) comprising a transmission code, receive a position signal (42) and determine a vehicle position using the received position signal (42), and when determining the vehicle position, a travel time from transmission of the encoded ultrasonic signal (40) to reception of the position signal (42) is determined and a predetermined waiting time is subtracted from the travel time.
10. Driver assistance system (10) as claimed in claim 9, characterised in that the driver assistance system (10) is configured to assist a driver with a recurring driving manoeuvre, and the driver assistance system (10) has a learning mode in which a driving manoeuvre is recorded and an application mode in which a recorded driving manoeuvre is implemented.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016200813.7A DE102016200813A1 (en) | 2016-01-21 | 2016-01-21 | Method for determining a vehicle position |
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| GB201700886D0 GB201700886D0 (en) | 2017-03-01 |
| GB2548461A true GB2548461A (en) | 2017-09-20 |
| GB2548461B GB2548461B (en) | 2021-04-28 |
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| GB1700886.3A Active GB2548461B (en) | 2016-01-21 | 2017-01-18 | Method of determining a vehicle position |
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| DE (1) | DE102016200813A1 (en) |
| FR (1) | FR3047089B1 (en) |
| GB (1) | GB2548461B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2568747A (en) * | 2017-11-28 | 2019-05-29 | Jaguar Land Rover Ltd | Vehicle parking apparatus |
| GB2568880A (en) * | 2017-11-28 | 2019-06-05 | Jaguar Land Rover Ltd | Parking assist method and apparatus |
| US11378686B2 (en) | 2018-12-26 | 2022-07-05 | Texas Instruments Incorporated | Ultrasonic echo processing in presence of Doppler shift |
| US11644555B2 (en) | 2018-07-27 | 2023-05-09 | Texas Instruments Incorporated | Threshold generation for coded ultrasonic sensing |
| US11733377B2 (en) | 2018-05-07 | 2023-08-22 | Texas Instruments Incorporated | Time of flight and code signature detection for coded ultrasonic transmission |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102018109667A1 (en) | 2018-04-23 | 2019-10-24 | Valeo Schalter Und Sensoren Gmbh | Method for finding a parking area with a motor vehicle in a parking facility |
| DE102018109666A1 (en) | 2018-04-23 | 2019-10-24 | Valeo Schalter Und Sensoren Gmbh | Method for transmitting information between a motor vehicle and a parking system |
| DE102018109662A1 (en) | 2018-04-23 | 2019-10-24 | Valeo Schalter Und Sensoren Gmbh | Method for determining the position of a motor vehicle in a parking system |
| DE102020200130B4 (en) * | 2020-01-08 | 2022-12-22 | Volkswagen Aktiengesellschaft | Method, device and computer program for a vehicle for sending a sound-modulated request signal to a traffic infrastructure |
| DE102021103071A1 (en) | 2021-02-10 | 2022-08-11 | Valeo Schalter Und Sensoren Gmbh | PARK ASSISTANCE SYSTEM AND BUILDING |
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- 2017-01-19 FR FR1750410A patent/FR3047089B1/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102016200813A1 (en) | 2017-07-27 |
| FR3047089A1 (en) | 2017-07-28 |
| GB201700886D0 (en) | 2017-03-01 |
| FR3047089B1 (en) | 2020-01-31 |
| GB2548461B (en) | 2021-04-28 |
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