Procedure for confirming position data of a number of vehicles, a single vehicle, and an ensemble of vehicles

Abstract

To specify a method for confirming position data determined by a position determination method for a number of vehicles (A, B, C, D, E, F, G, H, I), in particular aircraft, especially autonomously operated vehicles, a vehicle (A, B, C, D, E, F, G, H, I), in particular autonomously operated, preferably aircraft, with means for determining its position data, and an ensemble (1, 10) of vehicles (A, B, C, D, E, F, G, H, I) which ensure safe operation against malicious manipulation such as spoofing or jamming, as well as against technical defects, it is proposed that a position data distance be calculated between at least one pair of vehicles selected from the number of vehicles (A, B, C, D, E, F, G, H, I) based on the position data.that a distance measurement procedure is carried out to determine a measurement distance (4) between the vehicle pair and that subsequently a comparison is made between the position data distance and the measurement distance (4) and confirmation data for the position data are determined from the comparison.

Description

[0001] The present invention relates to a method for confirming position data of a number of vehicles, in particular autonomously operated vehicles, especially aircraft, determined by a position determination method.

[0002] The invention further relates to a vehicle, in particular an autonomously operated, preferably an aircraft, with means for determining its position data.

[0003] Finally, the present invention relates to an ensemble of vehicles.

[0004] Vehicles today are frequently equipped with devices for determining their position data. This is already true for land vehicles such as cars. In current vehicle models, position data is increasingly used for autonomous driving. This is even more true for aircraft, especially unmanned aerial vehicles (UAVs) or drones. Navigation is often based on navigation data provided by global satellite navigation systems, from which each receiver can then determine its position. Drones, in particular, rely primarily on widely used satellite navigation systems such as GPS or Galileo for navigation.

[0005] The problem with this is that such systems for determining location and navigation based on it are susceptible to interference or manipulation. Common methods for manipulating satellite navigation systems include spoofing, in which, in the context of satellite navigation, for example in GPS spoofing, signals from satellites of global navigation systems are overwritten by powerful radio transmitters to feed navigation systems false position information. In GPS spoofing, manipulated GPS data is transmitted. The positions of government buildings, military installations, and prominent figures have already been concealed using GPS spoofing. Manipulations of this kind also include the use of so-called GPS jammers, which are operated as signal jammers against the GPS system.However, a GPS jammer only disrupts the satellite signal, thus preventing the reception of weak GPS signals.

[0006] Another reason for unreliable navigation data from a satellite navigation system can be satellite failure, for example due to space weather such as solar storms. Furthermore, technical defects, such as faulty sensors in the receiver, can be the cause of inaccurate position data.

[0007] Therefore, there is a need to verify the plausibility of position data obtained from navigation data received via satellite navigation systems. Furthermore, there is a general need to verify position data, regardless of the method used to determine it. For example, the use of radar has been proposed in the prior art. However, this is not practical, particularly in the context of drones, due to the size and weight of both radar equipment and the vehicles. Finally, drones are often deliberately designed to be so small that they are not, or at best very difficult to, detect on radar. Radar systems also require a considerable amount of energy. For this reason as well, it is not practical for a small, battery-powered drone to carry a radar device.

[0008] Against the background described above, the invention is based on the objective of providing a method of the type mentioned above, a vehicle of the type mentioned above and an ensemble of vehicles of the type mentioned above, which ensure the safe operation of unmanned and / or autonomously operated vehicles, in particular unmanned aircraft, also against malicious manipulations such as spoofing or jamming, as well as against technical defects.

[0009] The underlying problem is solved by a method of the type mentioned above, in which a position data distance is calculated between at least one pair of vehicles selected from the number of vehicles, a distance measurement method is carried out to determine a measurement distance between the pair of vehicles, a comparison is then made between the position data distance and the measurement distance, and finally, confirmation data for the position data are determined from the comparison. According to the invention, a plausibility check of position data determined by any method whatsoever is thus made possible by measuring a distance to another vehicle and simultaneously calculating the distance between the two vehicles forming the pair of vehicles based on the position data.To calculate the distance based on the position data, the Euclidean distance between position vectors can be calculated in a manner well known to those skilled in the art, according to the invention. Only the magnitude, not the direction, is relevant. Provided the position data, which may be determined by the GPS receivers of the two vehicles forming the vehicle pair based on data provided by the satellite navigation system, is correct, there should, in principle, be no deviation within a certain tolerance between the position data distance determined from the position data and the measured distance. If this is the case, the position data of the two vehicles can be confirmed after comparing these data. Otherwise, the data is implausible, and doubts must be raised about the accuracy of the position data of one or both vehicles in the vehicle pair.

