WO2017005796A1 - Procédé et dispositif de commande pour faire fonctionner une station de base - Google Patents

Procédé et dispositif de commande pour faire fonctionner une station de base Download PDF

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Publication number
WO2017005796A1
WO2017005796A1 PCT/EP2016/065982 EP2016065982W WO2017005796A1 WO 2017005796 A1 WO2017005796 A1 WO 2017005796A1 EP 2016065982 W EP2016065982 W EP 2016065982W WO 2017005796 A1 WO2017005796 A1 WO 2017005796A1
Authority
WO
WIPO (PCT)
Prior art keywords
base station
vehicle
path
data
map data
Prior art date
Application number
PCT/EP2016/065982
Other languages
German (de)
English (en)
Inventor
Herbert Meier
Ronald Hain
Martin Böld
Martin GRIESBECK
Original Assignee
Continental Automotive Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive Gmbh filed Critical Continental Automotive Gmbh
Publication of WO2017005796A1 publication Critical patent/WO2017005796A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
    • G01C21/3893—Transmission of map data from distributed sources, e.g. from roadside stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—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

Definitions

  • the invention relates to a method and a corresponding control device for operating a base station.
  • the term electronic horizon here denotes a virtual sensor that provides information about the environment of the vehicle.
  • the electronic horizon is provided übli ⁇ chate cyclically.
  • the route ahead is determined on which the vehicle is expected to move. This route is known as the most true ⁇ scheinlichste driving path, in English Most Probable Path (MPP).
  • MPP Most Probable Path
  • the object on which the invention is based is to provide a method and a control device for operating a base ⁇ station, which respectively enables a reliable and / or efficient use of driver assistance systems of a vehicle and secure to an efficient and / or and / or comfortable operation of the vehicle.
  • the problem is solved by the features of the independent Pa ⁇ tentance.
  • Advantageous developments of the invention are characterized in the subclaims.
  • the invention is characterized by a method for operating a base station.
  • the Basisstati ⁇ on map data provided which navigable by a vehicle routes in a vicinity of the base station umfas ⁇ sen. The passable by the vehicle routes are divided into sections.
  • a path is determined for each partial route, each of which includes a horizon route that extends beyond the respective partial route.
  • a jewei- liges vehicle be found on a respective leg ⁇ , or respective vehicles which are located at the respective leg, the respective path that is associated with the jeweili ⁇ gen leg is provided ⁇ by the base station.
  • the base station is a mobile radio transmitter, such as an LTE (Long Term Evolution) mobile network.
  • the mobile radio network is a cellular mobile radio network with one Variety of mobile radio transmitters along a road network, so that the vehicle can be provided in each case a locally relevant path along the road network.
  • Kings ⁇ NEN several vehicles with the base station communicate, so that a plurality of vehicles of each path can be provided.
  • the base station is assigned, for example, a predetermined transmission / reception range.
  • the map data which are provided to the Ba sisstation include in particular Stre ⁇ CKEN in the predetermined transmission / reception range of the base station ⁇ .
  • the area surrounding the base station provided with the stretching comprises a portion of the pre give ⁇ NEN transmission / reception range of the base station.
  • the environment of the base station with the ready frame ⁇ th routes the range of the predetermined transmission / reception Reich ⁇ of the base station corresponds.
  • the distances can easilyITAge ⁇ for example, extend at least partially over the range of the predetermined transmission / reception range of the base station can occur.
  • the transmission / reception range can also be referred to as the cell diameter of the base station.
  • the transmission / reception range is between 10 km and 30 km.
  • the map data may be transmitted through the
  • Vehicle include drivable routes and / or a particular class of the route such as highway, highway or city.
  • the routes are in particular roads.
  • the sections in particular one direction in each case ⁇ assigned .
  • a route section may thus comprise two partial sections in the opposite direction.
  • the sectionstre ⁇ CKEN a route section in each case one per ⁇ irrir path can be associated with particular.
  • the respective path is, for example, an electronic horizon.
  • the respective path Comprises a most likely driving path (so-called "Most Pro ⁇ bable Path", PP)
  • the respective path may comprise further drive paths, for example any Occasion ⁇ chen driving paths in the vicinity of the base station.
  • the respective horizon distances are in particular limited to a predetermined length.
  • the length of a respective horizon distance is between 2 km and 10 km.
