Positioning device between user and autonomous vehicle

Abstract

The invention relates to a positioning device between a user and an autonomous vehicle. A positioning device provides positioning between a user and an autonomous vehicle. The device is embedded in a user device or an autonomous vehicle. The electronic circuitry of the device exchanges RF signals with another positioning device embedded in the autonomous vehicle or the user device, respectively. Measurements of at least distance between a user device and an autonomous vehicle are made by direct or indirect means such as time of flight using RF signal exchange. The measured distances are respectively used to locate the autonomous vehicle or the user device.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to European Patent Application No. EP24200612.0, filed on 16 September 2024, and French Patent Application No. FR2412573, filed on 18 November 2024, the contents of which are incorporated herein by reference in their entirety to the fullest extent permitted by law. Technical Field

[0003] This disclosure generally relates to the field of autonomous vehicles (e.g., autonomous cars). Background Technology

[0004] Currently, when autonomous vehicles need to locate users, drivers, or customers, user positioning relies on GPS signals. However, the accuracy of this positioning is weak, especially in situations where there is no GPS connection or only a weak GPS connection (e.g., picking up users in underground or covered areas such as airports, shopping malls, and urban canyons).

[0005] Furthermore, once the autonomous vehicle approaches the user, it needs to alert the user via displays, on-vehicle audio, and / or notifications on the user's device to guide them into the car. The user then needs to go to the pick-up area to find the appropriate vehicle. This solution is difficult to adapt to crowded areas with multiple users and leads to privacy issues and unsatisfactory user experiences.

[0006] Safety issues may also arise. For example, without sufficient precision, the car might stop on the other side of the street, enticing the user to cross. This could lead to potentially dangerous situations, or the user might simply be unable to reach the vehicle.

[0007] It is necessary to address all or part of the shortcomings of known solutions. Summary of the Invention

[0008] One embodiment provides a positioning device that provides positioning between a user and an autonomous vehicle. The device is configured to be embedded in either a user device or an autonomous vehicle and includes electronic circuitry that exchanges radio frequency (RF) signals with another positioning device embedded in either the autonomous vehicle or the user device. The exchanged RF signals are used to measure at least the distance between the user device and the autonomous vehicle using direct or indirect means such as time-of-flight, and the measured distances are used to locate either the autonomous vehicle or the user device.

[0009] According to a particular embodiment, the electronic circuitry includes an ultra-wideband (UWB) transceiver, and the electronic circuitry uses at least UWB signal exchange to measure the distance between the user equipment and the autonomous vehicle.

[0010] According to a particular embodiment, the electronic circuitry includes at least two Rx antennas for measuring the angle of arrival (AoA).

[0011] According to a specific embodiment, the UWB transceiver is configured to transmit and receive UWB signals in accordance with the IEEE 802.15.4ab standard.

[0012] According to a specific embodiment, the electronic circuitry includes at least one of a Bluetooth transceiver and a Wi-Fi transceiver (i.e., a Bluetooth transceiver and / or a Wi-Fi transceiver), and the electronic circuitry uses at least one of Bluetooth signal exchange and Wi-Fi signal exchange (i.e., using Bluetooth signal exchange and / or Wi-Fi signal exchange) to measure the distance between the user equipment and the autonomous vehicle.

[0013] According to a particular embodiment, the positioning device also includes a GPS receiver, and the electronic circuitry uses the measured distance and GPS positioning to locate the autonomous vehicle or user equipment.

[0014] According to a particular embodiment, the electronic circuitry also includes a narrowband transceiver, wherein the electronic circuitry uses narrowband signal switching to measure the distance between the autonomous vehicle and the user equipment.

[0015] According to one particular embodiment, the positioning device further includes at least one inertial sensor, and the electronic circuitry is configured to use measurements from the at least one inertial sensor to calculate additional information, such as the angle between a line connecting the user's position and the position of the autonomous vehicle and the user's direction when the positioning device is embedded in a user device, or the angle between the aforementioned line and the direction of the autonomous vehicle when the positioning device is embedded in an autonomous vehicle, and also to use the calculated angles to locate the autonomous vehicle or the user device respectively.

