WO2019219356A1 - Procédé et système de positionnement pour la transformation d'une position d'un véhicule - Google Patents

Procédé et système de positionnement pour la transformation d'une position d'un véhicule Download PDF

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Publication number
WO2019219356A1
WO2019219356A1 PCT/EP2019/060859 EP2019060859W WO2019219356A1 WO 2019219356 A1 WO2019219356 A1 WO 2019219356A1 EP 2019060859 W EP2019060859 W EP 2019060859W WO 2019219356 A1 WO2019219356 A1 WO 2019219356A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
coordinate system
location
vectors
position detection
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Application number
PCT/EP2019/060859
Other languages
German (de)
English (en)
Inventor
Tomas Szabo
Original Assignee
Zf Friedrichshafen Ag
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Publication date
Application filed by Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2019219356A1 publication Critical patent/WO2019219356A1/fr

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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
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • 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
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
    • 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications

Definitions

  • the invention relates to a method, a control device and a positioning system for transforming a position of a vehicle, wherein the method, the control device and the positioning system comprises detection of position vectors of the vehicle in a coordinate system with a position detection system or is set up for this purpose.
  • a location of a vehicle can only be determined within the spatial extent of the transponder network. Outside a locally limited transponder network, however, a position determination of a vehicle is not possible.
  • the invention therefore provides solutions to design the position determination of a vehicle more efficient and spatially more flexible, with an increase in efficiency and greater spatial flexibility can be achieved in particular by reducing the dependence of the position determination of a single position detection system.
  • Such a solution for a method for transforming a position of a vehicle between a first coordinate system and a second coordinate system comprises detecting at least two position vectors with respect to the vehicle in the first coordinate system with a first position detection system at at least two different vehicle locations and detecting at least two position vectors with respect to the vehicle in the second coordinate system with a second position detection system at the at least two different vehicle locations.
  • the method comprises calculating transformation parameters between the first coordinate system and the second coordinate system based on the at least two location vectors in the first coordinate system and the at least two location vectors in the second coordinate system and calculating the position of the vehicle in one of the first coordinate system and the first coordinate system second coordinate system by transforming the position of the vehicle between the first coordinate system and the second coordinate system with the calculated transformation parameters.
  • a transformation of the position of the vehicle between the first coordinate system and the second coordinate system may include a transformation of the position of the vehicle from the first coordinate system into the second coordinate system or a transformation of the position of the vehicle from the second coordinate system into the first coordinate system.
  • the vehicle to be determined in its position by transformation can in principle be any vehicle, which can be, in particular, a rail-bound or non-rail-bound transport vehicle, which can be designed to transport containers, material or goods.
  • the vehicle may be a work vehicle, for example, the vehicle may be a construction machine.
  • the vehicle may, for example, move in a container port, in a railway station, on a factory premises, in a factory hall and / or on a construction site, whereby the vehicle may also move from one of these locations to another of these locations.
  • a transformation of a vehicle reference point for example a center of the rear axle or another vehicle axle, from the first coordinate system to the second coordinate system or vice versa can be understood.
  • the vehicle reference point can be any point defined in a vehicle coordinate system, which can be defined within the vehicle, on the vehicle or also in the surroundings of the vehicle and its position vector in the first coordinate system with the first position detection system or its position vector in the second coordinate system with the second Position detection system can be determined.
  • the vehicle coordinate system may be a coordinate system bound to the vehicle itself.
  • coordinates of a reference point of the first or second position detection system may be known as an offset in the vehicle coordinate system.
  • the reference point of a position detection system may be the origin of the vehicle coordinate system, where the offset is zero, or may be different than the origin of the vehicle coordinate system, the offset defining an offset between the reference point about the origin of the vehicle coordinate system.
  • the transformation can have an automatic transformation, that is to say in particular a transformation without the a priori knowledge of control points.
  • Such a transformation can therefore also be referred to as an automatic transformation or an automatic calibration of a coordinate transformation between two coordinate systems.
