Method, control device and vehicle system for securing communication between first and second vehicles

Abstract

The invention relates to a method for securing communication between a first vehicle 3 and a second vehicle 4, wherein the first vehicle 3 has a first communication device and the second vehicle 4 has a second communication device, wherein the first vehicle 3 forms a leading vehicle and the second vehicle 4 forms a following vehicle, wherein data is exchanged between the first communication device and the second communication device via a wireless communication connection, wherein the communication connection has a transmission quality, wherein a future transmission quality is estimated and / or determined for the communication connection, wherein countermeasures are carried out for increasing the transmission quality in the event that the future transmission quality is below a minimum transmission quality. The invention also relates to a control device, a communication arrangement and a vehicle arrangement.

Description

Technical Field

[0001] The subject of this invention is a method for ensuring communication between a first and a second vehicle. Background Technology

[0002] Vehicle-to-vehicle (V2V) and / or vehicle-to-infrastructure (V2I) communication finds wide-ranging applications. Communication between vehicles is particularly crucial in convoys where multiple vehicles follow a lead vehicle. Importantly, this communication and / or connection must have low latency and be robust. For example, interruptions in communication and / or connection can lead to rear-end collisions and / or breakdowns within the convoy.

[0003] The closest existing technology that may be found is document DE112016001612T5, which relates to an apparatus and method for managing vehicle communications. In this apparatus, the device is configured to receive data from multiple communication systems, wherein the data is labeled with information that assigns the data to a data source to determine the priority of the multiple communication systems based on quality analysis. Summary of the Invention

[0004] A method for ensuring communication between a first vehicle and a second vehicle is proposed. A control device, a communication arrangement, and a vehicle system are also proposed. Preferred and / or advantageous embodiments are described below.

[0005] A method is proposed for securing communication between a first and a second vehicle. This method specifically constructs a communication mechanism for securing V2V and / or V2I communication. "Securing" is understood, for example, as maintaining the stability and / or guarantee of communication, such as ensuring the quality, stability, or reliability of the communication. The communication is particularly for wireless communication between the first and second vehicles to exchange data in one or both directions. Specifically, the first and second vehicles are constructed of the same type, such that, for example, the first vehicle can also form the second vehicle. In particular, this method can construct communication between multiple vehicles (e.g., first, second, third, and / or other vehicles). The first vehicle, the second vehicle, and (if necessary) other vehicles preferably form a vehicle platoon and / or vehicle combination.

[0006] The first vehicle has a first communication device, and the second vehicle has a second communication device. Specifically, the first and second communication devices can be constructed identically. The communication devices are preferably configured for transmitting and / or receiving data (especially for communication). For example, the communication device can be a radio device, an optical transmitting and / or receiving device.

[0007] Specifically, the first vehicle is referred to as and / or understood as the lead vehicle, while the second vehicle is referred to as and / or understood as the follower vehicle. In particular, the lead vehicle and the follower vehicle are part of a convoy and / or form part of it. The follower vehicle is specifically configured to follow the lead vehicle (e.g., at a distance). Vehicles may be configured, for example, as passenger cars, trucks, and / or agricultural vehicles, forestry vehicles, and / or construction vehicles.

[0008] Data is exchanged between the first and second communication devices via a wireless communication connection. This data exchange is particularly a communication component and / or constitutes communication. The wireless communication connection includes and / or forms, for example, a radio connection, a Bluetooth connection, an optical connection in the visible or infrared range, and / or other wireless connections. The wireless communication connection is specifically configured for data technology coupling between the first and second communication devices. In particular, the exchange occurs in two directions (i.e., from the first communication device to the second communication device and from the second communication device to the first communication device). Alternatively, unilateral data exchange can be configured via the communication connection, for example, from the first communication device to the second communication device.

[0009] Communication connections have transmission quality and / or can be characterized by means of transmission quality. For example, transmission quality includes and / or forms signal strength, transmission speed (e.g., kilobits per second), and interference components (e.g., how much fault and / or interference is attached to the communication connection). Transmission quality depends in particular on the first communication device, the second communication device, environmental parameters (e.g., humidity), or on the electromagnetic radiation field, and / or on the geometry of the devices, modules, and / or vehicles involved in the method.