[0016] According to a particular embodiment, the positioning device further includes an inertial measurement unit (IMU) that includes at least one of the aforementioned inertial sensors.

[0017] According to a specific embodiment, the electronic circuit receives a security key before exchanging RF signals, and then uses the security key to exchange RF signals.

[0018] Another embodiment discloses an autonomous vehicle that includes a positioning device according to a particular embodiment.

[0019] According to specific embodiments, autonomous vehicles correspond to cars or drones, etc.

[0020] Another embodiment discloses a user equipment or user device that includes a positioning device according to a particular embodiment.

[0021] According to a particular embodiment, the user equipment corresponds to a smartphone, watch, or tablet computer.

[0022] According to a specific embodiment, another embodiment discloses a system for managing exchanges between a user of a device and an autonomous vehicle, the device and the autonomous vehicle each including a positioning device according to a specific embodiment, the system sending a security key to the positioning device of the user device and the positioning device of the autonomous vehicle.

[0023] According to a specific embodiment, the system performs the following steps: creating a session between a user device and an autonomous vehicle; generating a security key; sending the security key to both the user device and the autonomous vehicle; and sending an invalidation instruction for the security key to the autonomous vehicle when the session between the user device and the autonomous vehicle ends.

[0024] According to a particular embodiment, the system also sends a security key to another user equipment. Attached Figure Description

[0025] In the following description of specific embodiments given by way of example rather than limitation, the above-described features and advantages, as well as other features and advantages, will be described in detail with reference to the accompanying drawings, in which:

[0026] Figure 1 A first example of using a positioning device in a user device and an autonomous vehicle, according to a specific embodiment, is shown, compared to an autonomous vehicle that uses only GPS signals to locate the user.

[0027] Figure 2 A second example of using a positioning device in a user device and an autonomous vehicle according to a specific embodiment is shown;

[0028] Figure 3 The process implemented in a system for managing exchanges between a user device and an autonomous vehicle, according to a specific embodiment, is illustrated, wherein the user device and the autonomous vehicle each include a positioning device.

[0029] Figure 4 The differences between IEEE standard ranging (802.15.4z, data and ranging frames over UWB) and (802.15.4ab, data frames over narrowband and ranging over UWB) are shown.

[0030] Figure 5 Narrowband assisted MMS ranging according to a specific embodiment is illustrated, which can be used during exchanges between user equipment and autonomous vehicles, each including a positioning device;

[0031] Figure 6 The diagram illustrates the exchange of RF signals between autonomous vehicles and user equipment, as well as a system for managing these exchanges.

[0032] Figure 7 This shows a top-level example of the process from registering for the service to the car arriving at the customer's door;

[0033] Figure 8 An example of signal exchange during the implementation of the three-message DS-TWR method to obtain the distance between the autonomous vehicle and the user equipment is shown; and

[0034] Figure 9 An example of signal exchange between an initiator and several responders is shown, based on the three-message DS-TWR method. Detailed Implementation

[0035] In the various figures, similar features are indicated by similar reference numerals. In particular, common structural and / or functional features in various embodiments may have the same reference numerals and may have the same structure, dimensions, and material properties.

[0036] For clarity, only detailed illustrations and descriptions are provided to aid in understanding the embodiments described herein.

[0037] Unless otherwise stated, when referring to two elements connected together, it means that there is no direct connection between them except through a conductor; when referring to two elements coupled together, it means that the two elements can be connected or can be coupled via one or more other elements.

[0038] In the following disclosure, unless otherwise stated, when referring to absolute position qualifiers (such as the terms "front", "back", "up", "down", "left", "right", etc.), or relative position qualifiers (such as the terms "above", "below", "higher", "lower", etc.), or orientation qualifiers (such as "horizontal", "vertical", etc.), please refer to the directions shown in the figures.

[0039] Unless otherwise stated, “approximately,” “roughly,” “basically,” and “on the order of magnitude of” mean within 10%, and preferably within 5%.

[0040] One embodiment proposes using RF distance measurement in a vehicle equipped with radio frequency (RF) technology (e.g., including UWB (Ultra-Wideband), more specifically, RF signals according to the IEEE 802.15.4ab standard) to locate the position of a user, customer, or driver (hereinafter referred to as "the user") by means of the distance boundary to the user's mobile device. Therefore, the vehicle can accurately locate the user's pickup position with very high precision and park near the user.

