Method for determining the position of a V2X-enabled neighboring vehicle

Abstract

The present invention discloses a method for determining the position of a second V2X-enabled vehicle by a first V2X-enabled vehicle, wherein a request is sent from the first vehicle to the second vehicle via a V2X communication link, sensor data of at least one sensor of the second vehicle is received and evaluated by the first vehicle via the V2X communication link, at least one action is performed by the first vehicle, and when at least one action of the first vehicle is detected based on the sensor data of at least one sensor of the second vehicle, the position of the second vehicle relative to the first vehicle is determined. In addition, a system is disclosed.

Description

Technical Field

[0001] The present invention relates to a method for determining the position of a second V2X (Vehicle-to-everything)-enabled vehicle by a first V2X-enabled vehicle. The present invention also relates to a system having a first V2X-enabled vehicle and at least one second V2X-enabled vehicle. Background Art

[0002] Communication technology is becoming increasingly important in road traffic and has the potential to increase traffic safety. In this context, V2X communication links are preferably used to enable data exchange between V2X-enabled vehicles and V2X-enabled infrastructure. Depending on the traffic situation, it is necessary to identify whether the V2X-enabled vehicle is a directly adjacent vehicle or whether there are other traffic participants or obstacles between the V2X-enabled vehicles. This check is necessary, for example, when multiple vehicles approach traffic lights at the same time as a so-called Road-Train. If there is no networking between the vehicles or there are vehicles that do not support V2X, the function of the road train cannot be reliably implemented.

[0003] In order to determine the position of a vehicle supporting V2X, a method based on GNSS positioning is known. However, positioning based on GNSS (Global Navigation Satellite System) cannot be used over a large area and has insufficient accuracy.

[0004] Patent document DE 102015221 184 A1 discloses a method and a device for communication in road traffic. Corresponding information is obtained for at least one traffic participant in the lane area. Trigger information is sent to one or more traffic participants in the lane area via a wireless communication link. The purpose of the trigger information is to cause a function of the traffic participant in a predetermined manner. The method also includes detecting that a first traffic participant has actuated the function in a predetermined manner and determining a property of the first traffic participant. Summary of the invention

[0005] Therefore, the object of the present invention is to provide a method and a system by which two V2X-enabled vehicles can determine each other's positions and identify a vehicle that does not support V2X.

[0006] This object is achieved according to the invention by a method having the features of claim 1 and a system having the features of claim 9. Advantageous embodiments and developments are described in the dependent claims.

[0007] The method according to the present invention is used to determine the position of a second V2X-enabled vehicle by a first V2X-enabled vehicle. In one step, a request is sent from the first vehicle to the second vehicle via a V2X communication link. Here, sensor data from at least one sensor of the second vehicle is received and analyzed by the first vehicle via the V2X communication link. The at least one sensor can be, for example, a camera sensor, a lidar sensor, a radar sensor, an ultrasonic sensor, a thermal imager, etc.

[0008] In a further step, at least one action is performed by the first vehicle. Subsequently, when the at least one action of the first vehicle is detected based on the received sensor data of at least one sensor of the second vehicle, a position of the second vehicle relative to the first vehicle is determined.

[0009] If the first vehicle can "rediscover" itself based on the sensor data of the second vehicle, then the two vehicles are in close proximity. Based on the sensor data and orientation of the corresponding sensors of the second vehicle, the first vehicle can determine its relative position relative to the second vehicle.

[0010] In particular, the method may be considered for determining whether a second V2X-capable vehicle is directly in front of, behind, and / or to the side of a first vehicle, or whether there are further non-V2X-capable vehicles in between.

[0011] The method can realize relative positioning of adjacent vehicles based on the V2X communication link. Here, there is no need to access GNSS satellites.

[0012] The second vehicle acts as a mirror for the first vehicle and only provides sensor data from at least one sensor. At least one action of the first vehicle can be freely selected and can be carried out depending on the situation. For example, a steering offset can be carried out when the first vehicle is stationary. During driving, alternative actions such as light signals or movements of side mirrors can be advantageous.