[0010] This involves estimating, determining, and / or extrapolating future transmission quality for communication connections. Future transmission quality is understood, for example, as the transmission quality of the communication connection shifted forward by a time interval Δt relative to the current point in time, where preferably Δt is greater than or equal to milliseconds, and particularly greater than or equal to one second. Determining future transmission quality is applicable, for example, to estimating future changes in transmission quality, such as whether the transmission quality will decrease, remain unchanged, or improve in the future. For instance, future transmission quality can be determined based on estimates of the impact of interference on the communication connection.

[0011] To ensure communication, especially to avoid and / or reduce the interruption, disconnection, or loss of information between the first and second vehicles, it is checked whether the estimated, determined, and / or sought future transmission quality of the communication connection meets and / or exceeds the minimum transmission quality. The minimum transmission quality is, for example, a transmission quality that must exist to allow secure, complete, and / or correct data transmission between the first and second vehicles. The minimum transmission quality can be constructed, in particular, digitally with values ​​of 1 and 0, such as communication connection functioning normally (intakt) and communication connection interrupted. If the future transmission quality does not meet the minimum transmission quality, one or more countermeasures are taken to improve, enhance, and / or guarantee the quality of the communication connection. Countermeasures include, for example, increasing the communication connection and / or the transmission quality of the communication connection by reducing interference with the communication connection, increasing the power of the communication device, and / or other physical and / or mechanical countermeasures.

[0012] This invention is based on the consideration that, in order to ensure, and especially to guarantee, a secure, persistent, and stable communication connection between vehicles, future transmission quality can be used for timely responses and for proactively maintaining the communication connection. Until now, for example, only the minimum quality of the currently existing communication connection has been determined, so that measures can only be taken when the communication connection is actually terminated and / or falls below that quality. By proactively seeking and pre-planning future transmission quality, vehicle communication with improved security and more robust data transmission can be achieved.

[0013] Particularly preferred is to estimate, determine, and / or extrapolate future transmission quality based on road alignment, route planning, the relative positions of the first and second vehicles and / or between the first and second vehicles, vehicle geometry, and / or transmission parameters from the communication devices and / or communication connections. For example, the determination of future transmission quality is based on the planned route, the alignment of the road ahead of the vehicles, and / or the topology of the surrounding environment. For example, road alignment, vehicle routes, and / or topology have a particularly significant impact on the transmission quality of wireless connections when driving on curves and / or uphill and / or downhill, for example, due to interference, shielding, and / or weakening of communication connections by vehicle components. Furthermore, it can be configured to determine future transmission quality based on the relative positions between the first and second vehicles (e.g., lateral offset between vehicles) and / or vehicle geometry, where vehicle geometry includes, for example, the arrangement, position, and / or pose of the communication devices within the vehicles. Transmission parameters of the first and / or second communication devices can also be considered in determining future transmission quality, such as the orientation of the communication devices (e.g., transmitters and / or receivers), communication parameters such as frequency, wavelength, and / or transmission protocol parameters. Future transmission quality can also be determined based on simulations, weather data, and / or data from interference sources.

[0014] Particularly preferred is to estimate, determine, and / or extrapolate future transmission quality based on line-of-sight checks between the first and second vehicles, particularly between the first and second communication devices. For example, this involves considering the connections between the first and second vehicles and / or particularly between the first and second communication devices, especially straight lines and / or geodesics. The inspection is identified as a line-of-sight inspection. For example, line-of-sight inspections are used to estimate and / or determine future transmission quality. This is based on the consideration that for completely free lines and connections, especially in the absence of obstacles and / or attenuation, better transmission quality can be considered than when vehicle components, external obstacles, and / or sources of interference are within the line of sight, thus enabling improved communication. In particular, for example, it is considered that the transmission quality for shorter lines of sight is higher than that for longer lines of sight.

[0015] One or more countermeasures may include, for example, the adaptation, setting, and / or modification of one or more communication parameters of the first and / or second communication devices. Communication parameters may include, for example, transmit power, transmit frequency, transmit wavelength, modulation method, antenna orientation, and / or beamforming. For instance, to improve transmission quality, the communication devices or their communication parameters (particularly transmit power, frequency, and / or beamforming) may be matched such that the future transmission quality of the communication connection is greater than or equal to the minimum transmission quality.