[0041] Furthermore, even when a vehicle is not permitted or cannot be approached by the user, the user can see the vehicle's location very accurately, and the system will guide the user to the vehicle's parking space.

[0042] One embodiment proposes binding a user device (such as a smartphone) to a vehicle to exchange at least one security key provided by the cloud (or a similar device) for secure ranging. Furthermore, the inertial measurement unit (IMU) of the user device or the autonomous vehicle can be additionally replaced to provide better guidance. Final ranging can be triggered based on the exchanged GPS location.

[0043] According to some embodiments, within the final distance (which can range from essentially zero to 20-100m), the autonomous vehicle and the user exchange location data via distance measurement. One or more RF signal exchanges can be used to measure the distance between the user equipment 2000 and the autonomous vehicle 1000 (e.g., using a measurement of the time of flight of the signal between the user equipment 2000 and the autonomous vehicle 1000).

[0044] For example, a technique for measuring the distance between user equipment 2000 and autonomous vehicle 1000 could correspond to bilateral two-way ranging (DS-TWR) or three-message DS-TWR. In this case, user equipment 2000 sends a configuration to autonomous vehicle 1000 and then sends a "ping" signal to an anchor of vehicle 1000 (i.e., a communication element with a predefined location, for example, within vehicle 1000). Subsequently, all or at least one anchor responds to device 2000 with a "pong" signal, device 2000 sends an additional "ping" signal, and then sends the final data. The distance between user equipment 2000 and autonomous vehicle 1000 can be measured based on the computational runtime of these exchanges.

[0045] Figure 8 This schematically illustrates an example of a three-message DS-TWR implemented between user equipment 2000 and autonomous vehicle 1000. In this configuration, the propagation time Tprop (i.e., the time of flight (ToF) between device 2000 and vehicle 1000) can be equal to:

[0046]

[0047] Tround1 is the time between the device 2000 transmitting the first signal to the vehicle 1000 and the device 2000 receiving the second signal transmitted by the vehicle 1000.

[0048] Tround2 is the time between the vehicle 1000 transmitting the second signal to the device 2000 and the vehicle 1000 receiving the third signal transmitted by the device 2000.

[0049] Where Trep1 is the time between vehicle 1000 receiving the second signal and vehicle 1000 transmitting the third signal; and

[0050] Trep2 is the time between when device 2000 receives the second signal and when device 2000 transmits the third signal.

[0051] The distance between user equipment 2000 and autonomous vehicle 1000 can be calculated as follows:

[0052] Distance = Speed ​​of light * Tprop

[0053] Figure 9 An example of signal exchange implemented between an initiator (e.g., user equipment 2000) and several responders (e.g., anchors of an autonomous vehicle 1000) according to the three-message DS-TWR method is shown. The duration values ​​shown in the figure are examples and may vary.

[0054] The calculations performed mainly include the distance measured between the vehicle and the user, as well as the angle of arrival (AoA) and IMU data, such as the direction being faced or the user's location on the map, which the vehicle will use for similar reasons.

[0055] Alternatively, other RF technologies can be used for distance measurement, but they will likely be less accurate, though good enough. Bluetooth Low Energy (BLE) channel sensing or Wi-Fi can be used as examples.

[0056] Therefore, a user localization method using RF signals (such as UWB signals) by an autonomous vehicle (such as an autonomous car) and an autonomous vehicle localization method using RF signals by a user are disclosed.

[0057] Previously published solutions proposed using RF signals (such as UWB signals, particularly using the IEEE 802.15.4ab standard) to overcome the current limitations of autonomous vehicles in finding users.

[0058] Figure 1 A first example is shown of the use of positioning devices 100.1 and 100.2 in user equipment 2000 and autonomous vehicle 1000 according to a specific embodiment, compared to an autonomous vehicle 10 that uses only GPS signals to locate the user.