[0013] In order to provide a continuous and stable stream of sensor data, the V2X communication link can be checked before evaluating the sensor data.

[0014] The recognition of the movement of the first vehicle by the first vehicle based on the sensor data of the second vehicle can be coordinated with the movement, thereby enabling a technically simple evaluation of the sensor data. It is not necessary to implement a corresponding recognition algorithm in the second vehicle, since only the sensor data of the second vehicle are forwarded to the first vehicle. In this way, the so-called sensor sharing of the second vehicle by the first vehicle can be utilized.

[0015] In an advantageous embodiment, when at least one movement of the first vehicle is not detected based on the received sensor data of at least one sensor of the second vehicle, it is determined that there is at least one non-V2X-capable vehicle or obstacle between the first vehicle and the second vehicle. This measure makes it possible to perform a technically simple check on whether the first vehicle and the second vehicle are adjacent vehicles.

[0016] According to another embodiment, a light signal is generated by the first vehicle as at least one action, wherein the light signal is generated by activating, deactivating and / or changing the brightness or frequency of at least one light emitting device of the first vehicle. The light emitting device can be used to generate a speed-independent signal that can be detected by an optical sensor of the second vehicle. The light signal can be generated in a wavelength range that is visible or invisible to the human eye.

[0017] In addition, individual LEDs of the luminous means can be activated or deactivated selectively or jointly for a short period of time. For example, such signaling can be achieved by driving LEDs of flashers, taillights, brake lights and / or daytime running lights.

[0018] According to another embodiment, the light signal is generated by the first vehicle as a light signal sequence. For example, such a light signal sequence can include a plurality of successively executed changes in brightness and / or operating frequency of the light source and thus ensure improved reliability when detecting an action.

[0019] According to a further embodiment, the digital signature is forwarded by the generated light signal. For example, the brightness or intensity of individual LEDs or light-emitting devices of the first vehicle can be modulated in a manner that is not perceptible to the human eye. This measure can be used for the encoded transmission of information. In this case, the information can be encrypted and / or provided with a digital signature.

[0020] According to an additional embodiment, a movement is performed by the first vehicle as at least one action. In particular, according to another advantageous embodiment, a driving maneuver, a steering deviation movement, a side mirror movement, a wiper movement, a sensor movement and / or a handlebar movement can be performed by the first vehicle as at least one action. This measure makes it possible for a vehicle movement visible to a sensor device of the second vehicle to be initiated by the first vehicle. In this case, the movement can be detected by different sensors, such as radar sensors, lidar sensors or camera sensors, and can therefore be redundantly confirmed.

[0021] Alternatively or additionally, any driven component of the first vehicle can be used to execute a movement or a movement sequence. For example, a rearview mirror can be folded in, a reversing camera can be retracted or extended, a windshield washer system can be actuated, etc.

[0022] According to a further embodiment, a heat signal is generated by the first vehicle as at least one action, wherein the heat signal is generated by activating a window glass heater, a mirror heater and / or a sensor heater. This action can be advantageously implemented when the second vehicle comprises a thermal camera. This enables thermal infrared radiation to be generated by the first vehicle and detected by the sensor sharing function in order to confirm at least one action of the first vehicle.

[0023] By evaluating the sensor data of the second vehicle by the first vehicle, the second vehicle can be localized based on the orientation, distance and viewing angle of the corresponding sensors. In particular, the sensor data of the second vehicle can be used as a mirror image of the first vehicle, so that at least the approximate positioning of the first vehicle relative to the second vehicle can be determined. In particular, it can be determined whether the first vehicle is located in front of the second vehicle, behind the second vehicle or to the side of the second vehicle.

[0024] According to another aspect of the present invention, a system is provided, comprising a first vehicle supporting V2X and at least one second vehicle supporting V2X. The system is configured to implement the method according to the present invention.