  • the two coordinate systems therefore do not have to be calibrated, and in particular a measurement of a position of a position detection sensor on the vehicle with respect to the vehicle reference point can be dispensed with.
  • the coordinate transformation can be a two-dimensional similarity transformation with four transformation parameters.
  • the four transformation parameters may include a rotation angle, a translation vector, which may have two translation parameters, and a scale factor, where In particular, the scale factor may be known, that is, for example, may be substantially equal to one.
  • the position of the vehicle to be transformed may be a current location of the vehicle or a point along a vehicle trajectory that has been traveled or has to be traveled.
  • the first coordinate system may be a local coordinate system, such as a transponder system
  • the second coordinate system may be a global coordinate system, such as a satellite navigation coordinate system, or vice versa.
  • the transponder system may have a transponder network, in particular an RFID network, arranged in a road surface.
  • the global coordinate system can also be referred to as a higher-level coordinate system.
  • the terms "local”, “global” or “superordinate” can be understood hierarchically in terms of their spatial extent for a corresponding position determination of the vehicle.
  • the position determination in a local coordinate system can be locally limited, while the position determination in a global coordinate system can be essentially spatially unlimited.
  • the terms "local,” “global,” and “parent,” respectively, may also be understood to be functional, where the local coordinate system may cover a gap in position determination with the global coordinate system.
  • a transponder system as a local position sensing system in a building can compensate for unavailability of a satellite positioning system as a global position sensing system.
  • the first coordinate system can therefore also be an indoor coordinate system and the second coordinate system can be an outdoor coordinate system.
  • a corresponding position vector in one of the coordinate systems may indicate a position or location of the vehicle in one of the coordinate systems.
  • the corresponding location vector may have coordinates with respect to one of the coordinate systems.
  • the location vectors in the various coordinate systems may relate to different points in the vehicle coordinate system, so that a position detection with the first position detection system and a position detection with the second position detection system relate to different reference points. hen can.
  • the different position detection systems can also be referred to as vehicle location systems.
  • the vehicle locations may be the whereabouts of the vehicle or points along a vehicle trajectory that has been trawled or driven off.
  • a core idea of the invention can be seen in that the necessary for a coordinate transformation between two coordinate system control points, that is points whose coordinates are known in both coordinate systems, can be automatically determined by position determinations with two different position detection systems at different vehicle positions. For this, the positions detected by the systems may even refer to different reference points in a vehicle coordinate system.
  • an advantageous effect of the invention can be seen in that at least the reference point of the position detection with one of a first and a second position detection system in a vehicle coordinate system need not be known in order to determine the transformation parameters between a first coordinate system and a second coordinate system. In other words, it may not be necessary for the determination of such transformation parameters to measure both position detection systems in a vehicle coordinate system, that is, to define reference points of their position detection. Thus, the reference points or location of at least one of the first and second position detection systems or a position detection sensor in the vehicle coordinate system may be unknown. This is advantageous because it is possible to dispense with a calibration of the position detection systems or an adjustment of position detection sensors in this respect for a derivation of the transformation parameters.
  • One embodiment includes moving the vehicle from a first vehicle location to a second vehicle location and from the second vehicle location to a third vehicle location, detecting three location vectors of the vehicle in the first coordinate system with the first position detection system at the three different ones Vehicle locations as well as detecting three position vectors of the vehicle in the second coordinate system with the second position detection system at the three different vehicle locations.
  • the orientations of the vehicle at the second and third vehicle locations are substantially the same and different by substantially 180 degrees for the orientation of the vehicle at the first vehicle location.
  • the embodiment further comprises calculating transformation parameters between the first coordinate system and the second coordinate system based on the three position vectors of the vehicle and the three position vectors of the vehicle.
  • the movement of the vehicle can be automated or carried out by a driver.
  • the three different vehicle locations may be along a trajectory.
  • the respective position vectors can refer to different points, for example points on the side of the trajectory.