  • the respective path will be ⁇ riding particularly pointed by the base station.
  • the respective vehicle in this context is assigned a mobile radio receiver, which allows a data exchange with the base station.
  • the respective path through the base station it will transmit ⁇ .
  • the base station is associated with a control device in this context insbeson ⁇ particular, the (MEC) unit, for example as so-called “Mobile Computing Edge” is formed. This allows a fast and secure data transmission of the respective path to the respective vehicle.
  • MEC Mobile Computing Edge
  • a common path for vehicles is determined on a common leg in the vicinity of the Basissta ⁇ tion respectively.
  • the respective sub-route comprises one or more vectors of a road network along which vehicles can move.
  • the one vector or several ⁇ ren vectors may or may, in particular a path to be assigned.
  • vehicle data is provided comprising a ak ⁇ tual position and / or a current direction of travel of the accelerator ⁇ zeugs.
  • the respective path is provided to the vehicle as a function of the vehicle data.
  • a zontfire a specific hori zontrange in the environment of the base station comprehensive path so example ⁇ only then the vehicle provided when the vehicle travels the respective leg over which the horizon distance extends beyond.
  • a volume of data to be transmitted paths can be kept low and / or a memory associated with the vehicle for receiving the ready rack ⁇ th path be kept small.
  • the map data include navigability characteristics associated with the routes in the environment of the base station.
  • the navigability characteristics are for example representative of a traffic volume on a route in the vicinity of the base station and / or for a state of the road and / or for a default or an indication, which can be effected, for example, by traffic signs, such as a temperature. polimit.
  • this allows a precise prediction of the environment of the vehicle, so that a contribution to energy efficiency, safety and comfort in operating the vehicle is made.
  • the base station update data is communicatege ⁇ sets that are representative of an at least partially updating of the map data.
  • this contributes to a particularly accurate prediction of the environment of the vehicle.
  • a total data volume can be kept small when the map data is updated.
  • the respective base station update data By locally providing the respective path to be single ⁇ Lich the respective base station update data affordge ⁇ represents.
  • the vehicle need not be provided with update data for regions that are not currently being driven by the vehicle. This allows a drastic reduction of a data volume to be transmitted.
  • the respective path is deposited supplied ⁇ associated memory in the base station.
  • the deposited in the memory of each path is provided to the respective vehicle in the vicinity of the base station, at least to an update of the map data ⁇ .
  • the stored in the memory respective path can be provided by a ak ⁇ tual position of the vehicle and / or a current driving direction of the vehicle dependent.
  • the invention relates to a control ⁇ device for operating a base station, which is adapted to carry out the method according to the first aspect.
  • the control device may be, for example, a suction device. act called "Mobile Edge Computing” (MEC) unit.
  • MEC Mobile Edge Computing
  • Insbeson ⁇ particular may be the control device in the base station arranged and adapted to perform the method according to the first ⁇ As pect by means of that base station.
  • FIG. 1 shows a diagrammatically illustrated road network in a top view and a base station
  • Figure 2 schematically illustrated functional blocks of STEU ervorraum for operating the base station
  • Figure 3 is a flowchart for operating the base station.
  • Figure 1 shows a schematically illustrated road network (ge ⁇ dashed lines) in plan view, and a base station 1, which is formed for example as a mobile phone mast of a LTE network with a control device 25 (see Figure 2).
  • the base station 1 is associated with a transmission / reception range 3, in the mobile subscriber such as ent ⁇ speaking vehicles equipped with the base station 1 can communi cate ⁇ .
  • the transmission / reception range 3 is, for example, by a predetermined range, which differ from egg ⁇ ner actually possible range of the base station 1 can chen.
  • the transmit / receive range 3 can also overlap with wei ⁇ n (not shown) transmission / reception ranges of other base stations.
  • the transmission / reception Reich ⁇ wide 3 covers in particular a part of the road network.
  • the transmission / reception range 3 can also be used as a cell diameter Base station 1 are called.
  • the transmission / reception range 3 is for example between 10 km to 30 km.
  • FIG. 1 further shows two paths 5, 7, each of which comprises a horizontal distance which extends beyond a respective part of the road network 9, 11 which can be driven by a vehicle.
