WO2021185492A1 - Détermination de la position d'un véhicule - Google Patents

Détermination de la position d'un véhicule Download PDF

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Publication number
WO2021185492A1
WO2021185492A1 PCT/EP2021/051241 EP2021051241W WO2021185492A1 WO 2021185492 A1 WO2021185492 A1 WO 2021185492A1 EP 2021051241 W EP2021051241 W EP 2021051241W WO 2021185492 A1 WO2021185492 A1 WO 2021185492A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
determined
estimate
probability
radio signals
Prior art date
Application number
PCT/EP2021/051241
Other languages
German (de)
English (en)
Inventor
Pascal MINNERUP
Bernd Spanfelner
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
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 Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Publication of WO2021185492A1 publication Critical patent/WO2021185492A1/fr

Links

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
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/073—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections involving a network of fixed stations
    • 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
    • G01S19/14—Receivers specially adapted for specific applications
    • 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

Definitions

  • the invention relates to determining a position of a user.
  • the invention relates to the determination of the position on the basis of a plurality of sensors, one of which comprises a receiver of a radio navigation system.
  • a vehicle comprises several sensors, each of which provides information that indicates a position of the vehicle.
  • the position of the vehicle can be determined on the basis of measured values from an acceleration sensor, one or more wheel speed sensors or a camera, the scans of which can be examined for landmarks with known positions.
  • the vehicle can include a radio signal receiver of a radio navigation system.
  • a radio navigation system usually comprises several locally distributed transmitters that transmit radio signals.
  • a receiver can calculate distances to the transmitters using the transit times of the radio signals and determine its position on the basis of known positions of the transmitters. If a transmitter is not stationary, it can transmit an indication of its position in the radio signals.
  • the position of the vehicle should be determined precisely enough to allow a statement to be made as to which of several parallel lanes of a driveway it is on.
  • the information from existing sensors should be appropriately fused with one another.
  • different possible error influences on the sensors, as well as the respective underlying heuristics for determining the position, must be taken into account.
  • a vehicle comprises at least one sensor for providing information that indicates the position, and a receiver for receiving radio signals from a radio navigation system.
  • a method for determining a position of the vehicle comprises steps of determining a first estimate of the position of the vehicle on the basis of information from the at least one sensor; determining a second estimate of the position of the vehicle based on the received radio signals; and determining a probability that the position of the vehicle is within a predetermined range about the first estimate. The probability is determined on the basis of the influences of errors in the radio signals of the radio navigation system in the area of the vehicle.
  • the sensors can determine a change in position in an improved manner, while an absolute position can be determined in an improved manner by means of the radio navigation system.
  • the proposed combination of the sensors with the radio navigation system enables the probability of correct positioning of the vehicle to be determined in an improved manner. In particular, it can be determined whether the vehicle is located within the predetermined range with a sufficiently high probability. Furthermore, it can be indicated with an increased probability whether the vehicle is located within the predetermined range or not. An incorrect determination of the position of the vehicle can thus be ruled out in an improved manner.
  • the technology described here is particularly suitable as a basis for partially or fully automatic control of the vehicle in the longitudinal and / or transverse direction.
  • the technique described herein can be used with all known radio navigation systems, for example ground-based systems such as LORAN-C or ALPHA.
  • the radio navigation system is satellite-based.
  • Such a system is also known as a global satellite-based navigation system (GNSS).
  • GNSS global satellite-based navigation system
  • Exemplary known GNSS include GPS, GALILEO, GLONASS, or Beidou.
  • the radio signals are each from
  • the error influences can be determined by means of a further receiver, the position of which is known.
  • a further receiver In combination with a GNSS, one speaks in this context of differential GNSS (DGNSS).
  • the further receiver can determine an actual distance for each transmitter whose position is known.
  • the difference to a distance determined by the further receiver on the basis of the radio signals can then be determined as an error influence, which usually includes several different partial errors that can be traced back, for example, to influences of the ionosphere, the troposphere or a multi-path reception (multipath).
  • the first estimate of the position of the vehicle based on signals from the local sensors may include signals from the receiver for the radio signals.
  • the signals from the receiver can already be corrected for the mentioned, externally determined error influences.
  • an estimate for the position of the vehicle provided by the receiver can already be included in the first estimate.
  • the influences of errors in the area of the vehicle can be determined on the basis of influences of errors that are determined by means of several locally distributed additional receivers, which are preferably located in close proximity to the vehicle.
  • a location-dependent change in the influence of errors can be determined.
