Method for processing vehicle-to-x messages, method for processing acknowledgement messages and vehicle-to-x communication module

Abstract

The invention relates to a method for processing vehicle-to-X messages, in which a vehicle-to-X message is received, information is extracted therefrom, and an acknowledgement message containing such information is sent. The invention also relates to an associated method for handling acknowledgement messages and to an associated vehicle-to-X communication module.

Description

[0001] The invention relates to a method for processing a vehicle-to-X message, a method for processing an acknowledgement message and an associated vehicle-to-X communication module.

[0002] Vehicle-to-X communication is currently in the standardization, development, and introduction stages. In principle, it allows vehicles and infrastructure equipment to exchange information with each other. In this context, it is known to send vehicle-to-X messages that include, for example, the vehicle's current position or speed.

[0003] It has been recognized that while previously known forms of vehicle-to-X communication may contribute to traffic safety, they fail to implement certain functionalities. Therefore, an object of the present invention is to provide a method for processing vehicle-to-X messages that has an alternative or improved design compared to known designs, for example, enabling further functionalities. Another object of the present invention is to provide another related method and an associated vehicle-to-X communication module. According to the present invention, this is achieved by the method and vehicle-to-X communication module claimed in the respective main claims. For example, advantageous configurations can be derived from the respective dependent claims. The content of these claims is expressly incorporated into the description.

[0004] The present invention relates to a method for processing vehicle-to-X messages. The method comprises the following steps:

[0005] - Receive the vehicle-to-X message,

[0006] - extracting one or more pieces of information from the vehicle-to-X message, and

[0007] - Sending a confirmation message containing one or more of the extracted information.

[0008] This method can be used to confirm the receipt of vehicle-to-X messages. Thus, in vehicle-to-X communication, the sender not only indicates specific status, such as its own position, its own route, or its own speed, but also receives feedback on whether the information has been correctly received elsewhere. This also allows vehicle-to-X communication to be used in safety-critical applications, such as those that require confirmation that the vehicle-to-X message has been correctly received elsewhere. For example, when approaching a traffic light, this can be used to ensure that the traffic light has correctly received the vehicle's position. This results in greater reliability of the information transmitted by the traffic light, allowing it to better control traffic flow at an intersection, for example.

[0009] A vehicle-to-X message can specifically originate from another vehicle-to-X participant. Specifically, the message can originate from a vehicle. However, it can also originate from infrastructure equipment, such as a traffic light system or roadside unit. A vehicle-to-X message typically contains one or more pieces of information related to, for example, the location, speed, or route of an object, hazardous conditions (such as a disabled vehicle), traffic information, information about the surrounding environment, or status information (such as information about a traffic light system or other device affecting traffic). This information can be extracted after the vehicle-to-X message has been received. This information is included in full or at least in part in an acknowledgment message, allowing the sender of the acknowledgment message to directly verify the correct receipt of the corresponding information. In this case, the acknowledgment message can be designed to contain only information from a single received vehicle-to-X message. However, the acknowledgment message can also be designed to contain information about multiple received vehicle-to-X messages. For example, the acknowledgment message can be sent after the vehicle-to-X message has been received. Alternatively, the acknowledgment message can be sent at specific time intervals. In this case, for example, information from multiple vehicle-to-X messages received between the respective transmission times can be combined in a single acknowledgment message. The time interval may, for example, be at least 0.1 s or at least 0.5 s and / or at most 1.5 s or at most 1 s.

[0010] Extracting information from a message is understood to mean that this information is obtained from the message without further processing of the entire message during the extraction process. The extracted information then becomes part of a new message. This is different from simply forwarding the entire message.

[0011] In particular, it may be provided that at least one piece of extracted information is extracted position information. Extracted position information is understood to mean position information that has been extracted from a vehicle-to-X message. Thus, extracted position information is different from detected position information, as described below.

[0012] The unit executing the method may specifically detect detected position information of the sender of the vehicle-to-X message. In this context, detected position information is understood to mean position information that has not yet been extracted from the vehicle-to-X message, but rather has been detected independently thereof; for example, this position information may have been detected using an environmental sensor. Specifically, the extracted position information may be compared with the detected position information. Thus, the degree of match between the two pieces of position information and / or the degree of dependency on the respective position information may be determined.

