WO2022058509A1 - System having a plurality of mobile units - Google Patents
System having a plurality of mobile units Download PDFInfo
- Publication number
- WO2022058509A1 WO2022058509A1 PCT/EP2021/075634 EP2021075634W WO2022058509A1 WO 2022058509 A1 WO2022058509 A1 WO 2022058509A1 EP 2021075634 W EP2021075634 W EP 2021075634W WO 2022058509 A1 WO2022058509 A1 WO 2022058509A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- unit
- mobile unit
- mobile
- units
- transmitter
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 2
- 230000036962 time dependent Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract 1
- 238000004590 computer program Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- VJYFKVYYMZPMAB-UHFFFAOYSA-N ethoprophos Chemical group CCCSP(=O)(OCC)SCCC VJYFKVYYMZPMAB-UHFFFAOYSA-N 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
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
- 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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0072—Transmission between mobile stations, e.g. anti-collision 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
- 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
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
- G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
-
- 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
- G01S5/0284—Relative positioning
-
- 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
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
-
- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
Definitions
- the present invention relates to a system (arrangement) with a plurality of mobile units comprising at least a first mobile unit and a second mobile unit, the respective mobile unit having a number of transmitting/receiving units for transmitting and/or receiving electromagnetic signals.
- a system with a plurality N of mobile units comprising at least a first mobile unit and a second mobile unit, the respective mobile unit having a number of transmitting/receiving units for transmitting and/or receiving electromagnetic signals, with N > 2.
- the first mobile unit has at least one transmitter/receiver unit which is arranged and set up to receive electromagnetic signals from at least one of the transmitter/receiver units of the second mobile unit and send electromagnetic signals to at least one of the transmitter/receiver units of the second mobile unit, a determination unit which is set up to determine a propagation time and/or an angle of incidence between the at least one transmitting/receiving unit of the first mobile unit and the at least one transmitting/ receiving unit of the second mobile unit to determine the electromagnetic signals transmitted, a determination unit, which is set up to determine a position of the second mobile unit using the determined propagation time and/or the determined angle of incidence, a memory unit, which is set up to store a number of determined to store positions of the second mobile unit, and a setting unit, which is set up to set an own position of the first mobile unit using the stored number of determined positions of the second mobile unit.
- the distance or distance between the mobile units can be calculated from the transit time determined.
- the angle of incidence can also be referred to as the signal angle of incidence.
- the angle of arrival can be determined based on phase differences of the transmitted electromagnetic signals.
- the first mobile unit can determine the position of the other mobile unit, e.g. H. the second mobile unit, by means of the transmitted electromagnetic signals or radio signals.
- the transmitted radio signals are, in particular, broadband radio signals, preferably ultra-broadband radio signals.
- the ultra wideband radio signals can also be referred to as UWB signals (UWB, ultra wideband).
- the respective transmission/reception unit can also be referred to as a UWB unit or UWB module.
- the storage unit stores at least one determined position of the second mobile unit.
- the number of determined positions of the second mobile unit, which the storage unit stores, is therefore greater than or equal to one.
- the respective mobile unit has a number M of transmitter/receiver units in its front area and a number M of transmitter/receiver units in its rear area, with M>1 a plurality M of transmitter/receiver units in its front area and a plurality M of transmitter/receiver units in its rear area, with M > 2.
- the mobile unit is embodied as a vehicle, in particular as a land vehicle, as an aircraft or as a watercraft, as a robot or a robotic platform, or as a drone or as a portable electronic device for an emergency responder.
- the portable electronic device can be arranged or integrated in a vest adapter.
- the respective transmitting/receiving unit is set up to transmit and/or transmit radio signals as the electromagnetic signals.
- the radio signals are in particular broadband radio signals, preferably in a frequency range between 1 GHz and 20 GHz, particularly preferably in a frequency range between 3.5 GHz and 6.5 GHz.
- the respective mobile unit can additionally have a number of optical sensors.
- the optical sensors can form an additional means for relative position determination and direction finding.