  • the first vehicle location can also be referred to as an initial position or as a first calibration position, wherein the first vehicle location can be chosen arbitrarily.
  • a corresponding location vector and corresponding orientation of the vehicle can be stored in both coordinate systems. The same values can also be stored in each case when the vehicle is located at the second and third vehicle location.
  • the second and third vehicle location may also be referred to as second and third calibration positions.
  • orientation detection system For realizing the substantially same orientations of the vehicle at the second and third vehicle locations as well as the orientation of the vehicle at the first vehicle location substantially different thereto, detecting orientations of the vehicle with an orientation detection system at least at the first vehicle location at which be provided at the second vehicle location and at the third vehicle location.
  • the sensed orientations may be used for controlling, controlling and / or checking the current orientations of the vehicle as it moves from one of the vehicle locations to another of the vehicle locations.
  • the orientation detection system may in principle be any known sensor for detecting a spatial orientation in any coordinate system, wherein the orientation detection system, for example, a Rotation rate sensor, an inertial sensor or a compass may have.
  • an orientation can also be derived from at least two detected vehicle positions or the vehicle trajectory.
  • the orientations of the vehicle are substantially the same at least at two of the three vehicle locations.
  • the orientations of the vehicle may also be substantially the same at the first, second and third vehicle locations.
  • a translational offset of the vehicle between the three vehicle locations may be realized by the vehicle motions become.
  • a further embodiment comprises calculating at least two control points in the first coordinate system and the second coordinate system based on the three position vectors of the vehicle and the three position vectors of the vehicle and calculating the transformation parameters between the first coordinate system and the second coordinate system based on the at least two control points on.
  • the control points can be located in the vehicle environment. In addition, the control points may be outside the vehicle trajectory.
  • the two control points can define a first difference vector in the first coordinate system and a second difference vector in the second coordinate system, wherein the difference vectors represent identical vectors in both coordinate systems.
  • Center points can be calculated as control points, the centers being rotational points with respect to a translational and rotational movement of the vehicle, the vehicle moving in such a way that the orientations of the vehicle at the second and third vehicle locations are substantially the same and for orientation of the vehicle at the second first vehicle location differ by substantially 180 degrees.
  • the rotation of the vehicle may be a rigid body rotation of the vehicle.
  • a first center M1 as a first control point and a second center M2 as a second control point can be calculated according to formula 1 in the first coordinate system (index R) and the second coordinate system (index G), where TMI R is the location vector of the first center M1 in the first coordinate system , TM2 R indicates the position vector of the second center M2 in the first coordinate system, r Mi G indicates the position vector of the first center M1 in the second coordinate system and r M 2 G indicates the position vector of the second center M2 in the second coordinate system.
  • the respective position vector of the centers M1 and M2 in the first coordinate system results according to formula 1 by means of different vector additions in different vector parallels of the three position vectors (index V1, V2 and V3) with respect to the vehicle in the first coordinate system, for example a local transponder coordinate system.
  • the location vectors can be determined, for example, by means of a transponder system, in particular by means of an RFID network permanently arranged in the vehicle environment and an RFID recognition device located on the vehicle. Alternatively or additionally, the position vectors can be determined by means of an odometry sensor system present on the vehicle.
  • the respective position vector of the midpoints M1 and M2 in the second coordinate system results according to formula 1 by means of different vector additions in different vector parallels of the three position vectors (indexes A1, A2 and A3) with respect to the vehicle in the second coordinate system, for example a global satellite navigation coordinate system such as one GNSS system, a GPS system or a GALILEO system or any other global satellite navigation system.
  • the position vectors can be calculated, for example, by means of at least one antenna arranged on the vehicle for receiving corresponding satellite navigation signals and an evaluation unit for evaluating the received satellite navigation signals. To increase the accuracy of data from a reference station can be received by radio and taken into account by the evaluation.