  • a network of additional receivers can be used to determine a positioning accuracy for a position in the area of the additional receivers.
  • a distribution of the density of the probability can be determined, which can reflect a local distribution of the probability with which the vehicle is located within the predetermined area.
  • the probability density distribution can be determined with respect to one or two horizontal dimensions. For a lane-accurate localization of a vehicle, a position in the transverse direction is usually most relevant, so that a one-dimensional determination of the probability can be sufficient. A position in
  • the corresponding probability can be based on independently can be determined the same way. Alternatively, the probability with regard to both dimensions can be determined in just one step.
  • the probability can in particular be determined by integrating the determined probability density distribution over the predetermined range.
  • One or two one-dimensional integrals can be determined, which can optionally be multiplied with one another in order to determine the probability with regard to the area.
  • a two-dimensional integral can be determined, which can directly result in the probability to be determined.
  • the predetermined area can have a predetermined width and / or a predetermined length with respect to the vehicle.
  • the length is preferably defined along a longitudinal axis or a direction of movement of the vehicle, and the width is perpendicular to the length, in a horizontal direction.
  • the area can also comprise a vertical component.
  • a further one-dimensional integral can be determined, or a multidimensional integral of which the vertical component forms one dimension.
  • a three-dimensional integral can be formed.
  • a device for determining a position of a vehicle comprises at least one sensor for providing information indicating the position; a receiver for receiving radio signals from a radio navigation system; and a processing device.
  • the processing device is set up to determine a first estimate of the position of the vehicle on the basis of information from the at least one sensor; determine a second estimate of the position of the vehicle based on the received radio signals; and determine a probability that the position of the vehicle is within a predetermined range of the first estimate. The probability is determined on the basis of the influences of errors in the radio signals of the radio navigation system in the area of the vehicle.
  • the processing device can be set up to carry out a method described herein in whole or in part.
  • the Processing device comprise a programmable microcomputer or microcontroller and the method can be in the form of a computer program product with program code means.
  • the computer program product can also be stored on a computer-readable data carrier. Additional features or advantages of the method can be transferred to the device or vice versa.
  • a vehicle in particular a motor vehicle, comprises a device described herein.
  • the vehicle can determine its position with improved accuracy and / or reduced probability of errors.
  • the vehicle can be controlled in the longitudinal and / or transverse direction as a function of the specific position.
  • a system comprises several locally distributed receivers for receiving radio signals from a radio navigation system, the positions of the receivers being known in each case; and a processing device.
  • the processing device is set up to determine, on the basis of received radio signals and the positions of the respective receivers, error influences in the radio signals of the radio navigation system in the area of the receivers; and to determine, with respect to a first and a second estimate of the position in the area of the receivers, a probability with which a user is located within a predetermined area around the first estimate of the position.
  • the first estimate of the position is determined on the basis of at least one local sensor of the user, and the second estimate of the position is determined on the basis of received radio signals from the further receiver of the user.
  • Figure 1 shows a system and a vehicle
  • FIG. 2 an exemplary positioning of a user; and FIG. 3 illustrates a flow chart of a method.
  • FIG. 1 shows a system 100, a radio navigation system 105 and a vehicle 110 with a device 115.
  • the radio navigation system 105 is, for example, satellite-based and comprises a number of transmitters 120, which in the present case are installed on board satellites. Each transmitter 120 can transmit radio signals that travel at approximately the speed of light.
  • a receiver 125 can receive the radio signals and determine a distance from the transmitter 120 on the basis of a transit time of the signals. This requires knowledge of the position of the transmitter 120 at the time of transmission.
  • the radio signal can include an indication of this position.
  • a description of the satellite orbit can be transmitted from which the position of the satellite can be determined as a function of the time of reception.
  • the system 100 comprises at least one receiver 125, the geographical position of which is known at the time of the transmission of radio signals.
  • a processing device 130 is provided, which can be connected to a wireless communication device 135.
  • the processing device can be connected to a plurality of receivers 125, which are preferably distributed within a predetermined area.
  • Each receiver 125 can determine the distance to a transmitter 120 on the basis of the known positions and additionally on the basis of the radio signals. A difference between these distances can be determined as an error influence on the signal of the corresponding transmitter 120 at the position of the receiver 125.
  • a location-dependent distribution of error influences on the signal can be determined via a plurality of receivers 125. Such a determination can be made with respect to all receivable signals from transmitters 120.
  • the device 115 on board the vehicle 110 comprises a further receiver 125 for signals from the transmitters 120 of the radio navigation system 105.
