SE1951018A1 - Method and control device for estimating the position of a vehicle - Google Patents

Method and control device for estimating the position of a vehicle

Info

Publication number
SE1951018A1
SE1951018A1 SE1951018A SE1951018A SE1951018A1 SE 1951018 A1 SE1951018 A1 SE 1951018A1 SE 1951018 A SE1951018 A SE 1951018A SE 1951018 A SE1951018 A SE 1951018A SE 1951018 A1 SE1951018 A1 SE 1951018A1
Authority
SE
Sweden
Prior art keywords
vehicle
communication
control device
infrastructure
estimating
Prior art date
Application number
SE1951018A
Other languages
Swedish (sv)
Other versions
SE544038C2 (en
Inventor
Mikael Johansson
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1951018A priority Critical patent/SE544038C2/en
Priority to DE102020004329.1A priority patent/DE102020004329A1/en
Publication of SE1951018A1 publication Critical patent/SE1951018A1/en
Publication of SE544038C2 publication Critical patent/SE544038C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • 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]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • 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
    • G08G1/096783—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 a roadside individual element
    • 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

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

The present invention relates to a method performed by a control device (100) for estimating the position of a vehicle (V1). The estimation is performed in connection to an initializing phase comprising activation of vehicle operation. The method comprises establishing (S1) vehicle-to-vehicle (V2V) communication with one or more vehicles (V 2, V3) within a predetermined range of the vehicle (V1) and/or establishing a vehicle-to-infrastructure (V2I) communication with infrastructure (I1, I2) within a predetermined range of the vehicle (V1). The method further comprises receiving (S2) information about current geographical position by means of thus established vehicle-to-vehicle (V2V) communication and/or thus established vehicle-to-infrastructure (V2I) communication. The method further comprises estimating (S3) the position of a vehicle (V1) based on thus received information about current geographical position, so as to facilitate accurate determination of vehicle position.The present invention also relates to a control device for estimating the position of a vehicle. The present invention also relates to a vehicle. The present invention also relates to a computer program and a computer readable medium.

Description

|\/IETHOD AND CONTROL DEVICE FOR ESTIIVIATING THE POSITION OFA VEHICLE TECHNICAL FIELD The invention relates to a method performed by a control device for estimatingthe position of a vehicle. The invention also relates to a control device forestimating the position of a vehicle. The invention also relates to a vehicle. Theinvention in addition relates to a computer program and a computer readable medium.
BACKG ROUND ART For driving autonomous vehicles, a map and hence map data is usuallyrequired to gather all information required for the driving and to be able to planthe driving beyond the visual range. With the currently available technology itis not possible to read and interpret all required information using on-boardsensors only. ln order to be able to use the map data, the vehicle must be localized in the map.
A common method for determining the position of a vehicle is to use a GlobalNavigation satellite System, GNSS, e.g. a global positioning system, GPS.However, such positioning systems may not be sufficient in order to safely andaccurately operate an autonomous vehicle. For example, the precision of astandard GPS may not be sufficient, and a high precision positioning systemsuch as DCPS, although offering high accuracy, are expensive. Further, somegeographical locations may offer poor satellite coverage due to e.g. buildings,tunnels or the like. Further, such positioning systems may malfunction.
A known non-GPS based localization method is based on detecting various features, or landmarks, in the vicinity of the vehicle. The vehicles on-board sensors are configured to identify landmarks which are matched to themap/map data to determine the exact location of the vehicle. Examples of suchlandmarks are different kinds of poles or edges, e.g. lamp poles or even treetrunks or corners of buildings.
For such Iandmark based Iocalization methods to work, an initial rough positionis required to limit the area of search when mapping the landmarks identifiedusing the on-board sensors to the map. Usually this initial position is providedusing GPS, which again then impose a dependency to GPS.
There is thus a need for providing a non-GPS dependent way of determiningthe position of a vehicle in an initializing phase for facilitating accurate positioning after the initializing phase.
OBJECTS OF THE INVENTION An object of the present invention is to provide a method performed by acontrol device for estimating the position of a vehicle, which easily and reliably,without being dependent of any global navigation satellite system such asGPS, provides a rough geographical position of the vehicle in an initializingphase of vehicle operation.