  • the difference vectors Ar M R and Ar M G that are identical in the first coordinate system and the second coordinate system can therefore also be a translational offset of the vehicle between two vehicle locations, that is, a single vehicle translation, for example a translational movement between the second and third vehicle locations (Indices 2 and 3).
  • a further embodiment comprises calculating the transformation parameters between the first coordinate system and the second coordinate system independently of the relative arrangement of the second position detection system to the first position detection system or vice versa on the vehicle.
  • a position detection sensor of the second position detection system may be arranged arbitrarily on the vehicle to a position detection sensor of the first position detection system or vice versa. It is therefore not necessary that such position detection sensors are both measured in a vehicle coordinate system or coordinate known.
  • One or both position detecting sensors can therefore be detachably mounted on the vehicle.
  • the vehicle can also be tracked by means of a sensor located outside the vehicle, and thus a position vector with respect to the vehicle can be detected. For example, such a location vector can be determined by means of photogrammetry or tachymetry.
  • the transformation parameters between the first coordinate system and the second coordinate system may include a rotation angle Q between the ordinates or the abscissas of the two coordinate systems and a translation vector T G GR between the origins of the two coordinate systems, where a scale factor between the two coordinate systems is known or substantially equal to one can be.
  • the angle of rotation Q as the angle between the first coordinate system and the second coordinate system can be calculated according to formula 3 by means of trigonometry, the respective abscissa values (index x) and ordinate values (index y) of the two difference vectors Ar M R and Ar M G being used.
  • the numerator of the cosine term of formula 3 can be calculated the dot product of the difference vectors Ar and Ar M R M G and cosine terms in the denominator of the magnitudes of the difference vectors Ar and Ar M R M G may be multiplied.
  • a corresponding rotation matrix A R G between the first coordinate system (index R) and the second coordinate system (index G) or a rotation matrix A G R between the second coordinate system (index G) and the first coordinate system (index R ) can be calculated with corresponding sinusine mines and / or cosine terms.
  • the translation vector r G GR as an offset between the origins of the two coordinate systems can be calculated according to formula 4, wherein the position vectors GMI ° and r Mi R of the first center M1 in both coordinate systems together with the rotation matrix A R G between the first coordinate system and the second coordinate system can be used as calculation sizes.
  • An unknown location vector of a position detection sensor (index VA) of the second position detection system for example a relative antenna position of an antenna for receiving satellite navigation signals or an antenna of a transponder system to a vehicle reference point, can be calculated on the basis of the preceding calculations according to formula 5 in the second coordinate system (index G).
  • a satellite navigation coordinate system or a transponder system in the first coordinate system (index R) and in the vehicle coordinate system (index V) are calculated.
  • a rotation matrix A R V between the first coordinate system and the vehicle coordinate system may be used, which may be known.
  • the rotation matrix AR V can be calculated from a known vehicle angle or a known vehicle orientation of the vehicle in the first coordinate system, wherein the vehicle orientation or the vehicle angle can be determined by means of a trajectory determined in a transponder system or individual position vectors of the vehicle system in the transponder coordinate system as the first coordinate system.
  • the vehicle orientation or the vehicle angle can be determined by means of an odometry system on the vehicle, in particular by means of wheel speeds and steering angles.
  • Calculating a current position of the vehicle r v R in the first coordinate system corresponding to a transformation from the second coordinate system to the first coordinate system, that is to say calculating a vehicle reference point which may be determined in the vehicle coordinate system of the vehicle may be calculated according to formula 6 with the calculated translation vector r G GR , the calculated rotation matrix AG R and the rotation matrix A V R as an inverse matrix to the calculated rotation matrix A R V and the calculated position vector r V A V and the detected position vector r A G as a second position vector with respect to the vehicle in the second coordinate system.
  • the vector of a position detection sensor (index VA), for example an antenna in the first coordinate system, subtracts the vector TVA V as an offset between a reference point and the antenna by the vehicle position in the first coordinate system, for example in an RFID system , to obtain.