[0059] exist Figure 1The image shows an autonomous vehicle 10 (labeled "GPS car") that uses only GPS signals to locate users. Because this autonomous vehicle 10 only uses GPS signals, it cannot accurately locate the user intending to use it. Therefore, the autonomous vehicle 100 sends notifications (e.g., visual or auditory) about the user's name, order ID, etc. Figure 1 The image shows several arrows between the autonomous vehicle 10 and several potential users, indicating that the autonomous vehicle 10 cannot accurately locate the users who intend to use it, because all the people indicated by the arrows are within the area where the users intending to use the car are located. Figure 1 The image shows an audio notification labeled "Hello, Mr. Smith. I'm here to pick you up," indicating that the notification has been completed in some way.

[0060] exist Figure 1 In this context, another autonomous vehicle 1000 (labeled "UWB 15.4ab car"), including positioning device 100.1, is able to accurately locate the user who will use it. This positioning device exchanges RF signals (e.g., UWB signals) with another positioning device 100.2 embedded in user equipment 2000 (e.g., smartphone).

[0061] Figure 2 A second example of using positioning devices 100.1 and 100.2 in a user equipment 2000 and an autonomous vehicle 1000 according to a specific embodiment is shown. Compared to the first example, the positioning devices 100.1 and 100.2 embedded in the user equipment 2000 and the autonomous vehicle 1000 each include an inertial measurement unit (IMU) that includes at least one inertial sensor. Figure 2 Not shown in the diagram. The electronic circuitry of positioning devices 100.1 and 100.2 uses at least one measurement performed by an inertial sensor to calculate the angle between the line 101 connecting the user position and the position of the autonomous vehicle 1000 and the user direction 104 of the positioning device 100.2 embedded in the user equipment 2000, or between the aforementioned line 101 and the autonomous vehicle direction 106 of the positioning device 100.1 embedded in the autonomous vehicle 1000. Figure 2 (The angle is marked as "angle" in the text). Each of these positioning devices 100.2 and 100.1 uses the calculated angle and RF signal exchange to locate the autonomous vehicle 1000 or the user equipment 2000.

[0062] For example, knowing the direction the vehicle 1000 is traveling, the direction the customer is facing (data from the IMU), and the information that the distance is decreasing (data from distance measurements (e.g., via 802.15.4ab, BLE, or Wi-Fi signals)), even if the angle and direction are unknown (which can be measured if the user equipment 2000 is in contact with three anchors of the vehicle 1000), even if GPS is unavailable, it is possible to know from which side the vehicle 1000 is approaching the customer.

[0063] For example, in Figure 2 In the configuration shown, if vehicle 1000 is traveling west and the customer is facing north, vehicle 1000 needs to be positioned closer to the right-hand side. This is also true from the car's perspective.

[0064] Therefore, guidance can be improved by using additional exchange information, such as the vehicle's IMU, the user equipment's IMU, and the angle of arrival. For example, even without an angle, by knowing the vehicle's direction and speed, the user's facing direction, and the decreasing distance between the user equipment and the vehicle, it is possible to determine from which side the vehicle is approaching the user, even if GPS is unavailable. For example, the angle of arrival can be measured using at least two Rx antennas of each of the positioning devices 100.1 and 100.2. This measurement can be performed using triangulation based on the acquired data. For example, knowing the distance between the two anchors of vehicle 1000 and the distance between each anchor and user equipment 2000, the position of user equipment 2000 can be determined. By using a third anchor of vehicle 1000, the possibility of user equipment 2000 flipping can be ruled out, and it is also possible to determine which side of the vehicle the user is on.

[0065] In the example above, if the vehicle is traveling west and the user is facing north, the vehicle can approach the user on the right. The same applies from the vehicle's perspective.

[0066] Figure 3 A process implemented in a system for managing exchanges between a user, including device 2000, and an autonomous vehicle 1000, is illustrated. The device and the autonomous vehicle each include positioning devices 100.2 and 100.1 as described above. The process may include at least one of the following steps:

[0067] 1) When a user selects (orders) a car ( Figure 3 In step 200), the cloud (i.e., the management system) creates a session between the user device 2000 and the vehicle 1000 assigned to that user (step 202).

[0068] 2) A security key or encryption key is generated during the session and is sent to vehicle 1000 (as specified by number "204") and user equipment 2000 (as specified by number "206"), and is then used for secure ranging and potential data exchange between vehicle 1000 and user equipment 2000.