Another object of the present invention is to provide a control device forestimating the position of a vehicle, which easily and reliably, without beingdependent of any global navigation satellite system such as GPS, provides arough geographical position of the vehicle in an initializing phase of vehicle operation.
Another object of the present invention is to provide a vehicle comprising sucha control device.
SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achievedby a method, a control device, a vehicle, a computer program and a computerreadable medium, as set out in the appended independent claims. Preferredembodiments of the method and the control device are defined in appended dependent claims.
Specifically an object of the invention is achieved by a method performed by acontrol device for estimating the position of a vehicle. The estimation isperformed in connection to an initializing phase comprising activation ofvehicle operation. The method comprise the step of establishing vehicle-to-vehicle communication with one or more vehicles within a predeterminedrange of the vehicle and/or establishing a vehicle-to-infrastructurecommunication with infrastructure within a predetermined range of the vehicle.The method further comprises the step of receiving information about currentgeographical position by means of thus established vehicle-to-vehiclecommunication and/or thus established vehicle-to-infrastructurecommunication. The method further comprises the step of estimating theposition of a vehicle based on thus received information about currentgeographical position, so as to facilitate accurate determination of vehicle position.
Hereby an easy an reliable way of providing a rough estimation of thegeographical position of the vehicle in the initializing phase of vehicle operationmay be obtained, without being dependent of any global navigation satellitesystem such as GPS. By thus providing such rough estimation of thegeographical position of the vehicle a basis for accurate determination ofvehicle position may be efficiently provided. Hereby operation comprising localization of an autonomous vehicle is facilitated.
According to an embodiment the method comprises the step of confirming thethus estimated position of the vehicle by detecting the one or more vehicles and/or infrastructure with which vehicle communication was established. Bythus confirming the estimated positon of the vehicle an even more reliablevehicle position determination may be obtained. The confirmation may beperformed by means of any suitable detector arrangement comprising e.g. oneor more cameras and/or one or more laser scanners. Such detectorarrangement may be configured to detect the one or more vehicles with whichthe vehicle is communicating within a vehicle-to-vehicle communicationarrangement so as to identify the one or more vehicles having communicatedcurrent geographical position and thereby confirm the thus estimated roughgeographical position of the vehicle. Such detector arrangement may beconfigured to detect infrastructure with which the vehicle is communicatingwithin a vehicle-to-infrastructure communication arrangement so as to identifythe infrastructure having communicated current geographical position andthereby confirm the thus estimated rough geographical position of the vehicle.lnfrastructure may be any suitable infrastructure within a predeterminedsuitable range of the vehicle such as buildings, traffic lights, or the like.
According to an embodiment the method comprises the step of mapping thethus estimated position of the vehicle in map data of a geographical map uniton-board the vehicle. By thus mapping the estimated position of the vehicle,accurate determination of the vehicle position is facilitated in that the map dataof the geographical position of the vehicle may be used for localizationmethods not being dependent of any of any global navigation satellite systemsuch as GPS.
According to an embodiment the method comprises the step of utilizing thethus estimated position of the vehicle as a basis for performing a localizationmethod comprising detecting features in the vicinity of the vehicle so as toaccurately determine current position of the vehicle. Said features comprisesLandmarks and/or a depth map. Hereby accurate determination of the positionof the vehicle may obtained by using the thus estimated rough geographical position of the vehicle.
Specifically an object of the invention is achieved by a control device forestimating the position of a vehicle. The estimation is performed in connectionto an initializing phase comprising activation of vehicle operation. The controldevice is configured to establish vehicle-to-vehicle communication with one ormore vehicles within a predetermined range of the vehicle and/or establish avehicle-to-infrastructure communication with infrastructure within apredetermined range of the vehicle. The control device is further configured toreceive information about current geographical position by means of thusestablished vehicle-to-vehicle communication and/or thus established vehicle-to-infrastructure communication. The control device is further configured toestimate the position of a vehicle based on thus received information aboutcurrent geographical position, so as to facilitate accurate determination of vehicle position.
According to an embodiment the control device is further configured to confirmthe thus estimated position of the vehicle by detecting the one or more vehiclesand/or infrastructure with which vehicle communication was established.
According to an embodiment the control device is further configured to mapthe thus estimated position of the vehicle in map data of a geographical mapunit on-board the vehicle.