  • a calculation of a current position of the vehicle r v G in the second coordinate system corresponding to a transformation from the second coordinate system into the first coordinate system can take place with correspondingly analogous calculation variables, in particular inverse calculation variables.
  • An additional option or an alternative to an automated determination of the transformation parameters for calculating a vehicle position may be a manual determination of the transformation parameters, which may be done without knowledge of a position of a position detection sensor.
  • the position of two RFID grid points of a transponder system in the second coordinate system for example by placing a GNSS system on these grid points, take place.
  • an offset between a vehicle reference point and the unknown position of the position detection sensor for example, an antenna position of a GNSS antenna or a transponder antenna can be calculated either from a CAD drawing or by appropriate calculation.
  • the detected position vectors and / or specific orientations in the coordinate systems can be assigned uncertainties, that is, variances.
  • uncertainties can be taken into account in the individual calculation steps according to the formulas by means of variance propagation in order to estimate or determine the uncertainty, that is to say the accuracy, of the transformed vehicle position.
  • To increase the accuracies can be redundant Detections of location vectors or orientations at the individual vehicle locations are carried out and averaged over a correspondingly long period.
  • further accuracy-increasing redundancy concepts in particular with regard to a plurality of position detection sensors, can be provided.
  • Another embodiment comprises detecting the position vectors of the vehicle in the first coordinate system with a transponder system and detecting the second position vectors of the vehicle in the second coordinate system with a satellite navigation system.
  • the transponder system may be an RFID system
  • the satellite navigation system may be a GNSS system, which systems may include respective transmitting units and / or receiving units.
  • Another embodiment comprises detecting position vectors of the vehicle by means of odometry.
  • the position vectors with respect to the vehicle in the first coordinate system can be detected with an odometry system.
  • orientations of the vehicle in the first coordinate system can be determined by means of odometry and optional data filtering.
  • an odometer By means of an odometer a position of the vehicle can be determined.
  • the vehicle position may have a local position and / or an orientation of the vehicle.
  • data of a vehicle propulsion system in particular a respective number of wheel revolutions of a vehicle wheel, a chassis, a yaw rate sensor and / or a steering of the vehicle can be evaluated.
  • a relative position of the vehicle can be derived via a path difference, which in turn can be calculated from the number of wheel revolutions between two measurement times and a known wheel circumference. Via a steering angle of a vehicle wheel, the orientation of the vehicle can also be determined.
  • An absolute position can be derived from a known position, the relative position and the steering angle.
  • a further solution is a control unit which is set up to carry out the method steps of the method for transforming a position of a vehicle or at least one of the embodiments of the method.
  • a positioning system for transforming a position of a vehicle between a first coordinate system and a second coordinate system, the positioning system having at least one component of a first position detection system for detecting at least two location vectors with respect to the vehicle in the first coordinate system at at least two different vehicle locations.
  • the positioning system also includes a component of a second position detection system for detecting at least two location vectors with respect to the vehicle in the second coordinate system at the at least two different vehicle locations.
  • the positioning system has a calculation unit for calculating transformation parameters between the first coordinate system and the second coordinate system based on the at least two location vectors with respect to the vehicle in the first coordinate system and the at least two location vectors with respect to the vehicle in the second coordinate system and calculating the position of the vehicle in one of the first coordinate system and the second coordinate system by transforming the position of the vehicle between the first coordinate system and the second coordinate system with the calculated transformation parameters.
  • a component of a position detection system may be a sensor for directly or indirectly detecting a location vector with respect to the vehicle.
  • the component can also be a corresponding transmitting unit and / or receiving unit for transmitting or receiving measuring signals for detecting the position vector.
  • the calculation unit may comprise a control unit, a control unit or a computing unit for controlling, regulating or performing calculation steps for moving the vehicle, for position detection with the first or second position detection system or for transformation of a vehicle position between the two coordinate systems or with one or more be connected to such units.