  • a position of the receiver 125 or of the vehicle 110 determined on the basis of received radio signals is initially subject to unknown error influences. These can be largely eliminated in that they are determined by means of the system 100 and transmitted to the vehicle 110.
  • the position of the vehicle 110 can, however, also be determined on the basis of information from other sensors 140 which are provided on board the vehicle 110.
  • Example sensors 140 include a speed sensor for a wheel of vehicle 110; a steering angle sensor, an inertial system and an environment camera.
  • a first estimate of the position for the vehicle 110 can be created using the sensors 140, and a second estimate of the position can be created using the receiver 125.
  • the information from the sensors 140 allows, in particular, a relative positioning, that is to say the determination of the change in the position of the vehicle 110.
  • a relative positioning that is to say the determination of the change in the position of the vehicle 110.
  • an absolute positioning that is to say the determination of a geographical position of the vehicle 110, is preferably possible.
  • Information on board the vehicle 110 can be processed by means of a processing device 145.
  • Communication device 135 is preferably provided for wireless communication with system 100.
  • FIG. 2 shows an exemplary positioning of a user according to a technique presented here.
  • the illustration in FIG. 2 is based, by way of example, on axles of a vehicle 110; the x-direction corresponds to a longitudinal direction and the y-direction corresponds to a transverse direction of the vehicle 110.
  • a first estimate 205 for the position of the vehicle 110 is based on information from local sensors 140, while a second estimate 210 is determined on the basis of the receiver 125.
  • the vehicle 110 is within a predetermined range 215 determined with respect to the first estimate 205.
  • the area 215 is rectangular and specified with sides lying parallel to the longitudinal and transverse directions. In the longitudinal direction, the predetermined area 215 can measure approximately 16 m, for example, and in the transverse direction approximately 4 m.
  • the first estimate 205 forms a center point of the predetermined area 215.
  • the accuracy of the second estimate 210 can be determined on the basis of the specific error influences on the signals of the transmitters 120. In particular, it can be determined with what probability the actual position of the vehicle 110 lies within a predetermined range around the second estimate 210. Different probabilities can be specified for such areas of different sizes.
  • a somewhat smaller first area 220 and a somewhat larger area 225 are shown here. The likelihood that the position of the receiver 125 is within the larger area 225 is greater than that it is within the smaller area 220.
  • the larger area 225 is similar in size to the predetermined area 215, the probability associated with the larger area 225 cannot be used to determine the position of the vehicle 110 on the basis of the estimates 205 and 210, since the larger area 225 is partially outside the predetermined range 215 lies.
  • the smaller area 220 is significantly smaller than the predetermined area 220.
  • location-dependent probability density functions 230 which, for a second estimate 210, indicate the probability with which a specific position is correct. If a probability density function 230 is integrated over the boundaries of the predetermined area 215 in the corresponding direction, a number is obtained which represents the area 235 enclosed under the density function 230. By definition, the number lies between 0 and 1 and represents the probability with which the actual position of the vehicle 110 is located within the predetermined range 215 around the first estimate 205.
  • the probability distribution can be composed of several estimates for different errors, for example as
  • a first estimate can indicate that the position of the vehicle due to a specific error in the position determination by means of the receiver 125 cannot deviate from the GNSS estimate by more than 3 m in the longitudinal direction with a probability of 99%. This statement does not concern a point, but an area, so that the probability distribution cannot simply be integrated into a point.
  • a second exemplary estimate could specify that the deviation of the position in the longitudinal direction for a second GNSS error is between ⁇ 1 m and +2 m with a 98% probability.
  • the probability distribution can be determined as the sum of individual errors, each of which can make statements about an area or a point.
  • the individual estimates can then be integrated over the limits of the predetermined range 215, and the individual integrals can then be summed.
  • FIG. 3 shows a flow chart of a method 300 for determining a position of a vehicle 110.
  • sensors 140 can be scanned in order to obtain information that indicates a position of the vehicle 110.
  • a first estimate 205 for the position of the vehicle 110 can be determined.
  • a second estimate 210 for the position of the vehicle 110 can be determined on the basis of signals which were transmitted by means of the receiver 125 from transmitters 120 of the radio navigation system 100.
  • the predetermined area 215 can be around the first Estimate 205 can be determined.
  • the predetermined area 215 can also be referred to as a bounding box.
  • the area 215 and the estimates 205 and 210 can be transmitted from the vehicle 110 to the system 100, where in a step 325 the
  • a location-dependent probability density function 230 can be determined, which can be integrated with regard to the boundaries of the predetermined area 215.
  • the probability density function 230 can also be transmitted to the vehicle 110 so that the probability can be determined there.
  • the probability can be determined with which the actual position lies outside the predetermined range 215. If this probability is more than a predetermined threshold value, a signal can be output which indicates that a position determined on the basis of the estimates 205 and 210 is unreliable. In this case, for example, control of the vehicle 110 on the basis of the determined position can be ended.