According to an embodiment the control device is further configured to utilizethe thus estimated position of the vehicle as a basis for performing alocalization method comprising detecting features in the vicinity of the vehicleso as to accurately determine current position of the vehicle. Said featurescomprises Landmarks and/or a depth map.
The control device according to the present disclosure has the advantagesaccording to the corresponding method as set out herein.
Specifically an object of the invention is achieved by a vehicle comprising acontrol device as set out herein. The vehicle is according to an embodiment an autonomous vehicle.
Specifically an object of the invention is achieved by a computer program forestimating the position of a vehicle, said computer program comprisingprogram code which, when run on an electronic control unit or anothercomputer connected to the electronic control unit causes the electronic control unit to perform the steps as set out herein.
Specifically an object of the invention is achieved by a computer readablemedium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein.
BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to thefollowing detailed description when read in conjunction with the accompanyingdrawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a side view of a vehicle according to anembodiment of the present disclosure; Fig. 2 schematically illustrates the vehicle in fig. 1 communicating with othervehicles and/or infrastructure according to an embodiment of the present disclosure; Fig. 3 schematically illustrates a block diagram of a control device forestimating the position of a vehicle according to an embodiment of the present disclosure; Fig. 4 schematically illustrates a flow chart of a method performed by a controldevice for estimating the position of a vehicle according to an embodiment of the present disclosure; Fig. 5 schematically illustrates a flow chart of a method performed by a controldevice for estimating the position of a vehicle according to an embodiment ofthe present disclosure; and Fig. 6 schematically illustrates a computer according to an embodiment of the present invention.
DETAILED DESCRIPTION Herein the term "link" refers to a communication link which may be a physicalconnector, such as an optoelectronic communication wire, or a non-physicalconnector such as a wireless connection, for example a radio or microwavelink.
Fig. 1 schematically illustrates a side view of a vehicle V1 according to anembodiment of the present disclosure. The vehicle V1 is travelling on a roadFi. The exemplified vehicle V1 is a commercial vehicle in the shape of a truck.The vehicle according to the present disclosure could be any suitable vehiclesuch as a bus or a car. The vehicle according to the present disclosure couldbe an autonomous vehicle. The vehicle according to the present disclosurecould be a vehicle operated by a driver. The vehicle V1 comprises a controldevice 100 for estimating the position of a vehicle according to the presentdisclosure. The vehicle V1 may comprise a system l for estimating the positionof a vehicle according to the present disclosure. The vehicle V1 may be equipped with a communication arrangement C for vehicle communication.
Fig. 2 schematically illustrates the vehicle V in fig. 1 communicating with othervehicles V2, V3 and/or infrastructure l1, l2 according to an embodiment of the present disclosure.
The vehicle V1 is equipped with a control device 100 for estimating the position of a vehicle. The estimation is performed in connection to an initializing phase comprising activation of vehicle operation. Activation of vehicle operation may comprise activation of engine/motor for driving the vehicle.
Here the vehicle V1 is positioned in connection to a road R. The vehicle V1may be in such an initializing phase comprising activation of vehicle operationfor driving of the vehicle. The vehicle V1 may be an autonomous vehicle. ln this initializing phase of the vehicle V1 other vehicles V2, V3 may be in thevicinity of the vehicle, e.g. within a predetermined range of the vehicle V1.
According to an aspect of the present disclosure the vehicle V1 may, by meansof the control device, establish vehicle-to-vehicle V2V communication with oneof, or both, the vehicles V2, V3 being within a predetermined range of thevehicle V1.
The vehicle V1 may further, by means of the control device 100, be configuredto receive information from one or both of the vehicle V2, V3 about currentgeographical position by means of thus established vehicle-to-vehicle communication.
The control device 100 is then configured to estimate the position of a vehiclebased on thus received information about current geographical position, so asto facilitate accurate determination of vehicle position. ln this initializing phase of the vehicle V1, the vehicle may be in the vicinity ofinfrastructure l1, l2, here in the shape of a building l1 and a traffic light l2. Thebuilding l1 and the traffic light l2 may be within a predetermined range of thevehicle V1.
According to an aspect of the present disclosure the vehicle V1 may, by meansof the control device, establish vehicle-to-infrastructure V2l communicationwith the infrastructure l1 and/or l2, i.e. one of, or both, the building l1 and thetraffic light l2 being within a predetermined range of the vehicle V1.