[0069] exist Figure 3 In the process shown, before using RF signal exchange, GPS can be used as a trigger to initiate ranging and determine a first coarse location between vehicle 1000 and user equipment 2000 (step 208). The GPS location may be considered to be within a given boundary, or expected to be close in the event that GPS is inaccurate or unavailable.

[0070] 3) When the vehicle 1000 is very close to the user, a UWB session or more generally an RF signal exchange is initiated between the user equipment 2000 and the vehicle 1000 based on the exchanged key (step 210).

[0071] 4) When the user is close enough to the vehicle 1000, the user can enter the vehicle 1000 and use it (actively driving or being driven), and the car or vehicle 1000 can also use it to perform safe internal / external detection of the user equipment 2000.

[0072] 4a) If different people are being transported via vehicle 1000, such as robotaxis (e.g., children), a booking device can be used to verify and initiate the transport. Optionally, a second key can be generated for the transported person's device. This situation is as follows: Figure 3 As shown, an optional receiver security key is sent to the selected device (marked as "212").

[0073] 4b) If the goods are being transported, the optional equipment may be used for verification and commencement of transport.

[0074] 5) When the user reaches their destination (robot taxi) or decides to end the driving session after getting off (e.g., car sharing), the session terminates and the security key becomes invalid.

[0075] 5a) When a passenger arrives at their destination, the user device that booked the ride will receive an arrival notification (via various means, such as verifying that the passenger is in the correct location), and the session and security key will be terminated (optionally after device confirmation). Optionally, if the passenger device also receives the key, both keys will be terminated.

[0076] 5b) When the vehicle arrives at its destination, secure distance measurement with the receiving user's device begins to allow unloading of the package. After the package is removed and delivery is complete, the session and key are terminated on both devices.

[0077] The above process can be implemented in a system for managing exchanges between a user of a device and an autonomous vehicle, each of which includes a positioning device as described above, which sends a security key (public or private key) to the positioning device of the user device and the positioning device of the autonomous vehicle.

[0078] The system can perform the following steps: creating a session between a user device and an autonomous vehicle; generating a security key; sending the security key to both the user device and the autonomous vehicle; and sending an invalidation instruction for the security key to both the autonomous vehicle and the user device when the session between the user device and the autonomous vehicle ends.

[0079] Figure 4 The RF and narrowband signals exchanged between user equipment 2000, which includes a positioning device, and autonomous vehicle 1000 are shown.

[0080] Figure 4 The example shown above corresponds to a UWB signal according to IEEE 802.15.4z, which can be used for RF signal exchange between user equipment 2000, including positioning devices 100.2 and 100.1, and autonomous vehicle 1000. Figure 4 The upper part shows an example of UWB frames 300 exchanged between user equipment 2000 and autonomous vehicle 1000, such as on channel 9 between 7.737 GHz and 8.236 GHz or channel 5 between 6.240 GHz and 6.739 GHz. (Multiple) other channels may be used for RF signal exchange.

[0081] To fully realize the potential of positioning devices in terms of distance and accuracy, such as Figure 4 As shown in the lower section, UWB signals according to IEEE 802.15.4ab can be used, and because the link budget is increased to 15–17 dB, the safe ranging distance is increased by 4–6 times compared to the distance obtained using UWB signals according to IEEE 802.15.4z. This full potential can be obtained by using multi-millisecond (MMS) and narrowband-assisted ranging. Figure 4 The lower half of the diagram illustrates examples of UWB and narrowband frames 302 and 304 exchanged between user equipment 2000 and autonomous vehicle 1000, such as on channel 9 between 7.737 GHz and 8.236 GHz or channel 5 for UWB frames between 6.240 GHz and 6.739 GHz, and on the UNII-3 band between 5.725 GHz and 5.85 GHz or the UNII-1 band between 5.15 GHz and 5.25 GHz. Other channels may be used for RF signal exchange.

[0082] exist Figure 5 In the example shown, data communication is exchanged on a narrowband channel, an improvement of approximately 17 dB compared to SP0. In this case, replacing SP0 data frames with 250 available channels provides a synchronization clock for the NB with UWB MMS ranging. Furthermore, bidirectional data transmission allows for additional optimizations during the ranging session, such as changing the MMS mode or measurement frequency.