  • a solution is a vehicle which has a control unit or a positioning system according to already mentioned solutions.
  • the vehicle is operable as a self-propelled vehicle.
  • a self-propelled vehicle a self-propelled container transport vehicle for automated transport of containers (AGV) may be provided.
  • AGV automated transport of containers
  • FIG. 1 shows a flow chart of method steps of an embodiment of a method for transforming a position of a vehicle between a first coordinate system and a second coordinate system.
  • FIG. 2 shows a vehicle at various vehicle locations for illustrating calculation variables of an embodiment of a method for transforming a position of a vehicle between two coordinate systems shown.
  • Figure 3 shows a vehicle at various vehicle locations to further illustrate the embodiment of the method of transforming a position of a vehicle between the two coordinate systems shown.
  • Figure 4 shows a plan view of a vehicle according to an embodiment of the vehicle.
  • FIG. 1 shows individual method steps of the method for transforming a position of a vehicle 10 between a first coordinate system 20 and a second coordinate system 40 in a temporal sequence.
  • a step SO an orientation 28 of the vehicle 10 at a first vehicle location 12 is detected.
  • a first position vector 22 is detected in a first coordinate system 20.
  • a first position vector 42 is detected in a second coordinate system 40.
  • the steps S1 and S2 may be performed sequentially or simultaneously. In a following
  • Step S3 the vehicle 10 is moved to a second vehicle location 14 and the steps SO, S1 and S2 are executed again.
  • a repeated step SO an orientation 28 of the vehicle 10 at the second vehicle location 14 is detected.
  • a second position vector 24 in the first coordinate system 20 is detected.
  • a second position vector 44 in the second coordinate system 40 is detected.
  • the vehicle 10 is moved to a third vehicle location 16 and the steps SO, S1 and S2 are executed again.
  • a repeated step SO an orientation 28 of the vehicle 10 at the third vehicle location 16 is detected.
  • a third position vector 26 in the first coordinate system 20 is detected.
  • a third position vector 46 in the second coordinate system 40 is detected.
  • step S0 The orientation detection according to step S0, the position detection in the first coordinate system 20 according to step S1 and the position detection in the second coordinate system 40 according to step S2 take place in a rest position or in movement of the vehicle 10.
  • step S4 two control points 62, 64 are calculated based on the position detections in the first coordinate system 20 and the second coordinate system 40, the control points 62, 64 indicating rotational points with respect to movement of the vehicle 10 from the first vehicle location 12 to the second vehicle location 14 and from the first vehicle location 10 to the third vehicle location 16.
  • step S5 transformation parameters between the first coordinate system 20 and the second coordinate system 40 are calculated, which are explained in more detail with reference to FIG.
  • a vehicle position of the vehicle 10 is transformed from the first coordinate system 20 into the second coordinate system 40 or vice versa.
  • the vehicle 10 is shown at different vehicle locations with different orientations 28.
  • the first coordinate system 20 (index R) and the second coordinate system 40 (index G) are shown schematically.
  • the first coordinate system 20 has an abscissa x R and an ordinate y R , which is a two-dimensional Cartesian coordinate system.
  • the second coordinate system 40 has an abscissa x G and an ordinate y G , wherein this coordinate system is also a two-dimensional Cartesian coordinate system.
  • the transformation parameters include a translation vector 2 and a rotation angle 4, where a scale factor (not shown) may equal one.
  • the translation vector 2 is shown as vector TGR, wherein the translation vector 2 is the position vector of the origin PR of the first coordinate system 20 in the second coordinate system 40.
  • the translation vector 2 is thus the vector from the origin PG of the second coordinate system 40 to the origin P R of the first coordinate system 20.
  • Angle 4 is shown as angle Q, where the angle of rotation 4 is the angle between the ordinates y R and y G and an angle between the abscissa x R and x G , respectively.
  • a first reference point 6 of a first position detection sensor for detecting position vectors 22, 24, 26 with respect to the vehicle 10 in the first coordinate system 20 at the different vehicle locations 12, 14, 16 is shown.