The vehicle V1 may further, by means of the control device 100, be configuredto receive information from infrastructure |1, l2, i.e. one or both of the buildingl1 and traffic light l2, about current geographical position by means of thusestablished vehicle-to-infrastructure communication.
The control device 100 is then configured to estimate the position of a vehiclebased on thus received information about current geographical position, so asto facilitate accurate determination of vehicle position.
The vehicle V may according to an aspect of the present disclosure beequipped with a communication arrangement C for the vehicle communication.The communication arrangement C may be configured to facilitate adaption ofthe vehicle communication to different communication characteristics.Different communication characteristics may comprise different types ofcharacteristics, different communication communication ranges for characteristics comprising different frequencies for communication, etc.
The communication arrangement C is according to a variant operablyconnected to the control device 100. The communication arrangement C isaccording to a variant comprised in the control device 100. The communicationarrangement C comprises according to a variant the control device 100. Thecommunication arrangement C is according to a variant configured to establishcommunication with any suitable communication receiver external to thevehicle V1. An external communication receiver may comprise other vehicles,wherein the communication arrangement C is arranged to establishcommunication with one or more other vehicles within a vehicle-to-vehiclecommunication arrangement. An external communication receiver maycomprise any kind of infrastructure, wherein the communication arrangementC is arranged to establish communication with infrastructure within a vehicle- to-infrastructure communication arrangement.
Fig. 3 schematically illustrates a block diagram of a control device 100 forestimating the position of a vehicle according to an embodiment of the presentdisclosure.
The control device 100 for estimating the position of a vehicle may becomprised in a system l for controlling driving of a vehicle along a road.
The control device 100 may be implemented as a separate entity or distributedin two or more physical entities. The control device may comprise one or morecomputers. The control device may thus be implemented or realised by thecontrol device comprising a processor and a memory, the memory comprisinginstructions, which when executed by the processor causes the control device to perform the herein disclosed method.
The control device 100 may comprise one or more electronic control units,processing units, computers, server units or the like for estimating the positionof a vehicle. The control device 100 may comprise control device such as one or more electronic control units arranged on board a vehicle.
The control device 100 is configured to perform the estimation in connectionto an initializing phase comprising activation of vehicle operation of the vehicle.The control device 100 is configured to perform a rough estimation of thecurrent geographical position of the vehicle in connection to the initializingphase of the vehicle so as to provide a basis for more accurate determinationof vehicle position for continued operation/driving of the vehicle.
The control device 100 is configured to establish vehicle-to-vehiclecommunication with one or more vehicles within a predetermined range of thevehicle and/or establish a vehicle-to-infrastructure communication with infrastructure within a predetermined range of the vehicle.
The predetermined range of the vehicle may be any suitable range forfacilitating a rough estimate of the vehicle position. The predetermined rangeof the vehicle may correspond to or be associated with a predetermined area 11 relative to the vehicle. The predetermined range of the vehicle may correspondto or be associated with a predetermined distance in any suitable directionrelative to the vehicle.
The system I may comprise a communication arrangement 110 for the vehicle communication.
The communication arrangement 110 may be configured to establish vehicle-to-vehicle communication with one or more vehicles within a vehicle-to-vehiclecommunication arrangement. The communication arrangement 110 may beconfigured to establish vehicle-to-vehicle communication with one or more vehicles within a predetermined range of the vehicle.
The communication arrangement 110 may be configured to establish vehicle-to-infrastructure communication with one or more vehicles within a vehicle-to-infrastructure communication arrangement. The communication arrangement110 may be configured to establish a vehicle-to-infrastructure communication with infrastructure within a predetermined range of the vehicle.
The control device 100 may comprise, be comprised in or be operably connectable to the communication arrangement 110.
The control device 100 may further be configured to request information aboutcurrent geographical position by means of thus established vehicle-to-vehiclethus established vehicle-to-infrastructure communication and/or communication.
The communication arrangement 110 may be configured to requestinformation about current geographical position from one or more vehicles with which vehicle-to-vehicle communication has been established.
The communication arrangement 110 may be configured to requestinformation about current geographical position from infrastructure with which vehicle-to-infrastructure communication has been established. 12 The control device 100 is further configured to receive information aboutcurrent geographical position by means of thus established vehicle-to-vehiclethus established vehicle-to-infrastructure communication and/or communication.
