Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
  • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
  • G01S19/42—Determining position
  • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
• • 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
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
  • G01S19/13—Receivers
  • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
• • 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
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
  • G01S19/13—Receivers
  • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
• • 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
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
  • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
  • G01S19/42—Determining position
  • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
  • G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single system
• • 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
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
  • G01S19/13—Receivers
  • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service

Definitions

• the invention relates to a method for operating a GNSS sensor of a vehicle whose control operations can be influenced by an electronic control unit, a method for operating a vehicle whose control operations can be influenced by an electronic control unit, a GNSS sensor and a vehicle with a GNSS sensor. Sensor. Also
• the invention is a suitably furnished
• An autonomous vehicle is a vehicle that manages without a driver.
• the vehicle drives autonomously, for example, by independently recognizing the road, other road users or obstacles and calculates the corresponding control commands in the vehicle and forwards them to the actuators in the vehicle, whereby the driving course of the vehicle is correctly influenced.
• the driver is not involved in a fully autonomous vehicle on the ride.
• a vehicle for autonomous operation requires a
• GNSS Global Navigation Satellite System.
• GNSS is a system for determining and / or navigating the earth and / or in the air by receiving the signals from navigation satellites, here as
• GNSS Satellite data called. GNSS is a collective term for the
• the GNSS sensor is a sensor that is suitable for receiving and processing navigation satellite data, for example, to evaluate it.
• the GNSS sensor is able to determine a highly accurate vehicle position using navigation satellite data (GPS, GLONASS, Beidou, Galileo).
• Control unit can be influenced, it is preferably an autonomous vehicle.
• the vehicle is an autonomous automobile.
• the GNSS sensor can be operated in different operating modes.
• the GNSS sensor may be operated in a GPS mode, GLONASS mode, Beidou mode and / or Galileo mode.
• operation in GPS mode means that in particular only the GPS signal is evaluated.
• the solution proposed here describes, in particular, a method for (partially) deactivating a GNSS sensor in an (autonomous) vehicle.
• a (at least partial) deactivation of the GNSS sensor is useful, for example, if satellite data are greatly disturbed. This can be the case, for example, in a strong solar storm or in extreme weather conditions.
• As part of the proposed solution can a (at least partial) deactivation of a GNSS sensor in a vehicle (either) directly or indirectly.
• the at least one operating mode of the GNSS sensor is deactivated when the GNSS sensor removes the information from the satellite data that these are faulty or disturbed.
• This can be called a direct deactivation.
• additional data can be coded into the satellite data, so that in particular during the evaluation in step b), preferably by the GNSS sensor, it can be detected that these satellite data are useless.
• Operating mode of the GNSS sensor with respect to the output data disable or disabled until again valid GNSS data are received from the satellite.
• the input signals of the satellite data can in this case be processed as usual.
• the GNSS sensor is preferably deactivated immediately in the case of invalid satellite data. This allows the advantage that autonomous vehicles can be taken out of service, for example with respect to the GNSS sensor, if the satellite data of a region are heavily corrupted, for example due to a solar storm or extreme weather conditions. As a result, high position inaccuracies in automated driving can be prevented from the outset, thus avoiding serious accidents.
• the at least one operating mode of the GNSS sensor is deactivated when the GNSS sensor is supplied with the information via a communication link that the satellite data is faulty or disturbed.
• This can be called an indirect deactivation.
• status data about the GNSS system for the area in which the vehicle is located can be received, for example, via a car-to-X communication connection built into the vehicle or via a correction service.
• At (too) disturbed can be received, for example, via a car-to-X communication connection built into the vehicle or via a correction service.
• the GNSS sensor can thus be disabled from the outside, in particular by a special error code, preferably for a certain period of time.
• the GNSS sensor of an (autonomous) vehicle is selectively deactivated from the outside when the quality of satellite data falls below a certain value.
• the at least one operating mode of the GNSS sensor is deactivated when the
• Vehicle is located in a specific (spatial) area.
• the particular area is preferably an area for which insufficient satellite coverage has been predicted. Alternatively or cumulatively, the particular area may be one for which it is already known that the satellite data arriving there is faulty or disturbed.
• the particular area may be a city area.
• a targeted (partial) deactivation of a GNSS sensor takes place from the outside when the vehicle enters an urban area. It can thereby be achieved that an autonomous vehicle in this area is forced to locate itself alternatively or is only manually controllable in this area. This is advantageous because the performance of the GNSS sensor in this area is usually not sufficient for an autonomous driving function. Conversely, it can be achieved that a GNSS sensor is used only if it is ensured that the quality of the received satellite data is also sufficient for autonomous driving.
• the at least one operating mode of the GNSS sensor is deactivated for a certain period of time, such as the duration of a solar storm.
• the specific period of time is region-dependent or location-dependent.
• Disabling the at least one operating mode of the GNSS sensor is reported to a higher-level system.
• the at least one operating mode of the GNSS sensor is reactivated when the higher-level system triggers an activation signal.
• the superordinate system may be a GNSS administration and / or a so-called cloud.
• the GNSS sensor informs an infrastructure or cloud,
• the GNSS sensor can also transmit its last valid position and / or time and / or the reason for the deactivation (eg code in satellite data or command from the outside).
• the cloud then preferably checks whether the (partial) deactivation of the GNSS sensor was or is legitimate. Legitimate is the deactivation especially if there is a reason (eg code in satellite data or external command) for the deactivation.
• the cloud sends, preferably via Car-to-X,
• a (corresponding) answer to the GNSS sensor it may be provided that the GNSS sensor remains in the (partly) deactivated state if or as long as the deactivation is legitimate. On the other hand, if the deactivation is no longer legitimate, the GNSS sensor can be reactivated, especially from the cloud. Unless there is any reason for that
• Deactivation of the GNSS sensor may be an indication of an internal GNSS sensor error or it may be that the GNSS sensor has been disturbed by a signal jammer. This information can be processed by the cloud accordingly.
• (only) the operating mode of the GNSS sensor is deactivated, which is assigned to a specific satellite system.
• the particular satellite system is
• the GPS mode of the GNSS sensor is deactivated when (only) the GPS signal is faulty or disturbed.
• a method for operating a vehicle is proposed.
• the vehicle is one whose control operations can be influenced by an electronic control unit.
• the method comprises at least the following steps: a) determining the position of the vehicle using a GNSS sensor operated according to a method proposed here for operating a GNSS sensor,
• step b) the vehicle speed of the vehicle (predeterminable by the control unit) is preferably limited if at least one
• step b) Operating mode of the GNSS sensor has been deactivated. Further preferably, in step b), an autonomous driving mode is switched off if at least one operating mode of the GNSS sensor has been deactivated. The switching off of the autonomous driving mode takes place in particular if at least two or even all operating modes of the GNSS sensor have been deactivated. This is based on the idea that autonomous vehicles in which the GNSS receiver was temporarily deactivated, should only be operated manually or the autonomous driving mode should at least be limited so far that, for example, a maximum speed can not be exceeded.
• a GNSS sensor which is provided and set up for carrying out a method proposed here for operating a GNSS sensor.
• a vehicle which is equipped with a GNSS sensor proposed here.
• the vehicle is one whose control operations can be influenced by an electronic control unit.
• the vehicle is an autonomous vehicle, more preferably an autonomous automobile.
• a GNSS sensor can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon.
• the sensor may have an interface, which may be formed in hardware and / or software.
• the interface can be part of a so-called system-specific ASIC (ASIC), which includes a wide variety of functions of the device.
• ASIC system-specific ASIC
• the interface comprises own integrated circuits or at least partially consists of discrete components.
• the interfaces may be software modules which are present, for example, on a microcontroller in addition to other software modules.
• a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the above
• FIG. 1 shows an exemplary sequence of a method according to the invention for operating a GNSS sensor
• Fig. 2 a vehicle with a GNSS sensor.
• step a satellite data is received in step a). These are evaluated in step b).
• step c) at least one operating mode of the GNSS sensor is deactivated if at least part of the satellite data is unsuitable for determining the position of the vehicle.
• FIG. 2 schematically shows a vehicle 2 with a GNSS sensor 1, which is provided and arranged for carrying out the method explained in connection with FIG. 1.
• the vehicle 2 is a such, whose control operations can be influenced by an electronic control unit 3, such as an autonomously operating automobile.
• the GNSS sensor 1 is connected to the electronic control unit 3.
• the solution presented here contributes, in particular, to the prevention of serious and dangerous positional errors in autonomous vehicles, thus increasing the safety of autonomous vehicles.