[0013] In particular, it can be provided that, in response to a deviation between the extracted position information and the detected position information being at least equal to a threshold value, an error message is output. Thus, it can be indicated that the existing position information is unreliable. The error message can be, for example, a visual or acoustic warning message to the vehicle driver. Alternatively, an error message can also be output, which is output to, for example, some other functional unit or some other function, so that subsequent functions (such as the control of a traffic light device or the control of a vehicle) are informed that the position information is unreliable. The error message can contain, for example, a deviation or a variable indicating a deviation. The weight of the information can also be changed, for example reduced. Thus, subsequent units can be made aware of the reduction in reliability. The speed of the vehicle can also be reduced, for example to a level where it is sufficient to consider only local sensors. This can be achieved, for example, by sending a suitable message.

[0014] It may also be provided that, in response to the deviation between the extracted position information and the detected position information being smaller than the threshold, a positive message is output. This enables a positive confirmation of the position determination.

[0015] The confirmation message can contain in particular an error message and / or a positive message. Thus, the result can be informed to the other vehicle pair X participants.

[0016] In particular, it can be provided that, based on the extracted position information, derived position information is calculated, which derived position information preferably represents the position indicated by the extracted position information in a different representation. For example, the extracted position information can specify a position in global coordinates, and the derived position information can specify this position, for example in such a way that a lane and / or a distance to a reference point and / or an associated angle are specified. For example, the derived position information can be specified in a Frenet coordinate system. For example, road, lane, lateral deviation and / or longitudinal information can be used or specified as coordinates. The confirmation message can in particular contain the derived position information. This allows further evaluation at the recipient of the position information.

[0017] According to one embodiment, the confirmation message includes the detected position information of the sender of the vehicle-to-X message. This allows the sender to be informed of the position detected by the unit executing the method. The sender can compare this position information with different position determinations, thereby determining the reliability of the detected and / or obtained position information. A high degree of deviation between the different position information indicates that at least one piece of the position information is unreliable. For example, the detected position information of the sender can be included in a map message. In other words, the confirmation message and the map message can be combined. For example, the confirmation message can locate the position data conveyed in the map message. For example, it can specify the number of lanes and / or the distance to a stop line or other reference point or line. This also applies to derived position information. In particular, the map message can contain information about the surrounding environment. This type of information can be in the form of a map. For example, it can include the location of roads and their extension. For example, as an alternative to the map message, an SPaT message can also be used. This is understood to be a "Signal Phase and Timing" message that contains or contains information about the traffic light phase.

[0018] In particular, a confirmation message can contain information from multiple received vehicle-to-X messages. This enables a joint confirmation of these received vehicle-to-X messages. Consequently, the total number of messages to be sent can be significantly reduced, particularly compared to sending a confirmation message after each received message. In particular, this type of confirmation message can be sent at defined time intervals, as already described further above.

[0019] The confirmation message may contain, for example, a timestamp for one or more received vehicle-to-X messages. This timestamp may be the time information contained in the corresponding vehicle-to-X message, and / or may relate to the time when the corresponding vehicle-to-X message was received. This allows the recipient of the confirmation message to check their own time reference and assess the correctness of the vehicle-to-X communication. The timestamp or time information may also indicate a time difference. This time difference can, for example, be determined between the time a message was received and the time a previous message was received. This time difference is also known as the repetition time. It can be used to check the quality of the connection. For example, a vehicle can check the number of messages it has not yet received or has not fully received. Possible additional information that may be included in the confirmation message is, for example, the difference between the time the corresponding Collaborative Awareness Message (CAM) was received and the time the confirmation message was sent. This allows the recipient to identify the time of the original message.

[0020] The confirmation message can specifically include information about the traffic light phase and / or action recommendations. Thus, more information can be sent via the confirmation message that does not necessarily originate from the received vehicle-to-X message. Information about the traffic light phase can include, for example, whether the traffic light in a particular direction is currently red, yellow, or green, and / or information about when the signal is expected to change. Warnings for the vehicle can also be included. Action recommendations can include, for example, recommendations to brake or accelerate the vehicle or to maintain its speed in order to optimize traffic flow at the traffic light or to ensure that a specific traffic light phase is still reached. Action recommendations can also include, for example, recommendations to change lanes.