- the optical sensors can include, for example, radar, infrared cameras, day vision cameras or thermal imaging cameras.
- the respective mobile unit can also use a number of ultrasonic sensors for relative position determination.
- an active or passive marker such as a light source or a modulated light source, is attached to the other mobile unit or the other mobile units for this purpose.
- the marker can be designed as a reflector.
- the use of different technologies secures communication between the mobile units.
- the memory unit is suitable for providing the various time-dependent positions of the second mobile unit with a respective time stamp and storing them in a position table.
- the setting unit is set up to set a course, a speed and/or a course, a speed and/or set a distance of the first mobile unit, in particular to regulate.
- the course of the first mobile unit can be calculated as a function of a specific course of the second mobile unit.
- the course of the first mobile unit and the course of the second mobile unit can correspond to one another, in particular with a certain latency period. The same applies to the speeds of the first mobile unit and the second mobile unit.
- the distance of the first mobile unit is set or regulated in particular relative to the second mobile unit.
- the adjustment unit is set up to determine a trajectory as a function of the stored number of determined positions of the second mobile unit for adjusting the own position of the first mobile unit, in particular for continuously adjusting the own position of the first mobile unit.
- the respective mobile unit comprises a drive unit for driving, in particular for semi-autonomous driving or for autonomous driving of the mobile unit.
- the adjustment unit is set up to control the drive unit for driving along the specific trajectory.
- the drive unit can, for example, be a motor, a gearbox and drive means, such as tires or chains, and a controller for controlling the same.
- the first mobile unit can also record the trajectories of a plurality of other mobile units and then follow or also avoid any of these recorded trajectories.
- distance regulations, course/speed changes, transfers and/or evasion can be carried out.
- the N mobile units of the system are set up to form a moving column of mobile units by means of the trajectories determined for the mobile units.
- the N mobile units of the system are set up to form a moving swarm of mobile units using the trajectories determined for the mobile units.
- the determination unit is set up to determine propagation time differences and/or phase differences of the electromagnetic signals transmitted between the at least one transmitting/receiving unit of the first mobile unit and the at least one transmitting/receiving unit of the second mobile unit. In this case, the determination unit is set up to determine the position of the second mobile unit using the determined transit time differences and/or the determined phase differences.
- the at least one transmitter/receiver unit of the first mobile unit is set up to transmit a data to send an electromagnetic signal to the at least one transmitter/receiver unit of the second mobile unit.
- the data include an identification of the first mobile unit, a time stamp, the own position of the first mobile unit and/or the determined position of the second mobile unit.
- the determination unit is set up to determine the position of the second mobile unit using the determined propagation time and/or the determined angle of incidence and to verify or correct it using further position data.
- the setting unit is set up to determine an absolute position of the first mobile unit using the stored number of determined positions of the second mobile unit and/or using additional position data.
- the further position data are determined by means of at least one global satellite navigation system, by means of at least one inertial measuring unit, by means of a transit time/phase difference measurement of signals transmitted by at least one external source (e.g. HF signals, light signals, ultrasonic signals), by means of signals from a reference, in particular a transmission mast, and/or by means of an optical spatially differentiated observation of at least one emitter of an external source.
- at least one external source e.g. HF signals, light signals, ultrasonic signals
- the determination unit is set up to determine the propagation time and at the same time the angle of incidence of the electromagnetic signals transmitted between the at least one transmitter/receiver unit of the first mobile unit and the at least one transmitter/receiver unit of the second mobile unit.
- the determination unit is set up to determine propagation time differences and simultaneous phase differences of the electromagnetic signals transmitted between the at least one transmitter/receiver unit of the first mobile unit and the at least one transmitter/receiver unit of the second mobile unit, with the determination unit being set up to determine the position of the to determine the second mobile unit by means of the runtime differences determined and the phase differences determined.