The communication arrangement 110 may be configured to receiveinformation about current geographical position from one or more vehicles with which vehicle-to-vehicle communication has been established.
The communication arrangement 110 may be configured to receiveinformation about current geographical position from infrastructure with whichvehicle-to-infrastructure communication has been established.
The control device 100 is further configured to estimate the position of thevehicle based on thus received information about current geographicalposition, so as to facilitate accurate determination of vehicle position. Thecontrol device 100 may be configured to provide a rough estimate of thegeographical position of the vehicle by processing the received informationabout current geographical position from the one or more vehicles and/or infrastructure.
According to an aspect of the present disclosure, the control device 100 isfurther configured to confirm the thus estimated position of the vehicle bydetecting the one or more vehicles and/or infrastructure with which vehicle communication was established.
The system I may comprise a detector arrangement 120 for detecting one ormore vehicles and/or infrastructure with which vehicle communication wasestablished. The detector arrangement 120 may comprise one or moredetectors arranged on-board the vehicle. The one or more detectors maycomprise one or more cameras and/or one or more laser scanners. Thedetector arrangement 120 may be configured to detect vehicles with which thevehicle has established a vehicle-to-vehicle communication. The detector 13 arrangement 120 may be configured to detect infrastructure with which the vehicle has established a vehicle-to-infrastructure communication.
According to an aspect of the present disclosure, the control device 100 isfurther configured to map the thus estimated position of the vehicle in map dataof a geographical map unit 130 on-board the vehicle.
The system I may comprise a map unit 130 for receiving and processing mapdata. The map unit 130 may be comprised in or operably connectable to thecontrol device 100.
According to an aspect of the present disclosure, the control device 100 isfurther configured to utilize the thus estimated position of the vehicle as a basisfor performing a localization method comprising detecting features in thevicinity of the vehicle so as to accurately determine current position of thevehicle. Said features comprises Landmarks and/or a depth map.
According to an embodiment of the present disclosure, the control device 100may, via a link 10a, be operably connected to the communication arrangement110. According to an embodiment of the present disclosure, the control device100 may via the link 10a be arranged to receive one or more signals from thecommunication arrangement 110 representing data about currentgeographical position from one or more vehicles with which a vehicle-to- vehicle communication has been established.
According to an embodiment of the present disclosure, the control device 100may, via a link 10b, be operably connected to the communication arrangement110. According to an embodiment of the present disclosure, the control device100 may via the link 10b be arranged to receive one or more signals from thecommunication arrangement 110 representing data about currentgeographical position from infrastructure with which a vehicle-to-infrastructure communication has been established. 14 The control device 100 is configured to process the data about currentgeographical position so as to provide a rough estimate of the position of thevehicle in connection to the initializing phase of the vehicle.
According to an embodiment of the present disclosure, the control device 100may, via a link 20a, be operably connected to the detector arrangement 120.According to an embodiment of the present disclosure, the control device 100may via the link 20a be arranged to receive one or more signals from thedetector arrangement 120 representing data about detection of one or morevehicles with which a vehicle-to-vehicle communication has been establishedas a confirmation of those vehicles and hence the received geographical position.
According to an embodiment of the present disclosure, the control device 100may, via a link 20b, be operably connected to the detector arrangement 120.According to an embodiment of the present disclosure, the control device 100may via the link 20b be arranged to receive one or more signals from thedetector arrangement 120 representing data about detection of infrastructurewith which a vehicle-to-infrastructure communication has been established asa confirmation of infrastructure and hence the received geographical position.
According to an embodiment of the present disclosure, the control device 100may, via a link 30, be operably connected to the map unit 130. According toan embodiment of the present disclosure, the control device 100 may via thelink 30 be arranged to send one or more signals to the map unit 130 representing data about estimated geographical position of the vehicle.
Fig. 4 schematically illustrates a flow chart of a method l\/l1 performed by acontrol device for estimating the position of a vehicle according to anembodiment of the present disclosure.
The estimation is performed in connection to an initializing phase comprisingactivation of vehicle operation.