[0021] The confirmation message can specifically include information about whether the unit executing the method has detected the sender of the vehicle-to-X message. This can involve, for example, the detection already described above with reference to the detected position information. Thus, the recipient of the confirmation message (e.g., a vehicle) knows whether the confirmation message has been detected, and optionally also whether it has been correctly detected. This can, for example, provide feedback to the vehicle regarding whether traffic lights have been informed of the vehicle's presence and can take this into account, for example, when controlling traffic flow.

[0022] The confirmation message may specifically include information about how many vehicle-to-X messages have been received since the last confirmation message. The confirmation message may also specifically include information about which vehicle-to-X messages have been received since the last confirmation message. This latter information may, for example, be implemented in the form of a list containing received vehicle-to-X messages or at least containing corresponding references to corresponding vehicle-to-X messages. This type of reference may, for example, include a portion of the included information or may be or include the identification of the corresponding vehicle-to-X message. This may also specifically involve different senders.

[0023] This vehicle-to-X message can, for example, provide information about the sender's vehicle and / or be a collaborative awareness message (CAM) and / or a basic safety message (BSM). Such collaborative awareness messages or basic safety messages typically include information such as the vehicle's location, speed, and / or route. For example, this information is often used to provide general information about the vehicle's current state, allowing other road users to take it into account and avoid collisions. However, confirmation messages can also be used for all other types of vehicle-to-X messages.

[0024] In particular, the method can be performed by infrastructure equipment. In particular, such infrastructure equipment can be traffic light systems. Traffic light systems offer a variety of scenarios where acknowledging receipt of vehicle-to-X messages is beneficial. However, the method can also be performed by other infrastructure equipment, a roadside central unit, or a vehicle. In principle, it can be performed on the part of each participant in vehicle-to-X communication.

[0025] The present invention also relates to a method for processing a confirmation message. The method comprises the following steps:

[0026] - receiving a confirmation message, preferably sent by the method described herein and / or preferably containing one or more information, and

[0027] - Extracting one or more pieces of information from the confirmation message.

[0028] This method can advantageously be used to process confirmation messages sent by another unit. In particular, the information contained therein can be extracted. This information can then be used for further purposes. All embodiments and variations described herein can be applied to the method for sending confirmation messages. In principle, the confirmation message confirms the receipt of one or more other messages, distinguishing it from other types of messages.

[0029] In particular, the identification (eg number) contained in the confirmation message can be compared with the sent local identification list. Thus, it can be identified whether the sent message itself is confirmed by the confirmation message.

[0030] In particular, provision may be made for extracting at least one piece of extracted position information from the confirmation message. This generally refers to the position information contained in the confirmation message. This position information is generally based on the fact that the vehicle executing the method for processing the confirmation message has determined derived position information for the X participant, for example, as described elsewhere herein. Therefore, using the terminology of the method for sending the confirmation message, this refers to derived position information; using the terminology of the method for processing the confirmation message, this refers to extracted position information. The extracted position information can be compared with the detected position information. For example, in the case of a vehicle, the detected position information may originate from satellite navigation or some other type of position determination. This can be compared with the extracted position information, allowing the reliability of the position information to be assessed.

[0031] Each sender determines, for example, primarily its own position information, which is then part of the CAM / BSM, or the sender of the confirmation message additionally simultaneously sends its position information, for example with reference to the center of the traffic light installation or simply the center of the sender.

[0032] Additionally, if the location of the object itself is also confirmed, the creator of the confirmation message can also send a confirmation.

[0033] In particular, it can be provided that an error message is output in response to a deviation between the extracted position information and the detected position information being at least equal to a threshold value. Thus, even in the case of a unit receiving a confirmation message, a response can be provided to a potentially excessive deviation. Reference should be made to the explanations provided above in this regard. Conversely, information sent by a road user can also be confirmed via sensor detection.