  • the reference point 6 is the origin of a vehicle coordinate system 18, which is a Cartesian coordinate system.
  • the vehicle coordinate system 18 (index V) has an abscissa x v and an ordinate y v , wherein the abscissa x v is aligned in the vehicle longitudinal direction and the ordinate y v in the vehicle transverse direction.
  • a transformed position of the vehicle 10 is indicated in the first coordinate system 20 with respect to the reference point 6 and is shown with the vector r RV .
  • a transformed position of the vehicle 10 is also indicated in the second coordinate system 40 with respect to the reference point 6 and is shown with the vector rcv.
  • a second reference point 8 of a second position detection sensor (not shown) for detecting position vectors 42, 44, 46 relative to the vehicle 10 in the second coordinate system 40 at the various vehicle locations 12, 14, 16 is also shown on the vehicle 10.
  • the orientations 28 of the vehicle 10 are shown as vehicle angles f between the abscissa x v of the vehicle coordinate system 18 and the abscissa x R of the first coordinate system 20.
  • a shown angle cp may be used as the vehicle angle between an orientation or reference direction of the second position detection sensor and the abscissa x G of the second coordinate system 40.
  • FIG. 3 the coordinate systems 20, 40 from FIG. 2 and the vehicle 10 with its vehicle coordinate system 18 are shown again.
  • the end points of a first position vector 22, a second position vector 24 and a third position vector 26 on the vehicle 10 are without the shown vectors.
  • the end points of the position vectors 22, 24, 26 in the first coordinate system 20 may correspond to the reference points 6 in FIG. 2 and lie in the respective origins of the vehicle coordinate system 18 at the different vehicle locations.
  • the end points of a first position vector 42, a second position vector 44 and a third position vector 46 are shown on the vehicle 10 without the respective vectors.
  • the location vectors 42, 44, 46 in the first coordinate system 20 may correspond to the reference points 8 in FIG. 2 and refer to a position of a position detection sensor of the second position detection system on the vehicle 10.
  • the vehicle 10 moves on a vehicle trajectory 11 from the first vehicle location 12 to the second vehicle location 14 and then to the third vehicle location 16, wherein the vehicle 10 travels from the first vehicle location 12 to the second vehicle location 14 with a translatory and rotating movement Control point 62, which is shown as the center M1 of the rotating vehicle movement, rotates.
  • the vehicle 10 describes a rotation of approximately 180 degrees.
  • the vehicle 10 continues to travel from the second vehicle location 14 to the third vehicle location 16 with a translational and, as a result, substantially non-rotating movement between the second and third vehicle locations 14, 16, the vehicle being centered around the second control point 64, which is the center M2 of the rotating vehicle Vehicle movement with respect to the first vehicle location 12, further with respect to the first vehicle location 12 rotates.
  • the first control point 62 shown as the midpoint M1 results geometrically from a straight line intersection of a first straight line between the endpoints of the first location vector 22 and the second location vector 24 in the first coordinate system 20 and a second straight line between the endpoints of the first location vector 42 and the second location vector 44 in the second coordinate system 40.
  • the second control point 64 shown as the center M2 results geometrically from a straight line intersection of a first straight line between the end points of the first locality vector. gate 22 and the third location vector 26 in the first coordinate system 20 and a second line between the end points of the first location vector 42 and the third location vector 46 in the second coordinate system 40.
  • the transformation parameters 2, 4 can then be calculated.
  • the positioning system 80 has a component 82 of the first position detection system for detecting the position vectors 22, 24, 26 in the first coordinate system 20.
  • the positioning system 80 further comprises a component 84 of the second position detection system for detecting the position vectors 42, 44, 46 in the second coordinate system 40.
  • the component 82 of the first position sensing system may be an antenna (not shown) of a transponder antenna system and the component 84 of the second position sensing system may be an antenna (not shown) of a GNSS system.