According to the embodiment the method l\/l1 comprises a step S1 _ ln this step,vehicle-to-vehicle communication is established with one or more vehicleswithin a predetermined range of the vehicle and/or a vehicle-to-infrastructurecommunication is established with infrastructure within a predetermined rangeof the vehicle. The predetermined range of the vehicle may be any suitablerange for facilitating a rough estimate of the vehicle position. Thepredetermined range of the vehicle may correspond to or be associated with apredetermined area relative to the vehicle. The predetermined range of thevehicle may correspond to or be associated with a predetermined distance inany suitable direction relative to the vehicle.
According to the embodiment the method l\/l1 comprises a step S2. ln this step,information about current geographical position is received by means of thusestablished vehicle-to-vehicle communication and/or thus established vehicle- to-infrastructure communication.
According to the embodiment the method l\/l1 comprises a step S3. ln this step,the position of a vehicle is estimated based on thus received information aboutcurrent geographical position, so as to facilitate accurate determination ofvehicle position.
The method l\/l1 performed by a control device for estimating the position of avehicle is according to an embodiment adapted to be performed by the controldevice 100 described above with reference to fig. 3. The method l\/l1 performedby a control device for estimating the position of a vehicle is according to anembodiment adapted to be performed by the system l described above withreference to fig. 3.
Fig. 5 schematically illustrates a flow chart of a method l\/l2 performed by acontrol device for estimating the position of a vehicle according to an embodiment of the present disclosure.
The estimation is performed in connection to an initializing phase comprisingactivation of vehicle operation. 16 According to the embodiment the method l\/l2 comprises a step S11. ln thisstep, vehicle-to-vehicle communication is established with one or morevehicles within a predetermined range of the vehicle and/or a vehicle-to-infrastructure communication is established with infrastructure within apredetermined range of the vehicle. The predetermined range of the vehiclemay be any suitable range for facilitating a rough estimate of the vehicleposition. The predetermined range of the vehicle may correspond to or beassociated with a predetermined area relative to the vehicle. Thepredetermined range of the vehicle may correspond to or be associated with a predetermined distance in any suitable direction relative to the vehicle.
According to the embodiment the method l\/l2 comprises a step S12. ln thisstep, information about current geographical position is received by means ofthus established vehicle-to-vehicle communication and/or thus established vehicle-to-infrastructure communication.
According to an aspect of the present disclosure the method l\/l2 may comprisea step, not shown, prior to the step S12, in which information about currentgeographical position is requested from the one or more vehicles by means ofthus established vehicle-to-vehicle communication and/or from infrastructure by means of the thus established vehicle-to-infrastructure communication.
According to the embodiment the method l\/l2 comprises a step S13. ln thisstep, the position of a vehicle is estimated based on thus received informationabout current geographical position, so as to facilitate accurate determination of vehicle position.
According to the embodiment the method l\/l2 comprises a step S14. ln thisstep, the thus estimated position of the vehicle is confirmed by detecting theone or more vehicles and/or infrastructure with which vehicle communicationwas established. Detection of the one or more vehicles and/or infrastructurewith which vehicle communication was established may be performed by means of a detector arrangement on-board the vehicle, e.g. a detector 17 arrangement 120 as described with reference to fig. 3. Such a detectorarrangement may comprise one or more detectors such as one or morecameras and/or one or more laser scanners. The step S14 may thus comprisereceiving information from a detector arrangement about detected vehiclesand/or infrastructure with which vehicle communication was established.
According to the embodiment the method l\/l2 comprises a step S15. ln thisstep, the thus estimated position of the vehicle in map data of a geographicalmap unit on-board the vehicle.
According to the embodiment the method l\/l2 comprises a step S16. ln thisstep, the thus estimated position of the vehicle is utilized as a basis forperforming a localization method comprising detecting features in the vicinityof the vehicle so as to accurately determine current position of the vehicle.Said features comprises Landmarks and/or a depth map.
The method l\/l2 performed by a control device for estimating the position of avehicle is according to an embodiment adapted to be performed by the controldevice 100 described above with reference to fig. 3. The method l\/l2 performedby a control device for estimating the position of a vehicle is according to anembodiment adapted to be performed by the system l described above with reference to fig. 3.