[0034] In particular, the traffic light phase and / or the proposed action can be extracted from the confirmation message. The traffic light phase and / or the proposed action can be verified in particular using local information. This type of local information can originate, for example, from one or more cameras, one or more environmental sensors, or one or more radar devices of the vehicle. Verification can particularly mean checking whether the traffic light phase matches the local information, i.e., for example, whether the traffic light phase extracted from the confirmation message corresponds to the traffic light phase detected by the camera. Furthermore, it can be checked, for example, whether the proposed action is feasible at all based on the detected environmental conditions, for example, whether a lane change, acceleration, or braking is feasible based on the detected surrounding road users.

[0035] The invention also relates to a vehicle-to-X communication module. The communication module is configured to carry out the method described herein. With regard to the method, all embodiments and variants described herein can be employed.

[0036] When a vehicle's driving functions include vehicle-to-vehicle communication (V2C) messages as a source of information, these messages, in known designs, are typically used solely as a source of warning information. However, in some cases, information obtained through V2C, for example, may prove to be the only usable source of information. This occurs, for example, with traffic light systems equipped with V2C, but where camera-based traffic light phase detection is not possible. This situation arises, for example, in backlighting or when the camera is positioned at an unfavorable angle relative to the light system. In these cases, protected V2C communication can be used. For example, the confirmation messages described herein can be used for this purpose.

[0037] In particular, received messages, such as received cooperative awareness messages, can be confirmed by the process described herein. To this end, for example, a vehicle-to-X participant (such as a traffic light device) can send a list of object IDs that have sent a CAM and have been received by the traffic light device or some other vehicle-to-X participant. Part of such a confirmation message can be to send one or more array elements for each participant with the following content:

[0038] - Object ID,

[0039] - timestamp (or delta time) since the last message received,

[0040] - the location of the map message relative to the infrastructure device (e.g. which road segment has what offset),

[0041] - Location confirmed by the infrastructure-side sensor system (e.g., yes, no, undetectable),

[0042] - action suggestions, especially those related to traffic light status,

[0043] - the number of CAMs received since the last send cycle,

[0044] - The delta time since the last message.

[0045] The following message content can also be encoded in a CPM (Collaborative Perception Message). If there is an error in the message, for example, the following content can help locate the equipped participant. Thus, the infrastructure acts as a relay for a portion of the information, for example. This can involve one or more of the following information:

[0046] - heading from CAM,

[0047] - Location from CAM,

[0048] - Speed from CAM,

[0049] - acceleration from CAM,

[0050] -Optionally, a confidence level.

[0051] The procedure described herein specifically allows confirmation that, for example, a traffic light installation has detected a specific vehicle at a specific location. Furthermore, a delta timestamp can be provided for the last reception of a message from such a participant. This allows the own vehicle to determine the probability of receiving a message. The position relative to the map used for the map message can be an indicator of the accuracy of the vehicle's internal map. This can also enable verification of the map sent in the map message. Furthermore, the positional accuracy of the own positioning can be indicated. The position sent in the CAM message can be evaluated by the infrastructure, and thus the own position can be externally assessed. This can be evaluated as an independent check of the provided information.

[0052] Another signal could be the sending of an action suggestion by a portion of the infrastructure, for example, taking into account the traffic light phase and transmission speed. This can be compared with the vehicle's own evaluation of the traffic light signal detection. This also provides a redundant process for communicating the traffic light phase. Furthermore, auditability can be enhanced. In one case, the infrastructure can perform calculations or message processing, while in another case, the vehicle can perform calculations and message processing.

[0053] Furthermore, one's own environmental perception can be compared with related vehicles. Such a list can be sent, for example, as part of SPaT / MAP, as part of a message for collective perception (e.g., CPM, RSM, or SDSM), or as an own message.

[0054] In this case, the optional message content or message content can help perform recognition and prediction of surrounding participants.

[0055] Thus, in particular, messages can be provided which, in very safety-critical areas, enable direct checking of the radio channel to the infrastructure equipment at both ends. Furthermore, the information sent can be interpreted by the infrastructure with reference to the road topology, thereby providing a position check.