Landscapes

• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Computer Networks & Wireless Communication (AREA)
• Computer Security & Cryptography (AREA)
• Position Fixing By Use Of Radio Waves (AREA)
• Navigation (AREA)
• Aviation & Aerospace Engineering (AREA)
• Automation & Control Theory (AREA)

Priority Applications (5)

Applications Claiming Priority (2)

Publications (1)

Family

ID=64870402

Family Applications (1)

Country Status (7)

Families Citing this family (3)

Citations (3)

Family Cites Families (37)

• 2017
  • 2017-12-11 DE DE102017222356.1A patent/DE102017222356A1/de not_active Withdrawn
• 2018
  • 2018-12-06 JP JP2020531684A patent/JP7060691B2/ja active Active
  • 2018-12-06 KR KR1020207016478A patent/KR102856482B1/ko active Active
  • 2018-12-06 WO PCT/EP2018/083846 patent/WO2019115357A1/de not_active Ceased
  • 2018-12-06 EP EP18825890.9A patent/EP3724689B1/de active Active
  • 2018-12-06 US US16/766,808 patent/US12061269B2/en active Active
  • 2018-12-06 CN CN201880079355.0A patent/CN111448479A/zh active Pending

Patent Citations (3)

Non-Patent Citations (1)

Also Published As

Similar Documents

Legal Events