[0016] In one configuration of the present invention, one or more countermeasures include the control of a first vehicle and / or a second vehicle. For example, as a countermeasure, the first and / or second vehicles can be manipulated to match their trajectory, lateral deviation, speed, and / or cornering travel in such a way that the transmission quality corresponds at least to a minimum transmission quality, and / or the line of sight between the first and second communication devices is less disturbed, lessened, and / or improved. Specifically, the control of the first and / or second vehicles is performed as a countermeasure such that the first and / or second vehicles remain within their lanes under control and / or at most fully utilize their lanes. Furthermore, as a countermeasure, the vehicles can be manipulated in cornering travel in such a way that the corner is fully utilized, for example, by preserving the line of sight as much as possible.

[0017] In particular, as a countermeasure, the routes (especially driving routes), trajectories, accelerations, speeds, and / or steering of the first and / or second vehicles can be replanned. For example, routes may be unsuitable for convoy driving due to topology (e.g., uphill and downhill sections and / or curves), so as a countermeasure, routes and / or trajectories that guarantee better transmission quality can be planned.

[0018] Particularly preferred is that the first communication device and / or the second communication device each include at least one antenna module. The antenna module may be configured as a radio antenna and / or an optical antenna (e.g., an LED and / or a photodiode). In particular, the antenna module may have antenna orientation, wherein the antenna orientation is, for example, pre-given to the orientation of a receiving antenna. The communication connection is configured as a data technology connection, such as a radio connection or an optical connection, between two antenna modules (especially the antenna module of the first vehicle and the antenna module of the second vehicle). The data technology connection between the antenna modules may be, in particular, a secured, for example, encrypted data technology connection. Preferably, the future transmission quality is determined, obtained, and / or estimated on the line of sight between the data-technically connected and / or to-be-connected antenna modules during line-of-sight checks and / or data-technically connected antenna modules. In particular, the determination, obtaining, and / or estimation of the future transmission quality is based on the arrangement position of the antenna modules in the respective vehicles. For example, the antenna modules may be fixed in the left or right side mirrors, or fixed in different positions on the vehicle, wherein different arrangement positions result in different lines of sight, and / or different components may interfere with the lines of sight. This configuration is based on the following considerations: the arrangement of the antenna modules affects the transmission quality; for example, when driving on a curve, the placement of the antenna on the left or right side has a significant impact.

[0019] For example, the method is configured such that the first and / or second communication device has multiple antenna modules, at least two, particularly at least five or ten antenna modules. For example, the vehicle and / or communication device may include antenna modules in the front, middle, and / or rear sections on the left and right sides, thereby creating different lines of sight for different combinations of connected antenna modules. In particular, for communication connections, it is preferable that exactly two antenna modules (one antenna module of the first vehicle and one antenna module of the second vehicle) are data-technically connected, wherein switching is possible between antenna modules within the vehicle. For example, the first vehicle includes a left-side antenna module and a right-side antenna module, while the second vehicle has a central antenna module, so that the data-technical connection can be configured as a connection between the left-side antenna module of the first vehicle and the central antenna module of the second vehicle, or as a data-technical connection between the right-side antenna module of the first vehicle and the central antenna module of the second vehicle. As a countermeasure for future transmission quality falling below minimum transmission quality, for example, switching can be made between antenna modules of the communication device involved in data-technically coupled with other vehicles, thereby reducing coordination, for example, when driving on curves or uphill and downhill.

[0020] Particularly preferred is that the first vehicle and / or the second vehicle (e.g., on the side mirrors) have left and right antenna modules. As a countermeasure, for example, switching can be performed between the left and right antenna modules, which participate in the data technology connection between the first and second vehicles. Preferably, the data technology connection is configured as a connection between the left antenna module of the first vehicle and the left antenna module of the following vehicle, or as a data technology connection between the right antenna module of the first vehicle and the right antenna module of the second vehicle, wherein, as a countermeasure, the data technology connection is switched between the left and right sides.

[0021] A control device for performing the methods described above forms another subject of the present invention. This control device includes an analysis and processing module configured and / or set to determine, ascertain, and / or estimate the future transmission quality between a first communication device of a first vehicle and a second communication device of a second vehicle. The analysis and processing module is also configured to determine, manipulate, and / or take countermeasures in cases where the future transmission quality is below a minimum transmission quality. For example, the control device is configured to manipulate and / or adjust the first vehicle, the second vehicle, the first communication device, and / or the second communication device.