[0083] exist Figure 5 In the example shown, the distance measurement using MMS ranging increased by approximately 15 dB compared to SP3 (and by 17–18 dB compared to SP0). Therefore, the SP3 frame was replaced.

[0084] exist Figure 5 In the text, autonomous vehicles 1000 are labeled "cars" and user equipment 2000 is labeled "telephones".

[0085] Figure 6 An autonomous vehicle 1000 (e.g., an autonomous car) and a user device 2000 (e.g., a smartphone) exchanging RF signals with each other are shown, as well as a system 3000 for managing these exchanges.

[0086] Each of the vehicle 1000 and the device 2000 includes a positioning device 100 for the user and the autonomous vehicle. The positioning device is configured to be embedded in the user device 2000 or the autonomous vehicle 1000 and includes electronic circuitry 102. The electronic circuitry exchanges RF signals with another positioning device 100 embedded in the autonomous vehicle 1000 or the user device 2000, respectively. The RF signal exchange is used to measure the distance between the user device 2000 and the autonomous vehicle 1000, and the measured distance is used to locate the autonomous vehicle 1000 or the user device 2000, respectively.

[0087] For example, the positioning device 100.2 of user equipment 2000 may correspond to an RF chipset capable of ranging operations. This RF chipset can be configured to perform UWB signal exchange with or without the 802.15.4ab specification, BLE, or Wi-Fi. Similarly, the positioning device 100.1 of an autonomous vehicle 1000 may correspond to an RF chipset within the vehicle's anchor and be adapted for telephone use.

[0088] Figure 7 An example of establishing a safe distance measurement between user equipment 2000 and autonomous vehicle 1000 is shown.

[0089] First, users or customers register for the service, thus creating personal identification (step 400). This service can correspond to taxis or car sharing.

[0090] Then, the user selects vehicle 1000 (step 402). A security key or security key is sent to vehicle 1000 and user device 2000. This security key can be similar to a friend key, digital key, or endpoint key on a mobile phone, or a vehicle key on a car.

[0091] exist Figure 7 In the process shown, before using RF signal exchange, GPS can be used to determine a first coarse location between vehicle 1000 and user equipment 2000 (step 404). The GPS location can be considered to be within a given boundary, or expected to be close if GPS is inaccurate or unavailable.

[0092] Then, when the vehicle 1000 and the user equipment 2000 approach each other, a temporary or short-term key is generated if they are near the place where the public key is exchanged between the vehicle (i.e., vehicle 1000) and the equipment 2000.

[0093] Using this key pair, for example after the Diffie-Hellmann method, a key is generated by multiplying the two keys.

[0094] This generates the session key and URSK (UWB ranging session key).

[0095] Additional keys (STS, MMS RFI, etc.) can be derived for secure ranging.

[0096] Then perform secure ranging using the previously exchanged key (step 406).

[0097] It is possible to establish other safe distance measurement between user equipment and vehicles.

[0098] For all examples, when a user selects an autonomous vehicle (e.g., an autonomous car), the cloud can create a session between the user's device and the vehicle assigned to that user. The session can generate a security key, which is then used for secure distance measurement between the vehicle and the user. When the vehicle approaches the user, a UWB session or RF signaling session begins between the user's device and the vehicle.

[0099] Specific implementations can deliver a better user experience. In particular, if rolled out and widely used, the connection will be smoother, providing a better user experience and greater safety (people don't need to cross the road when vehicles approach from the right).

[0100] Especially in crowded situations, it can prevent users from accidentally receiving the call.

[0101] According to a specific embodiment, the capabilities of the standard IEEE 802.15.4ab can be used for accurate (~10cm) ranging over greater distances, even up to 100m, down to the last meter.

[0102] One particular embodiment proposes the use of RF signals, such as 15.4ab UWB technology (i.e., the standard IEEE 802.15.4ab), to allow vehicles and devices equipped with this technology to exchange distance, angle, and other position / orientation-related data, so as to allow autonomous vehicles to accurately pick up users and navigate users to the vehicle when the vehicle cannot approach the user.