[0025] By implementing the method, a technically simple and effective check can be performed, by which a non-V2X-capable vehicle can be detected between two V2X-capable vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention is schematically shown in the accompanying drawings based on embodiments, and the present invention is further described with reference to the accompanying drawings.

[0027] Figure 1 shows a system according to one embodiment of the present invention; and

[0028] Figure 2 A flow chart is shown for explaining the method according to the invention according to one exemplary embodiment. DETAILED DESCRIPTION

[0029] Figure 1 A system 1 according to one embodiment of the present invention is shown. The system 1 has a first V2X-enabled vehicle 2 and a second V2X-enabled vehicle 4.

[0030] The first vehicle 2 and the second vehicle 4 each have a controller 6, 8, which can receive sensor data from the corresponding vehicle sensors 10, 12 and transmit them via a V2X communication link 14. In this case, the V2X communication link 14 can be based on WLAN, GSM, LTE, UMTS, 5G and / or similar transmission standards.

[0031] The controllers 6 , 8 of the vehicles 2 , 4 can in particular establish a V2X communication link 14 and transmit sensor data, information and queries.

[0032] Second vehicle 4 can, for example, forward sensor data of sensor device 12 of second vehicle via control unit 8 to control unit 6 of first vehicle 2 .

[0033] Control unit 6 of first vehicle 2 can receive and evaluate sensor data from sensor device 10 of first vehicle 2 and sensor data from sensor device 12 of second vehicle 4 .

[0034] Vehicles 2 , 4 may have, for example, lidar sensors, radar sensors, reversing cameras, ultrasonic sensors, video sensors, etc. as sensors 10 , 12 .

[0035] To execute Figure 2 According to the method 16 shown in FIG. 1 , the first vehicle 2 may perform an action, which may be achieved, for example, by means of a light emitting device 18 , by means of a movement of a side mirror 20 , or the like.

[0036] Figure 2 1 is a flowchart for explaining a method 16 according to an embodiment of the present invention. The method 16 is used to determine the position of a second vehicle 4 supporting V2X by a first vehicle 2 supporting V2X. The method 16 enables the first vehicle 2 to find out whether a vehicle 22 not supporting V2X is arranged between the first vehicle 2 and the second vehicle 4, for example.

[0037] In step 24 of the method 16, a request is sent from the first vehicle 2 to the second vehicle 4 via the V2X communication link 14. In this case, a role division of the vehicles 2, 4 can be achieved, wherein the vehicle 4 acts as a mirror and the vehicle 2 acts as an actuator. In the embodiment shown, the second vehicle 4 acts as a mirror for the first vehicle 2 and enables sensor sharing.

[0038] In a further step 26, the sensor data of the sensor device 12 of the second vehicle 4 are provided to the first vehicle 2 via the V2X communication link 14. These sensor data can be provided in the form of a so-called real-time sensor field of view and evaluated by the controller 6 of the first vehicle 2. In this case, the first vehicle 2 can access the camera sensors, lidar sensors, thermal imaging cameras, ultrasonic sensors, etc. of the second vehicle 4.

[0039] In an optional step 28 , a check for continued reception of sensor data via the V2X communication link 14 may be performed.

[0040] The first vehicle 2 then carries out 30 at least one action as an actuator and evaluates 32 the received sensor data of the second vehicle 4 which are relevant to the action.

[0041] At least one action of the first vehicle 2 can be freely selected. For example, the first vehicle 2 can perform a driving maneuver, or move the entire vehicle 2 or a single component 20. For example, the first vehicle 2 can fold in and unfold the side mirrors 20 electronically. Other possible actions can include a change in the steering offset, a move-out or orientation of the reversing camera, a move-out of the luggage compartment handle, an opening of a window, an actuation of a windshield wiper / washer, etc.

[0042] According to the design, the light emitting device 18 can also be used to perform at least one action. For example, the light emitting device 18 of the first vehicle 2 can be activated and deactivated, and / or its brightness or operating frequency can be adjusted.