[0022] A communication arrangement including a first communication device, a second communication device, and a control device as described above forms another subject of the present invention. The first and second communication devices are configured for arrangement in a vehicle. Furthermore, the first and second communication devices are configured for data technology connection with each other, wherein this data technology connection forms a communication connection. This communication connection has transmission quality. An analysis and processing module and / or control device are configured to determine the future transmission quality for the communication connection, and, if the future transmission quality is lower than the minimum transmission quality, determine, estimate, and / or take countermeasures to improve the transmission quality.

[0023] A vehicle system comprising a first vehicle and a second vehicle constitutes another subject. This vehicle system includes the communication arrangement as described above, wherein a first communication device is arranged in the first vehicle and a second communication device is arranged in the second vehicle. The vehicle system is configured for convoy operation, wherein the first vehicle and / or the second vehicle preferably form a truck or passenger vehicle. Attached Figure Description

[0024] Other advantages, effects, and configurations of the invention will become apparent from the accompanying drawings and their description. These are shown herein:

[0025] Figure 1a , 1b 1c illustrates an embodiment and a vehicle system;

[0026] Figure 2An illustrative flow diagram of one embodiment of the method with countermeasures is shown;

[0027] Figure 3 Another embodiment of the method for securing communication is shown; Detailed Implementation

[0028] Figure 1a An embodiment of a vehicle system 1 on road 2 is shown. Vehicle system 1 includes a first vehicle 3 and a second vehicle 4, wherein the second vehicle 4, as a following vehicle, follows the first vehicle 3, as a lead vehicle. The first and second vehicles 3 and 4 form and / or are part of a convoy, wherein these vehicles travel along route 6 in lane 5 of road 2. For safe convoy operation, vehicle-to-vehicle communication is established between the second and first vehicles and / or other vehicles.

[0029] The first vehicle 3 and the second vehicle 4 each have communication devices, wherein these communication devices each have antenna modules 7a and 7b. Antenna modules 7a and 7b are arranged on the left-side rearview mirrors of vehicles 3 and 4 and are configured as radio antennas, such as WLAN antennas. The antenna 7a of the first vehicle is data-technically coupled to the antenna module 7b of the second vehicle 4. Through the data-technical coupling between antenna modules 7a and 7b, a communication connection for communication between vehicles 3 and 4 can be obtained. This communication connection is configured as a radio connection and may be weakened, for example, due to vehicle components, obstacles, and / or weather conditions. For the free line-of-sight connection 9 between antenna modules 7a and 7b, a very good data-technical connection and / or communication connection can be obtained because the connection is therefore not weakened at all.

[0030] Figure 1b Show Figure 1a In vehicle system 1, a first vehicle 3 turns right according to its route 6, resulting in an angled position of the first vehicle 3 relative to a second vehicle 4. Here, the second vehicle 4 continues straight without turning. A line-of-sight connection 9 (e.g., the shortest connection between antenna modules 7a and 7b) extends partially through the first vehicle 3, thereby weakening the data technology connection between the first vehicle 3 and the second vehicle 4. Due to this weakening, interruptions or loss of information in communication between the first and second vehicles may occur. This method avoids and / or counteracts the weakening.

[0031] Figure 1c Show Figure 1a In the vehicle system described above, although the first and second vehicles 3 and 4 have the same speed and direction of travel, there is a lateral offset between the first vehicle 3 and the second vehicle 4. This offset is based on... The first vehicle 3 is laterally offset relative to the second vehicle 4 in the direction of the road center. The line-of-sight connection 9 between the first vehicle 3 and the second vehicle 4, or between antenna modules 7a and 7b, partially passes through the first vehicle 3, and can therefore be assumed to be weakened. The method will identify this weakening in advance and take countermeasures, for example, by controlling the first vehicle 3 to move further to the right or away from the road center, so that the line-of-sight connection 9 between the first vehicle 3 and the second vehicle 4 is no longer weakened due to the first vehicle 3.

[0032] Figure 2 The process of this method is illustrated schematically. In control step 100, a vehicle convoy, or first and second vehicles 3, 4, is guided by a control device. Here, for example, the driving route, speed, acceleration, and / or steering are planned and / or set. Data from step 100 (e.g., driving route, environmental map, speed, and / or acceleration) is provided to line-of-sight inspection step 200. In line-of-sight inspection step 200, the future transmission quality of the data technology connection and / or communication between the first vehicle and the second vehicle 4 is determined. For example, line-of-sight connection 9 is determined for this purpose. In particular, it is examined whether and / or how much of the line-of-sight connection 9 used for future driving route direction is located inside one of these vehicles and / or is weakened due to the surrounding environment.