  • the sections 9, 11 and / or the horizon ⁇ distances may, for example, extend beyond the covered by the transmission / reception range 3 area of the base station 1 addition.
  • the sections 9, 11 is ⁇ example assigned a direction of travel.
  • the sections 9, 11 may comprise one or more vectors ent ⁇ long of which vehicles can move.
  • the at least one path 5, 7 are ⁇ example, be a so-called electronic horizon.
  • the elec ⁇ tronic horizon provides vehicle functions data from a static map and dynamic events to a corridor of about 2-10 kilometers available to improve the functions in the areas of energy efficiency, safety and comfort, such as partially or highly automated driving or allow. over ⁇ all.
  • the requirements for timeliness, Wegig ⁇ ness and thus data volumes rise while with the increasingly complex functions.
  • the corridor for which the data is calculated is determined, for example, in real-time depending on a position and a direction of travel from the topology map, and can also serve as mirrored path (so ⁇ called "Most Probable Path" MPP) are referred to.
  • the electronic horizon as stati ⁇ shear electronic horizon as a function in the vehicle reali ⁇ Siert are
  • map data such. B. slope values installed in a vehicle similar to a navigation map and currency rend operation on. so-called ADASIS interface individual functions. An update of the data is possible either in the workshop or via storage media.
  • ⁇ additionally dynamic data such as traffic information or comparison to traffic flow in the electronic horizon over a mobile radio interface (known as "Over The Air” OTA interface) incorporated by a backend ⁇ the (so-called In the case of a direct connection between the vehicle and the backend, the communication can take place, for example, via a mobile radio connection, W-LAN, radio or the like.
  • a mobile radio interface known as "Over The Air” OTA interface
  • a so-called "mobile edge computing” (MEC) unit of the base station 1 to operate.
  • MEC mobile edge computing
  • the base station 1 in particular a control device is associated with 25 (see Figure 2) which is formed at ⁇ example as MEC.
  • the base station 1 is able to provide electronic horizons in the MEC for the vehicles in the cell range, ie the transmission / reception range 3 of the base station 1.
  • the central electronic horizon information is thus divided according to need to different base stations of the mobile network, in particular depending on the individual cell sizes.
  • the provided electronic horizons are especially not calculated vehicle individually but who ⁇ per leg 9, 11 thereon for all Fahrzeu ⁇ ge provided. That is, the calculation of the Horizons ⁇ he follows optimized MEC held individually in many vehicles, so that contributed gen to simplification of the vehicle hardware. Simple functions in the vehicle has to also not the most likely path complete with attributes be ⁇ be made available, but only for a short interesting sections such. B. end of jam as a short message from the base station 1 to the vehicle. For those types of messages specifically the message formats from "car to car” (C2C) consortium are. From the perspective of the backend functions the base station 1 as a "mega ⁇ vehicle" with the appropriate multiple amount of Informati ⁇ tions.
  • Main advantage is the efficient and faster proces ⁇ processing from thequaintgestell- th from the electronic horizon information on the introduced decentralized Basissta ⁇ functions for data transmission between the vehicle and the back end.
  • Another advantage is the faster, safer Informa ⁇ tion between vehicles within a cell in danger ⁇ drop compared to a communication from a remote or central backend.
  • three vectors of the leg 9 are the path 5 to ⁇ ordered. Vehicles that move on the leg 9, received all the data from the path 5. Vehicles on the vector of section 11 receive data from the path 7.
  • Letswei ⁇ se be this determines all possible vectors in the vicinity of the base station 1 and with static Data filled from the map. During the operation of the base station 1, these static data are stored, for example, with dynamic data, for example by so-called "Real Time Traffic Providers".
  • C2C Car to Car
  • the STEU ⁇ ervorges 25 comprises in this embodiment, a vehicle storage module 13, a card module 15, an updating extension module 17, a communication module 19, a memory 21 and a dynamic data module only parts of the above-mentioned modules and / or additional modules can 23.
  • the control device 25 include, for example.
  • vehicles in the vicinity of the base station 1 are particularly deposited example, it ⁇ followed by a determination of the respective driving ⁇ vehicles in the area in this context.
  • the vehicle memory module 13. is a temporary memory at ⁇ way of example, in which the vehicles in the vicinity the base station 1 are listed to provide them with elekt ⁇ tronic horizon data.
  • the card module 15 comprises a digital map of the environment of the base station 1, which in relation to the transmission / Reception range 3 can also be referred to as extended base station area.