[0043] If at least one movement of the first vehicle 2 is detected 34 based on the received sensor data of at least one sensor 12 of the second vehicle 4, a clear determination or a probability-based indication can be made about the neighbor relationship between the first vehicle 2 and the second vehicle 4. In particular, when the first vehicle 2 recognizes its own movement and thus recognizes itself in the sensor data of the second vehicle 4, the position 36 of the second vehicle 4 relative to the first vehicle 2 can be determined.

[0044] Alternatively, when at least one action of the first vehicle 2 is not detected based on the received sensor data of at least one sensor 12 of the second vehicle 4 , it can be confirmed that there is at least one non-V2X-supported vehicle 22 or obstacle 38 between the first vehicle 2 and the second vehicle 4 .

[0045] A notification 40 of the result may then be forwarded to the second vehicle 4 via the V2X communication link 14 .

[0046] List of reference numerals:

[0047] 1 System

[0048] 2 First vehicle

[0049] 4 Second vehicle

[0050] 6 Controller of the first vehicle

[0051] 8 Controller of the second vehicle

[0052] 10 Sensors of the first vehicle

[0053] 12 Sensors of the second vehicle

[0054] 14 Communication Link

[0055] 16 Methods

[0056] 18. Light-emitting device of the first vehicle

[0057] 20 Side mirror of first vehicle

[0058] 22 Vehicles that do not support V2X

[0059] 24 Forwarding Inquiry / Request

[0060] 26 Providing sensor data

[0061] 28 Check continuous reception

[0062] 30 Implementation Action

[0063] 32 Evaluating sensor data related to motion

[0064] 34 Motion detected

[0065] 36 Determine the position of the second vehicle relative to the first vehicle

[0066] 38 Obstacles or vehicles not supporting V2X detected

[0067] 40 Forwarding results

Claims

1. A method (16) for determining the position of a second V2X-enabled vehicle (4) by a first V2X-enabled vehicle (2), wherein: - sending a query from the first vehicle (2) to the second vehicle (4) via a V2X communication link (14), - receiving and evaluating sensor data of at least one sensor (12) of the second vehicle (4) by the first vehicle (2) via the V2X communication link (14), - performing at least one action by means of said first vehicle (2), - When at least one movement of the first vehicle (2) is detected based on the received sensor data of at least one sensor (12) of the second vehicle (4), the position of the second vehicle (4) relative to the first vehicle (2) is determined.

2. The method according to claim 1, wherein: When at least one action of the first vehicle (2) is not detected based on the received sensor data of at least one sensor (12) of the second vehicle (4), it is determined that there is at least one non-V2X-supported vehicle (22) or obstacle between the first vehicle (2) and the second vehicle (4).

3. The method according to claim 1 or 2, wherein: A light signal is generated by a first vehicle (2) as at least one action, wherein the light signal is generated by activating, deactivating and / or changing the brightness or frequency of at least one light emitting device (18) of the first vehicle (2).

4. The method according to claim 3, wherein: A light signal is generated by the first vehicle (2) as a light signal sequence.

5. The method according to claim 3 or 4, wherein: The digital signature is forwarded via the generated optical signal.

6. The method according to any one of claims 1 to 5, wherein: A movement is performed as at least one action by the first vehicle (2).

7. The method according to claim 6, wherein: A driving maneuver, a steering movement, a side mirror movement, a windshield wiper movement, a sensor movement and / or an electric handlebar movement is performed as at least one action by the first vehicle (2).

8. The method according to any one of claims 1 to 7, wherein: A heat signal is generated by the first vehicle (2) as at least one action, wherein the heat signal is generated by activating a window heater, a mirror heater and / or a sensor heater.

9. A system (1) comprising a first V2X-enabled vehicle (2) and at least one second V2X-enabled vehicle (4), wherein: The system (1) is configured to implement a method (16) according to any one of the preceding claims.

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