[0033] Based on the line-of-sight check, countermeasures are executed in countermeasure steps 300a and 300b. Here, both countermeasure steps 300a and 300b can be implemented as countermeasures, or one of these countermeasures can be implemented separately. In countermeasure step 300a, the first or second vehicle is manipulated to match its route, trajectory, and / or driving style so that the line of sight is not interfered with. In countermeasure step 300b, the communication devices of the first and / or second vehicles are manipulated to employ measures to strengthen and / or secure the communication connection, such as switching and / or matching transmission parameters (transmission power or frequency) between antenna modules.

[0034] Figure 3 Another example of a method for ensuring communication between a first vehicle 3 and a second vehicle 4 is shown. Here, based on the planned driving route 10, the trajectory 11 of the vehicles is predetermined and / or estimated for the future, wherein the relative position and / or pose 12 of the vehicles 3 and 4 is obtained for the future based on the trajectory 11. Based on the future position and / or pose 2, the line of sight 9 is obtained and / or estimated, wherein a line of sight check 200 is performed. Based on the line of sight check 200, countermeasure steps 300 are taken if necessary.

Claims

1. A method for ensuring communication between a first vehicle (3) and a second vehicle (4), wherein, The first vehicle (3) has a first communication device, and the second vehicle (4) has a second communication device. In this configuration, the first vehicle (3) acts as the lead vehicle, and the second vehicle (4) acts as the follower vehicle. The first communication device and the second communication device exchange data via a wireless communication connection. The wireless communication connection has transmission quality. Specifically, this involves estimating and / or determining the future transmission quality for the wireless communication connection. Specifically, if the future transmission quality is lower than the minimum transmission quality, countermeasures are implemented to improve the transmission quality. The future transmission quality is estimated and / or determined based on the planned route and the direction of the road in front of the first vehicle (3) and the second vehicle (4).

2. The method according to claim 1, characterized in that, The future transmission quality is estimated and / or determined based on the relative position between the first vehicle (3) and the second vehicle (4), the vehicle geometry, and / or the transmission parameters of the first and second communication devices.

3. The method according to claim 1 or 2, characterized in that, The future transmission quality is estimated and / or determined based on line-of-sight checks (200) between the first vehicle (3) and the second vehicle (4) and / or between the first communication device and the second communication device.

4. The method according to claim 1 or 2, characterized in that, The countermeasures include adapting the communication parameters of the first communication device and / or the second communication device.

5. The method according to claim 1 or 2, characterized in that, The countermeasures include the control of the first vehicle (3) and / or the second vehicle (4).

6. The method according to claim 1 or 2, characterized in that, The countermeasures include replanning the route, trajectory, and / or turning of the first vehicle (3) and / or the second vehicle (4).

7. The method according to any one of the preceding claims, characterized in that, The first communication device and the second communication device each include at least one antenna module, wherein the wireless communication connection forms a data technology connection between the antenna module of the first communication device and the antenna module of the second communication device, wherein the future transmission quality is determined based on the arrangement position of the antenna modules in the first vehicle (3) and the second vehicle (4).

8. The method according to claim 1 or 2, characterized in that, The first communication device and / or the second communication device have multiple antenna modules, wherein the countermeasures include switching between antenna modules that are technically connected in data.

9. The method according to claim 8, characterized in that, The first vehicle (3) or the second vehicle (4) has a left antenna module and a right antenna module, and the countermeasure includes switching between the left and right antenna modules of the antenna modules that are connected as data technology.

10. The method according to claim 1, characterized in that, in, The future transmission quality is estimated and / or determined based on the planned route, the orientation of the road in front of the first vehicle (3) and the second vehicle (4), and the topology of the surrounding environment.

11. A control device for performing the method according to any one of claims 1 to 10, the control device comprising an analysis and processing module, wherein, The analysis and processing module is configured and / or set to obtain, determine and / or estimate the future transmission quality between the first communication device and the second communication device, wherein the analysis and processing module is configured to determine, manipulate and / or take countermeasures when the future transmission quality is lower than the minimum transmission quality.

12. A vehicle system comprising a first vehicle (3) and a second vehicle (4), wherein, The first vehicle (3) includes a first communication device, and the second vehicle (4) includes a second communication device, wherein the vehicle system includes a control device according to claim 11.

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