  • the components 82, 84 are arranged at different locations on the vehicle.
  • the vehicle 10 also has a calculation unit 86 for calculating the transformation parameters 2, 4 and a control unit 90 for carrying out the method steps SO to S6.
  • the component 82 of the first position detection system is connected to the calculation unit 86 and to the controller 90 for data communication and for communicating control commands.
  • the component 84 of the second position detection system is also connected to the calculation unit 86 and to the controller 90 for data communication and for communicating control commands. Further, the calculation unit 86 is connected to the controller for these purposes.
  • Reference symbol translation vector
  • Position detection in the first coordinate system Position detection in the second coordinate system vehicle movement

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)

Abstract

Procédé, appareil de commande et système de positionnement pour la transformation d'une position d'un véhicule (10) d'un premier système de coordonnées (20) à un deuxième système de coordonnées (40), lesquels comprennent ou sont configurés pour la détermination (S1) d'au moins deux vecteurs de position (22, 24, 26) par rapport au véhicule (10) dans le premier système de coordonnées (20) au moyen d'un premier système de détermination de position à au moins deux emplacements différents du véhicule (12, 14, 16), la détermination (S2) d'au moins deux vecteurs de position (42, 44, 46) par rapport au véhicule (10) dans le deuxième système de coordonnes (40) au moyen d'un deuxième système de détermination de position aux au moins deux emplacements différents du véhicule (12, 14, 16), le calcul (S5) de paramètres de transformation entre le premier système de coordonnées (20) et le deuxième système de coordonnées (40) sur la base des au moins deux vecteurs de position (22, 24, 26) dans le premier système de coordonnées (20) et des au moins deux vecteurs de position (42, 44, 46) dans le deuxième système de coordonnées (40) et le calcul (S6) de la position du véhicule (10) dans le deuxième système de coordonnées (40) au moyen de la transformation de la position du véhicule (10) du premier système de coordonnées (20) au deuxième système de coordonnées (40) avec les paramètres de transformation calculés.
PCT/EP2019/060859 2018-05-18 2019-04-29 Procédé et système de positionnement pour la transformation d'une position d'un véhicule WO2019219356A1 (fr)

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DE102018207857.2A DE102018207857A1 (de) 2018-05-18 2018-05-18 Verfahren und Positionierungssystem zum Transformieren einer Position eines Fahrzeugs
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EP3865915A1 (fr) * 2020-02-12 2021-08-18 Elektrobit Automotive GmbH Estimation de la position dans différents systèmes de coordonnées

Citations (3)

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EP2040030A1 (fr) * 2007-09-24 2009-03-25 Leica Geosystems AG Procédé de détermination de la position
WO2015191868A1 (fr) * 2014-06-11 2015-12-17 Jamison John Paul Systèmes et procédés de formation d'éléments graphiques et/ou textuels sur terre pour une visualisation à distance
DE102016108446A1 (de) 2016-05-06 2017-11-09 Terex Mhps Gmbh System und Verfahren zur Bestimmung der Position eines Transportfahrzeugs sowie Transportfahrzeug

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US8594923B2 (en) * 2011-06-14 2013-11-26 Crown Equipment Limited Method and apparatus for sharing map data associated with automated industrial vehicles
US9727793B2 (en) * 2015-12-15 2017-08-08 Honda Motor Co., Ltd. System and method for image based vehicle localization

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
EP2040030A1 (fr) * 2007-09-24 2009-03-25 Leica Geosystems AG Procédé de détermination de la position
WO2015191868A1 (fr) * 2014-06-11 2015-12-17 Jamison John Paul Systèmes et procédés de formation d'éléments graphiques et/ou textuels sur terre pour une visualisation à distance
DE102016108446A1 (de) 2016-05-06 2017-11-09 Terex Mhps Gmbh System und Verfahren zur Bestimmung der Position eines Transportfahrzeugs sowie Transportfahrzeug

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