[0056] A person skilled in the art will derive further features and advantages from the exemplary embodiments described below with reference to the accompanying drawings, in which:

[0057] Figure 1 : An intersection with vehicles is shown.

[0058] Figure 1 Purely schematically, an intersection 5 is shown where two roads intersect. A first vehicle 10, a second vehicle 20, and a third vehicle 30 are located on these roads. First vehicle 10 includes a first vehicle-to-X communication module 12. Second vehicle 20 includes a second vehicle-to-X communication module 22. Third vehicle 30 includes a third vehicle-to-X communication module 32. This enables vehicles 10, 20, and 30 to engage in vehicle-to-X communication. This means, in particular, that these vehicles can send and receive vehicle-to-X messages.

[0059] A total of four light signal devices 8 are installed at the intersection 5. These light signal devices indicate to vehicles 10, 20, 30 whether they are currently allowed to pass through the intersection 5. This is usually achieved by displaying red, green and yellow light signals.

[0060] Furthermore, an infrastructure device 7 is provided, which is designed to participate in vehicle-to-X communication. Furthermore, the infrastructure device 7 is in contact with a light signaling device 8. In particular, the light signaling device 8 transmits the corresponding traffic light phase and the subsequently planned switching time to the infrastructure device 7.

[0061] Vehicles 10, 20, and 30 continuously transmit vehicle-to-X messages, specifically cooperative awareness messages, via their respective vehicle-to-X communication modules 12, 22, and 32. These messages contain current information about the position, speed, and route of the respective vehicle 10, 20, and 30. These messages are received and evaluated by the infrastructure device 7. The infrastructure device 7 collects the information contained in the received vehicle-to-X messages, in each case within a one-second period. Every second, the infrastructure device 7 sends a confirmation message containing the received information and an indication of the respective sender. This confirmation message can be received again by the vehicle 10, 20, and 30, informing the vehicle 10, 20, and 30 whether the infrastructure device 7 has correctly received the important information.

[0062] Furthermore, the position determination can be checked. For this purpose, the infrastructure device 7 is connected to a schematically illustrated environmental sensor system 9 that can visually detect the vehicles 10, 20, and 30. This allows for the determination of detected position information, which specifies the position of the respective vehicle 10, 20, and 30 in the coordinate system used by the infrastructure. This detected position information can be compared with the position information extracted from the vehicle-to-X message received from the vehicle 10, 20, and 30. If the deviation between these two pieces of position information is less than a threshold, a positive message can be issued; if the deviation is greater than the threshold, an error message can be issued. This type of message can be included in the confirmation message.

[0063] Furthermore, derived position information can be determined based on the detected position information. The derived position information represents the position information in various representations. For example, it can specify which lane the vehicle is located in and its distance from a reference point. This derived position information can also be included in the confirmation message and sent to vehicles 10, 20, 30. Vehicles 10, 20, 30 each have their own position determination capability, particularly via satellite navigation, and can therefore compare the position information. This can provide an indication of the accuracy of the respective current position determinations.

[0064] Infrastructure device 7 can specifically issue instructions to vehicles 10, 20, 30, which can, for example, instruct vehicles 10, 20, 30 to brake or accelerate to reach a specific traffic light phase. If the respective vehicle 10, 20, 30 recognizes from the received confirmation message that vehicle-to-X communication is operating in a fully satisfactory manner in both directions, such instructions can be considered reliable and implemented accordingly. However, if a discrepancy is detected, for example because the information was not correctly confirmed or because the position information is unreliable, implementation of such instructions can be omitted.

[0065] In general, it should be noted that vehicle-to-X communication is understood to specifically mean direct communication between vehicles and / or between a vehicle and infrastructure equipment. For example, the communication can therefore be vehicle-to-vehicle communication or vehicle-to-infrastructure communication. For example, where this application refers to communication between vehicles, the communication can essentially occur as part of vehicle-to-vehicle communication, which is typically implemented without switching via a mobile radio network or similar external infrastructure and should therefore be distinguished from other solutions based on, for example, mobile radio networks. For example, vehicle-to-X communication can be implemented using the IEEE 802.11p or IEEE 1609.4 standards. Other examples of communication technologies include LTE-V2X, 5G-V2X, C-V2X, WLAN, WiMax, UWB, or Bluetooth. Vehicle-to-X communication can also be referred to as C2X communication. Sub-areas can be referred to as C2C (car-to-car) or C2I (car-to-infrastructure). However, the present invention explicitly does not exclude vehicle-to-X communication that is switched, for example, via a mobile radio network.