With reference to figure 6, a diagram of a computer 500/apparatus 500 isshown. The control device 100 described with reference to fig. 3 may accordingto an embodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory550. Non-volatile memory 520 has a first memory portion 530 wherein acomputer program, such as an operating system, is stored for controlling thefunction of apparatus 500. Further, apparatus 500 comprises a bus controller,a serial communication port, l/O-means, an A/D-converter, a time date entryand transmission unit, an event counter and an interrupt controller (not shown).
Non-volatile memory 520 also has a second memory portion 540. 18 A computer program P is provided comprising routines for estimating theposition of a vehicle. The estimation is performed in connection to an initializingphase comprising activation of vehicle operation.
The program P comprises routines for establishing vehicle-to-vehiclecommunication with one or more vehicles within a predetermined range of thevehicle and/or establishing a vehicle-to-infrastructure communication withinfrastructure within a predetermined range of the vehicle.
The program P comprises routines for receiving information about currentgeographical position by means of thus established vehicle-to-vehiclethus established vehicle-to-infrastructure communication and/or communication.
The program P comprises routines for estimating the position of a vehiclebased on thus received information about current geographical position, so asto facilitate accurate determination of vehicle position.
The program P comprises routines for confirming the thus estimated positionof the vehicle by detecting the one or more vehicles and/or infrastructure withwhich vehicle communication was established.
The program P comprises routines for mapping the thus estimated position of the vehicle in map data of a geographical map unit on-board the vehicle.
The program P comprises routines for utilizing the thus estimated position ofthe vehicle as a basis for performing a localization method comprisingdetecting features in the vicinity of the vehicle so as to accurately determinecurrent position of the vehicle. Said features comprises Landmarks and/or adepth map.
The computer program P may be stored in an executable manner or in acompressed condition in a separate memory 560 and/or in read/write memory550. 19 When it is stated that data processing device 510 performs a certain functionit should be understood that data processing device 510 performs a certainpart of the program which is stored in separate memory 560, or a certain partof the program which is stored in read/write memory 550.
Data processing device 510 may communicate with a data communicationsport 599 by means of a data bus 515. Non-volatile memory 520 is adapted forcommunication with data processing device 510 via a data bus 512. Separatememory 560 is adapted for communication with data processing device 510via a data bus 511. Read/write memory 550 is adapted for communication withdata processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control device 100 may be connected.
When data is received on data port 599 it is temporarily stored in secondmemory portion 540. When the received input data has been temporarilystored, data processing device 510 is set up to perform execution of code in a manner described above.
The signals received on data port 599 may be used by apparatus 500 forestablishing vehicle-to-vehicle communication with one or more vehicles withina predetermined range of the vehicle and/or establishing a vehicle-to-infrastructure communication with infrastructure within a predetermined range of the vehicle.
The signals received on data port 599 may be used by apparatus 500 forreceiving information about current geographical position by means of thusestablished vehicle-to-vehicle communication and/or thus established vehicle- to-infrastructure communication.
The signals received on data port 599 may be used by apparatus 500 forestimating the position of a vehicle based on thus received information aboutcurrent geographical position, so as to facilitate accurate determination ofvehicle position.
The signals received on data port 599 may be used by apparatus 500 forconfirming the thus estimated position of the vehicle by detecting the one ormore vehicles and/or infrastructure with which vehicle communication wasestablished.
The signals received on data port 599 may be used by apparatus 500 formapping the thus estimated position of the vehicle in map data of a geographical map unit on-board the vehicle.
The signals received on data port 599 may be used by apparatus 500 forutilizing the thus estimated position of the vehicle as a basis for performing alocalization method comprising detecting features in the vicinity of the vehicleso as to accurately determine current position of the vehicle. Said featurescomprises Landmarks and/or a depth map.
Parts of the methods described herein may be performed by apparatus 500 bymeans of data processing device 510 running the program stored in separatememory 560 or read/write memory 550. When apparatus 500 runs theprogram, parts of the methods described herein are executed.