- TWR two way ranging
- TDoA time difference of arrival
- PDoA phase difference of arrival
- the mobile unit has a plurality M of transmitter/receiver units in its front area and a plurality M of transmitter/receiver units in its rear area, with M > 2, each of the transmitter/receiver units of the first mobile unit preferably sending signals with each of the Exchanges the sending/receiving units of the second mobile unit. They are therefore set up for cross-localization, i.e. for determining the distance and/or angle of a respective transmitter/receiver unit of the first mobile unit from a respective transmitter/receiver unit of a second mobile unit.
- the mobile unit has a plurality M of transmitter/receiver units in its front area and a plurality M of transmitter/receiver units in its rear area, with M > 2, each of which has at least two independent antenna and/or signal processing units that are used for a simultaneous Measurement of transit time and phase differences are set up.
- the respective unit for example the determination unit, the determination unit or the setting unit, can be implemented in terms of hardware and/or software.
- the unit can be designed as a device or as part of a device, for example as a computer or as a microprocessor.
- the unit can be embodied as a computer program product, as a function, as a routine, as part of a program code or as an executable object.
- a computer program product such as a computer program tool
- a server in a network, for example, as a storage medium such as a memory card, USB stick, CD-ROM, DVD, or in the form of a downloadable file. This can be done, for example, in a wireless communication network by transferring a corresponding file with the computer program product or the computer program means.
- a method for operating a system with a plurality N of mobile units comprising at least a first mobile unit and a second mobile unit, the respective mobile unit having a number of transmitting/receiving units for transmitting and/or receiving electromagnetic signals .
- the method includes the following steps, which are preferably carried out by the first mobile unit: In a first step, electromagnetic signals are transmitted between at least one of the transmitting/receiving units of the first mobile unit and at least one of the transmitting/receiving units of the second mobile unit.
- a propagation time and/or an angle of incidence of the transmitted electromagnetic signals are determined at the first mobile unit.
- a position of the second mobile unit is determined using the determined propagation time and/or the determined angle of incidence.
- a number of determined positions of the second mobile unit are stored on the first mobile unit.
- the first mobile unit's own position is set using the stored number of determined positions of the second mobile unit.
- Fig. 1 shows a schematic image of a first embodiment of a system with a plurality of mobile units!
- Figure 2 shows a schematic image of an example of data transmitted between two mobile units!
- Fig. 3 shows a schematic image of a second embodiment of a system with a plurality of mobile units!
- FIG. 4 shows a schematic image of a third exemplary embodiment of a system with a plurality of mobile units.
- Fig. 1 shows a schematic image of a first exemplary embodiment of a system 1 with a plurality N of mobile units 10, 20.
- the respective mobile unit 10, 20 can also be designed as a portable electronic device for an emergency worker.
- the mobile units 10, 20 can be constructed in the same way, which applies to the exemplary embodiment in FIG.
- the respective transmitter/receiver unit 11 is set up to send and/or transmit radio signals as the electromagnetic signals.
- the radio signals are in particular broadband, preferably in a frequency range between 1 GHz and 20 GHz, particularly preferably in a frequency range between 3.5 GHz and 6.5 GHz.
- the transmission/reception units 11 can also be referred to as UWB units or UWB modules (UWB; Ultra Wideband).
- the mobile unit 10 comprises a determination unit 12, a determination unit 13, a storage unit 14 and a setting unit 15.
- the second mobile unit 20 of FIG. 1 which is correspondingly identical in construction, also comprises six transceiver units 21, three of which are arranged in the front area and three in the rear area. Furthermore, the second mobile unit 20 also has a determination unit 22, a determination unit 23, a storage unit 24 and a setting unit 25.
- the transmitter/receiver units 11 arranged in the rear area of the first mobile unit 10 are arranged and aligned in such a way that signals can be exchanged with the transmitter/receiver units 21 of the second mobile unit arranged in the front area of the second mobile unit 20 .
- the three transmitting/receiving units 11 are arranged and set up in the rear area of the first mobile unit 10 in such a way that electromagnetic signals from the devices in the front area of the second mobile unit 20 are assigned transmitter/receiver units 21 and to send electromagnetic signals to these transmitter/receiver units 21 arranged in the front area of the second mobile unit 20 .