  • the digital map is used to generate the ent ⁇ speaking trip vectors for the territory of the respective elekt ⁇ tronic horizons. This occurs for example at a startup of the base station 1, and in Aktuali ⁇ stechniken the map (see update module 17).
  • the update module 17 in particular comprises functions for updating the digital map.
  • the base station 1 is technically connected to a backend verbun ⁇ the.
  • the communication module 19 serves in particular to communicate with vehicles in the transmission / reception range 3.
  • houses- includes the communication module 19 in this connection functions for communication according to a predetermined communica tion ⁇ protocol such as car to car (C2C).
  • C2C car to car
  • already determined paths 5, 7 can be stored. These can be referred to as pre slightest ⁇ tete electronic horizons.
  • the dynamic data module 23 is used, for example, the Aktuali ⁇ tion of the paths 5, 7 associated Befahrelsschal.
  • dynamic data can hereby receive the ⁇ .
  • the dynamic data include, for example, data from so-called "Real Time Traffic Providers" such as INRIX, Nokia HERE, etc. and are inserted into the electronic horizons.
  • the communication module 19 is required to be able to locate vehicles and events from the respective paths 5, 7, such as those in memory 21 filed reported electronic horizons, as well as events that are reported by vehicles as an example via C2C to report this to the vehicles with the corre sponding ⁇ stored in memory 21 vorgeolinten electronic horizons.
  • the digital map of the map module 15 as well as the dynamic data of the dynamic data module 23 may for example be referred to as map data.
  • the map data may be similar to a navigation map.
  • the map data may include, for example, slope values.
  • the control device 25 is, for example, a data and program memory associated Pro ⁇ , in which a program is stored which is explained in detail below with reference to the flow chart of FIG. 3
  • the program is started in a step S, are initialized in the game, in ⁇ variables.
  • the base station 1 in step Sl the map data administratge ⁇ represents.
  • a step S3 it is dependent on the map data of the tendonss we ⁇ a path 5, 7 in the vicinity of the base station 1 ER averages. For example, the respective path 5, 7 subsequently ⁇ td stored in the memory 21st The program is subsequently resumed ⁇ chd in a step S5.
  • step S5 vehicles in the vicinity of the base station 1 are located. Further, the base station 1 are provided a current position and a current direction of travel of the jewei ⁇ intelligent vehicles. In particular, the aktuel ⁇ le position and the current direction of travel of the respective vehicles are determined.
  • the program is then continued in a step S7. In the step S7 it is checked whether an update of the Kar ⁇ tenaries present. In the event that the stored in the card module 15 is currently in digital map and / or dynamic DA th the dynamic data module 23 are already included in the pre-strip ⁇ th electronic horizons, no updating of the map data is needed. The program is then continued in a step S9. Otherwise, the program will continue in a step Sil.
  • step S9 a respective path 5, 7 is provided to the respective vehicles by the base station 1.
  • the program is then terminated, for example.
  • the program can then be continued, for example, in step S5, optionally after a predetermined waiting time.
  • step Sil the map data is updated.
  • dynamic data through the dynamic Since ⁇ tenmodul be provided, for example 23 and / or carried out an update of the di ⁇ gitalen map by the update module 17th The program is then continued in step S3.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Databases & Information Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé pour faire fonctionner une station de base (1), consistant à mettre à disposition de cette dernière des données cartographiques comprenant des tronçons pouvant être parcourus par un véhicule dans un environnement de la station de base (1). Ce procédé consiste également à diviser les tronçons pouvant être parcourus par le véhicule en tronçons partiels (9, 11). Il consiste également à déterminer, en fonction des données cartographiques, pour chaque tronçon partiel, un trajet (5, 7) qui comprend respectivement un tronçon horizontal s'étendant au-delà du tronçon partiel respectif (9, 1). Il consiste enfin à mettre à disposition, par l'intermédiaire de la station de base (1), pour un ou plusieurs véhicules respectif(s) se trouvant sur un tronçon partiel respectif (9, 11), le trajet respectif (5, 7) associé au tronçon partiel respectif (9, 11). L'invention concerne en outre un dispositif de commande correspondant.
PCT/EP2016/065982 2015-07-06 2016-07-06 Procédé et dispositif de commande pour faire fonctionner une station de base WO2017005796A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015212587.4A DE102015212587A1 (de) 2015-07-06 2015-07-06 Verfahren und Steuervorrichtung zum Betreiben einer Basisstation
DE102015212587.4 2015-07-06