[0066] The aforementioned steps of the method according to the present invention can be performed in the order indicated. However, if technically feasible, these steps can also be performed in a different order. The method according to the present invention can be performed in one of its embodiments, for example, by performing a specific combination of steps such that other steps are not performed. However, in principle, other steps, even those not mentioned, can also be performed.

[0067] It should be noted that, in the claims and the specification, feature combinations may be described, for example to facilitate understanding, but the features may also be used separately from each other. Those skilled in the art recognize that these features, which are independent of each other, may also be combined with other features or feature combinations.

[0068] Back-references in the dependent claims may characterize preferred combinations of individual features, but do not exclude other combinations of features.

[0069] List of Reference Numerals

[0070] 5 Crossroads

[0071] 7 Infrastructure Equipment

[0072] 8 light signal devices

[0073] 9 Environmental sensor system

[0074] 10 vehicles

[0075] 12 vehicle-to-X communication modules

[0076] 20 vehicles

[0077] 22 vehicle-to-X communication module

[0078] 30 vehicles

[0079] 32 vehicle-to-X communication module

Claims

1. A method for processing a vehicle-to-X message, wherein: The method comprises the following steps: - Receive the vehicle-to-X message, - extracting one or more pieces of information from the vehicle-to-X message, and - Sending a confirmation message containing one or more of the extracted information.

2. The method according to claim 1, - wherein the at least one piece of extracted information is extracted location information, -in, The unit executing the method detects the detected position information of the sender of the vehicle-to-X message, and - wherein the extracted position information is compared with the detected position information.

3. The method according to claim 2, -in, outputting an error message in response to a deviation between the extracted position information and the detected position information being at least equal to a threshold; and / or - wherein, in response to a deviation between the extracted position information and the detected position information being less than the threshold, outputting a positive message; and / or - wherein the confirmation message includes the error message and / or the positive message.

4. The method according to any one of the preceding claims, - wherein the at least one piece of extracted information is extracted location information, -in, Based on the extracted position information, calculating derived position information, the derived position information representing the position indicated by the extracted position information in a different representation, and - wherein the confirmation message contains the derived position information of the vehicle to the sender of the X message.

5. The method according to any one of the preceding claims, - wherein the confirmation message contains information from multiple received vehicle-to-X messages.

6. The method according to any one of the preceding claims, - wherein the confirmation message contains a timestamp regarding one or more received vehicle-to-X messages.

7. The method according to any one of the preceding claims, - wherein the confirmation message includes information related to the traffic light phase and / or action suggestion.

8. The method according to any one of the preceding claims, -in, The confirmation message includes information about whether the unit executing the method has detected the sender of the vehicle-to-X message.

9. The method according to any one of the preceding claims, wherein the confirmation message comprises information about how many and / or which vehicle-to-X messages have been received since the last confirmation message.

10. The method according to any one of the preceding claims, -in, The vehicle-to-X message is a message providing vehicle information of the sender and / or a cooperative awareness message or a basic safety message.

11. The method according to any one of the preceding claims, - The method is performed by an infrastructure device (8).

12. A method for processing a confirmation message, wherein: The method comprises the following steps: - receiving a confirmation message sent by a method according to any one of the preceding claims and / or containing one or more pieces of information, and - Extracting one or more pieces of information from the confirmation message.

13. The method according to claim 12, - wherein at least one piece of extracted location information is extracted from the confirmation message, and -in, The extracted position information is compared with the detected position information.

14. The method according to claim 13, -in, In response to a deviation between the extracted position information and the detected position information being at least equal to a threshold, an error message is output, and / or the weighting of the information is changed and / or the vehicle speed is reduced.

15. A vehicle-to-X communication module (12, 22, 32) configured to perform the method of any one of the preceding claims.

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