The foregoing description of the preferred embodiments of the presentinvention has been provided for the purposes of illustration and description. ltis not intended to be exhaustive or to limit the invention to the precise formsdisclosed. Obviously, many modifications and variations will be apparent topractitioners skilled in the art. The embodiments were chosen and describedin order to best explain the principles of the invention and its practicalapplications, thereby enabling others skilled in the art to understand theinvention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims (11)

21 CLAIIVIS
1. A method (I\/|1; l\/l2) performed by a control device (100) for estimating theposition of a vehicle (V1), the estimation being performed in connection to aninitializing phase comprising activation of vehicle operation, the methodcomprising the steps of: - establishing (S1) vehicle-to-vehicle (V2V) communication with one or morevehicles (V2, V3) within a predetermined range of the vehicle (V1) and/orestablishing a vehicle-to-infrastructure (V2l) communication with infrastructure(l1, l2) within a predetermined range of the vehicle (V1); - receiving (S2) information about current geographical position by meansof thus established vehicle-to-vehicle (V2V) communication and/or thusestablished vehicle-to-infrastructure (V2l) communication; and, - estimating (S3) the position of a vehicle (V1) based on thus receivedinformation about current geographical position, so as to facilitate accuratedetermination of vehicle position.
2. The method according to claim 1, comprising the step of confirming thethus estimated position of the vehicle (V1) by detecting the one or more(V2, V3) infrastructure (l1, l2) communication was established. vehicles and/or with which vehicle
3. The method according to claim 1 or 2, comprising the step of mapping thethus estimated position of the vehicle (V1) in map data of a geographical map unit on-board the vehicle.
4. The method according to any of claims 1-3, comprising the step of utilizingthe thus estimated position of the vehicle as a basis for performing alocalization method comprising detecting features in the vicinity of the vehicle(V1), said features comprising Landmarks and/or a depth map, so as to accurately determine current position of the vehicle. 22
5. A control device (100) for estimating the position of a vehicle (V1), theestimation being performed in connection to an initializing phase comprisingactivation of vehicle operation, the control device (1 OO) being configured to: - establish vehicle-to-vehicle (V2V) communication with one or morevehicles (V2, V3) within a predetermined range of the vehicle (V1) and/orestablish a vehicle-to-infrastructure (V2l) communication with infrastructure(l1, l2) within a predetermined range of the vehicle (V1); - receive information about current geographical position by means of thusestablished vehicle-to-vehicle (V2V) communication and/or thus establishedvehicle-to-infrastructure (V2l) communication; and, - estimate the position of a vehicle (V1) based on thus received informationabout current geographical position, so as to facilitate accurate determinationof vehicle position.
6. The control device according to claim 5, the control device (100) furtherbeing configured to confirm the thus estimated position of the vehicle (V1) bydetecting the one or more vehicles (V2, V3) and/or infrastructure (l1, l2) withwhich vehicle communication was established.
7. The control device according to claim 5 or 6, the control device (100)further being configured to map the thus estimated position of the vehicle (V1)in map data of a geographical map unit (130) on-board the vehicle.
8. The control device according to any of claims 5-7, the control device (1 OO)further being configured to utilize the thus estimated position of the vehicle asa basis for performing a localization method comprising detecting features inthe vicinity of the vehicle (V1), said features comprising Landmarks and/or adepth map, so as to accurately determine current position of the vehicle.
9. A vehicle (V1) comprising a control device (1 OO) according to any of claims6-10.
10. A computer program (P) for estimating the position of a vehicle, said computer program (P) comprising program code which, when run on an 23 electronic control unit (100) or another computer (500) connected to theelectronic control unit (100), causes the electronic control unit to perform the steps according to claim 1-5.
11.A computer readable medium comprising instructions which, whenexecuted by a computer, cause the computer to carry out the method according to anyone of claims 1-5.
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US20160339928A1 (en) * 2015-05-19 2016-11-24 Ford Global Technologies, Llc Method and system for increasing driver awareness
US20180160419A1 (en) * 2016-12-02 2018-06-07 Qualcomm Incorporated Vehicle positioning by signaling line-of-sight (los) vehicle information
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US20160339928A1 (en) * 2015-05-19 2016-11-24 Ford Global Technologies, Llc Method and system for increasing driver awareness
US20180160419A1 (en) * 2016-12-02 2018-06-07 Qualcomm Incorporated Vehicle positioning by signaling line-of-sight (los) vehicle information
US20180247537A1 (en) * 2017-02-28 2018-08-30 Hyundai Motor Company Apparatus and method for estimating a position of a vehicle and a vehicle using same
EP3617735A1 (en) * 2018-08-31 2020-03-04 Cohda Wireless Pty Ltd. A method for estimating the position of an object

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