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Publication Number Publication Date
WO2017005796A1 true WO2017005796A1 (fr) 2017-01-12

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WO (1) WO2017005796A1 (fr)

Cited By (1)

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US10899348B2 (en) 2017-12-20 2021-01-26 Here Global B.V. Method, apparatus and computer program product for associating map objects with road links

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DE102018009904A1 (de) * 2018-12-20 2020-06-25 Volkswagen Aktiengesellschaft Verfahren zum Navigieren eines Fahrzeuges

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US6073075A (en) * 1995-11-01 2000-06-06 Hitachi, Ltd. Method and system for providing information for a mobile terminal
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WO2004038676A1 (fr) * 2002-10-23 2004-05-06 Sk Telecom Co., Ltd. Systeme de navigation et procede de commande pour vehicule a moteursysteme de navigation et procede de commande pour vehicule a moteur
US20060025923A1 (en) * 2004-07-28 2006-02-02 Telmap Ltd. Selective download of corridor map data
DE102010007260A1 (de) * 2010-02-09 2011-08-11 Continental Automotive GmbH, 30165 Prädiktiver eHorizon

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US6073075A (en) * 1995-11-01 2000-06-06 Hitachi, Ltd. Method and system for providing information for a mobile terminal
US6484093B1 (en) * 1999-11-18 2002-11-19 Kabushikikaisha Equos Research Communication route guidance system
WO2004038676A1 (fr) * 2002-10-23 2004-05-06 Sk Telecom Co., Ltd. Systeme de navigation et procede de commande pour vehicule a moteursysteme de navigation et procede de commande pour vehicule a moteur
US20060025923A1 (en) * 2004-07-28 2006-02-02 Telmap Ltd. Selective download of corridor map data
DE102010007260A1 (de) * 2010-02-09 2011-08-11 Continental Automotive GmbH, 30165 Prädiktiver eHorizon

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10899348B2 (en) 2017-12-20 2021-01-26 Here Global B.V. Method, apparatus and computer program product for associating map objects with road links

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