Abstract

L'invention concerne un véhicule comprenant au moins un capteur pour fournir des informations relatives à la position, et un récepteur pour recevoir des signaux radio d'un système de radionavigation. Un procédé de détermination d'une position du véhicule comprend les étapes suivantes : la détermination d'une première estimation de la position du véhicule sur la base des informations dudit au moins un capteur ; la détermination d'une seconde estimation de la position du véhicule sur la base des signaux radio reçus ; et la détermination d'une probabilité que la position du véhicule se trouve dans une zone prédéterminée autour de la première estimation. La probabilité est déterminée sur la base des interférences d'erreur dans les signaux radio du système de radionavigation dans la zone du véhicule.
PCT/EP2021/051241 2020-03-19 2021-01-21 Détermination de la position d'un véhicule WO2021185492A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020107542.1 2020-03-19
DE102020107542.1A DE102020107542A1 (de) 2020-03-19 2020-03-19 Bestimmen einer Position eines Fahrzeugs

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WO2021185492A1 true WO2021185492A1 (fr) 2021-09-23

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PCT/EP2021/051241 WO2021185492A1 (fr) 2020-03-19 2021-01-21 Détermination de la position d'un véhicule

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WO (1) WO2021185492A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022110431A1 (de) 2022-04-28 2023-11-02 Bayerische Motoren Werke Aktiengesellschaft Steuerung eines Fahrzeugs

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014209628A1 (de) * 2014-05-21 2015-11-26 Continental Teves Ag & Co. Ohg Assistenzvorrichtung und Assistenzverfahren zur Routenführung eines Fahrzeugs
US20190339396A1 (en) * 2016-12-30 2019-11-07 U-Blox Ag Gnss receiver protection levels

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9562778B2 (en) 2011-06-03 2017-02-07 Robert Bosch Gmbh Combined radar and GPS localization system
US9971352B1 (en) 2016-11-17 2018-05-15 GM Global Technology Operations LLC Automated co-pilot control for autonomous vehicles

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014209628A1 (de) * 2014-05-21 2015-11-26 Continental Teves Ag & Co. Ohg Assistenzvorrichtung und Assistenzverfahren zur Routenführung eines Fahrzeugs
US20190339396A1 (en) * 2016-12-30 2019-11-07 U-Blox Ag Gnss receiver protection levels

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