- each of the transmitter/receiver units 11 of the first mobile unit 10 can exchange signals with each of the transmitter/receiver units 21 of the second mobile unit 20 .
- the determination unit 12 is set up to determine a propagation time L, indicated by the signal paths in Fig. 1, and/or an angle of incidence W between the transmitter/receiver units 11 of the rear area of the first mobile unit 10 and the transmitter/receiver units 21 of the front area of the second mobile Unit 20 to determine transmitted electromagnetic signals.
- the determination unit 13 is then set up to determine a position P2 of the second mobile unit 20 using the determined propagation time L and/or the determined angle of incidence W.
- the determination unit 13 of the first mobile unit 10 thus determines the position P2 of the other, here the second mobile unit 20.
- the determination unit 12 is preferably set up to determine propagation time differences and/or phase differences of the electromagnetic signals transmitted between the transmission/reception units 11 of the first mobile unit 10 and the transmission/reception units 21 of the second mobile unit 20 . Then the determination unit 13 can determine the position P2 of the second mobile unit 20 by means of the determined propagation time differences and/or the determined phase differences.
- the storage unit 14 of the first mobile unit 10 is set up to store a number, in particular a plurality, of determined positions P2 of the second mobile unit 20 .
- the storage unit 14 stores determined positions P2 with a respectively assigned current time stamp in order to be able to form a chronological sequence of determined positions P2 of the second mobile unit 20 .
- the mobile unit 10 is relatively ven localization and bearing relative to the second mobile unit 20 suitable.
- the setting unit 15 is set up to set an own position PI of the first mobile unit 10 using the stored number of determined positions P2 of the second mobile unit 20 .
- the setting unit 15 can control a drive unit (not shown) of the first mobile unit 10 accordingly in order to set the own position PI of the first mobile unit 10 .
- the setting unit 15 is set up in particular to set a course, a speed and/or a distance from the first mobile unit 10, in particular from the second mobile unit 20, for setting, in particular for continuous setting, the own position PI of the first mobile unit 10. to regulate in particular.
- the adjustment unit 15 can also, additionally or alternatively, determine a trajectory depending on the stored number of determined positions P2 of the second mobile unit 20 .
- the setting unit 15 can also control the drive unit accordingly for driving along the specific trajectory.
- the setting unit 15 can be set up to determine the own position PI as an absolute own position using the stored number of determined position data P2 of the second mobile unit 20 and using further position data PD.
- the further position data PD can be obtained, for example, by means of at least one global navigation satellite system (GNSS, Global Navigation Satellite System), by means of at least one inertial measurement unit (IMU unit), by means of a propagation time/phase difference measurement of ultrasonic signals transmitted by at least one external source, of signals a reference, for example a transmission mast 70 (see FIG. 3), and/or with be provided by means of an optical spatially differentiating observation of at least one light emitter of an external source.
- GNSS global navigation satellite system
- IMU unit inertial measurement unit
- the sending/receiving units 11 can be set up to exchange data D using the electromagnetic signals.
- the data D can be modulated onto the electromagnetic signals.
- 2 shows a schematic image of an example of data D transmitted between two mobile units 10, 20.
- the data D can also include correction data or the received further position data PD (not shown).
- FIGS. 3 and 4 Examples of specific movement patterns of a plurality of mobile units are shown in FIGS. 3 and 4.
- the mobile units 10-60 of FIGS. 3 and 3 correspond in particular to the mobile units 10, 20 of FIG. 1 and are shown reduced for reasons of clarity.
- 3 shows a system 1 with six mobile units 10-60, which together form a column K (or a convoy).
- the mobile units 10-60 of the system 1 according to FIG. 3 form a column K such that the first mobile unit 10 is the leading unit and thus specifies the course or trajectory for the other mobile units.