[0103] For example, a 15.4ab UWB signal will provide accurate and long-range "location" (distance and angle) data, and will not be affected if the area is covered like GPS. There is no need to call the user, as the vehicle can accurately pinpoint its location.

[0104] The solutions described above can be applied to fields such as car rental, robotaxis, delivery drones, or car sharing. These solutions can locate users cautiously, safely, and accurately. The solutions described above are applicable to any type of autonomous vehicle, such as those used for transporting people, animals, or objects.

[0105] Various embodiments and variations have been described. Those skilled in the art will understand that certain features of these embodiments can be combined, and other variations will be readily apparent to them.

[0106] Finally, based on the functional descriptions provided above, the actual implementation of the embodiments and variations described herein is within the capabilities of those skilled in the art.

Claims

1. A positioning device providing positioning between a user and an autonomous vehicle, configured to be embedded in a user device or in the autonomous vehicle, and comprising: - an electronic circuit configured to exchange radio frequency, RF, signals with another positioning device embedded in the autonomous vehicle or in the user device, respectively, the electronic circuit being configured to measure at least a distance between the user device and the autonomous vehicle directly using time of flight or indirectly using the exchange of the RF signals, and to position the autonomous vehicle or the user device, respectively, using the measured distance.

2. The positioning device of claim 2, further comprising at least two receive, Rx, antennas coupled to the electronic circuit, and wherein the electronic circuit is configured to measure an angle of arrival using triangulation based on data acquired through the at least two Rx antennas.

3. The positioning device of claim 1, wherein the electronic circuit comprises an ultra- wideband, UWB, transceiver, and wherein the electronic circuit measures the distance between the user device and the autonomous vehicle using at least UWB signal exchange.

4. The positioning device of claim 3, wherein the UWB transceiver is configured to transmit and receive UWB signals according to the IEEE 802.15.4ab standard.

5. The positioning device of claim 1, wherein the electronic circuit comprises at least one of a Bluetooth transceiver and a Wifi transceiver, and wherein the electronic circuit measures the distance between the user device and the autonomous vehicle using at least one of Bluetooth signal exchange and Wifi signal exchange.

6. The positioning device of claim 1, further comprising a GPS receiver configured to generate a GPS positioning, and wherein the electronic circuit positions the autonomous vehicle or the user device using the measured distance and the GPS positioning.

7. The positioning device of claim 1, wherein the electronic circuit further comprises a narrowband transceiver, and wherein the electronic circuit measures the distance between the autonomous vehicle and the user device using narrowband signal exchange.

8. The positioning device of claim 1, further comprising at least one inertial sensor, and wherein the electronic circuit is configured to calculate additional information using at least one inertial sensor measurement, such as an angle between a line connecting a position of the user and a position of the autonomous vehicle and a user direction when the positioning device is embedded in the user device, or between the line and a direction of the autonomous vehicle when the positioning device is embedded in the autonomous vehicle, and to further position the autonomous vehicle or the user device, respectively, using the calculated angle.

9. The positioning device of claim 8, further comprising an inertial measurement unit, IMU, comprising the at least one inertial sensor.

10. The positioning device of claim 1, wherein the electronic circuit receives a security key prior to RF signal exchange, and then exchanges RF signals using the security key.

11. The positioning device of claim 10, wherein the security key is invalidated at the end of a communication session.

12. An autonomous vehicle comprising the positioning device of claim 1, wherein the autonomous vehicle comprises one of a car or a drone.

13. A user device comprising the positioning device of claim 1, wherein the user device comprises one of a smartphone, a watch, or a tablet.

14. A system managing exchanges between a user and an autonomous vehicle, the user comprising a device, the device and the autonomous vehicle each comprising the positioning device of claim 1, wherein the system is configured to send a security key to the positioning device of the user device and the positioning device of the autonomous vehicle.

15. The system of claim 14, configured to: create a session between the user device and the autonomous vehicle; generate the security key; send the security key to the user device and the autonomous vehicle; send an invalidation instruction of the security key to the autonomous vehicle at the end of the session between the user device and the autonomous vehicle.

16. The system of claim 14, further configured to send the security key to another user device.

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