- the second mobile unit 20 follows the first mobile unit 10 by means of the electromagnetic signals exchanged between the first mobile unit 10 and the second mobile unit 20.
- the mobile units 10-50 of the system 1 shown in FIG. 4 form a moving swarm S of mobile units.
- the information for setting the distances and the relative positions, in particular the distances and the angles of the mobile units 10-50 among one another, can be transmitted from an external management system to the mobile units 10-50.
- the first mobile unit 10 can form the guidance system and the corresponding further mobile units 20 - 50 can follow the specifications of the first mobile unit 10 or the relative positions of the first mobile unit 10 .
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mobile Radio Communication Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112021004850.3T DE112021004850A5 (en) | 2020-09-17 | 2021-09-17 | System with a plurality of mobile units |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020124248.4A DE102020124248A1 (en) | 2020-09-17 | 2020-09-17 | System with a plurality of mobile units |
DE102020124248.4 | 2020-09-17 |
Publications (1)
Publication Number | Publication Date |
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WO2022058509A1 true WO2022058509A1 (en) | 2022-03-24 |
Family
ID=77951692
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/EP2021/075634 WO2022058509A1 (en) | 2020-09-17 | 2021-09-17 | System having a plurality of mobile units |
Country Status (2)
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DE (2) | DE102020124248A1 (en) |
WO (1) | WO2022058509A1 (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008026686A1 (en) | 2008-06-04 | 2009-12-10 | Andreas Glindemann | Method for simultaneously controlling acceleration of group of motor vehicles i.e. lorries, involves determining distances between motor vehicles and controlling acceleration of each motor vehicle |
WO2017030627A2 (en) * | 2015-06-02 | 2017-02-23 | 5D Robotics, Inc. | Mobile ultra wide band constellations |
WO2018144196A1 (en) * | 2017-01-31 | 2018-08-09 | Qualcomm Incorporated | System and method for ranging-assisted positioning of vehicles in vehicle-to-vehicle communications |
EP3567400A1 (en) * | 2018-05-09 | 2019-11-13 | BaiJieTeng Technology Corporation | Method and system for vehicle-to-vehicle identification and detection |
KR20190134974A (en) * | 2018-05-04 | 2019-12-05 | 엘지전자 주식회사 | A plurality of autonomous mobile robots and a controlling method for the same |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070032245A1 (en) | 2005-08-05 | 2007-02-08 | Alapuranen Pertti O | Intelligent transportation system and method |
US10534068B2 (en) | 2018-12-27 | 2020-01-14 | Intel Corporation | Localization system, vehicle control system, and methods thereof |
-
2020
- 2020-09-17 DE DE102020124248.4A patent/DE102020124248A1/en not_active Withdrawn
-
2021
- 2021-09-17 DE DE112021004850.3T patent/DE112021004850A5/en active Pending
- 2021-09-17 WO PCT/EP2021/075634 patent/WO2022058509A1/en active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008026686A1 (en) | 2008-06-04 | 2009-12-10 | Andreas Glindemann | Method for simultaneously controlling acceleration of group of motor vehicles i.e. lorries, involves determining distances between motor vehicles and controlling acceleration of each motor vehicle |
WO2017030627A2 (en) * | 2015-06-02 | 2017-02-23 | 5D Robotics, Inc. | Mobile ultra wide band constellations |
WO2018144196A1 (en) * | 2017-01-31 | 2018-08-09 | Qualcomm Incorporated | System and method for ranging-assisted positioning of vehicles in vehicle-to-vehicle communications |
KR20190134974A (en) * | 2018-05-04 | 2019-12-05 | 엘지전자 주식회사 | A plurality of autonomous mobile robots and a controlling method for the same |
EP3567400A1 (en) * | 2018-05-09 | 2019-11-13 | BaiJieTeng Technology Corporation | Method and system for vehicle-to-vehicle identification and detection |
Also Published As
Publication number | Publication date |
---|---|
DE102020124248A1 (en) | 2022-03-17 |
DE112021004850A5 (en) | 2023-11-02 |
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