[0010] In one embodiment of the method according to the invention, the distance measurement method includes a transit-time measurement. According to this embodiment, the measuring distance is determined by measuring the transit time of a signal from one vehicle of the vehicle pair to the other vehicle of the vehicle pair. Within the scope of the invention, this can be implemented in a metrologically simple manner, in particular by having one vehicle of the vehicle pair transmit its position data, along with a timestamp indicating the time the signal was sent, to the other vehicle of the vehicle pair. The receiving vehicle then records a timestamp indicating the time it received the signal from the sending vehicle. The transit time of the signal is calculated by subtracting the input timestamp from the output timestamp.Knowing the signal's propagation speed, the distance between the vehicles forming the pair can be calculated. This does not require complicated time-of-flight measurement instruments. Transmitters and receivers with highly accurate time synchronization are sufficient. Such radio systems are readily available.

[0011] In a further advantageous embodiment of the method according to the invention, a data connection is established between at least some, preferably all, of the vehicles, whereby confirmation data or position data are exchanged via the data connection. The data connection allows the exchange of position data for the purpose of plausibility checks of the comparison with a measured distance. The data connection also enables the exchange of confirmation data, i.e., the exchange of information as to whether a given vehicle within the group of vehicles has a confirmed position value or whether it can be assumed that its position data is incorrect, for example, due to manipulation.If every participant in the network receives all data packets, the invention provides, in addition to receiving confirmation data from other participants, the possibility for each participant to independently calculate the plausibility values ​​of every other participant.

[0012] When several, or ideally all, vehicles are directly or indirectly connected via a data link, they form a network, in the sense of a so-called flying ad hoc network (FANET). According to the invention, this allows for the exchange of data between the vehicles. If all participants in the network, i.e., all vehicles, exchange their positions (determined, for example, by a global satellite navigation system) and, furthermore, determine and exchange the distance to each other, each vehicle can perform a plausibility check of its own position data and, if applicable, the position data of all other participants, in order to confirm the position data or mark it as uncertain.

[0013] Within the scope of the invention, it has proven particularly advantageous if the data connection is designed as a radio link. Devices for sending and receiving radio signals are widely known and available. They are inexpensive and, for example, lightweight compared to radar systems. Therefore, according to the invention, they are suitable for mounting on vehicles, especially aircraft such as drones. Data exchange via a radio link can be established between all vehicles within radio range of each other. According to the method of the invention, the vehicles then communicate with each other in a radio network.Each participant, that is, each vehicle integrated into the radio network, in particular each drone, can exchange its position, determined for example by satellite navigation, via the radio network and determine the distance to other vehicles within radio range, in particular by means of time-of-flight measurement.

[0014] Within the scope of the invention, it is also possible for fixed participants to connect to the network, for example authorities or operators, who can then perform a plausibility check according to the inventive method using the distance data.

[0015] In a preferred embodiment of the method according to the invention, the comparison between the position data distance and the measurement distance is performed pairwise between several vehicles. This measure allows a probability to be determined for each vehicle as to whether its position data, determined, for example, via GPS satellite navigation, is plausible. This would be most likely to be the case if the position data distance and the measurement distance correspond for all of the vehicle's neighbors, at least within a certain tolerance. Conversely, if no agreement between the position data distance and the measurement distance is found for any of the vehicle's neighbors, the probability that the vehicle's position data is correct is lowest.

[0016] In an advantageous embodiment of the method according to the invention, if a deviation of the measuring distance to the position data distance is determined, and the position data of a vehicle pair are confirmed if a deviation of the measuring distance to the position data distance is within a tolerance limit, the method according to the invention is able to confirm or refute position data, taking into account usual tolerances due to measurement inaccuracies.

[0017] Within the scope of the invention, the position determination method can include global position determination, in particular using a global satellite navigation system. For example, a drone can obtain navigation data via a GPS system to determine position data. However, this data is subject to the uncertainties and risks of manipulation mentioned above. The method according to the invention for additionally determining a distance to a neighboring vehicle allows for plausibility to be achieved using the position data obtained via the global satellite navigation system.

[0018] According to a specific embodiment of the method according to the invention, the comparison between the position data distance and the measurement distance between a sample number of vehicle pairs comprising a first vehicle is carried out. To confirm the position data of the first vehicle, a confidence ratio is calculated from the number of vehicle pairs where the determined deviation is within the tolerance limit to the number of samples. The position data of the first vehicle is confirmed if the confidence ratio reaches or exceeds a minimum value. For example, if the first vehicle is in radio communication with four neighboring vehicles and a minimum confidence ratio of 0.75 is used, the position data of the first vehicle is confirmed if at least three of the measurement distances correspond to the position data distances, optionally within a tolerance.

[0019] In order to obtain a maximum amount of data for confirming the position data of the first vehicle, in a preferred embodiment of the invention the number of samples should correspond to the number of vehicles with which the first vehicle is in radio contact.

[0020] According to the invention, a vehicle whose position data has not been confirmed using one of the preceding methods can be eliminated from the network. This means that this vehicle is no longer used as a reference for plausibility checks based on distance measurements to other vehicles.

[0021] Furthermore, within the scope of the invention, direct measures can be initiated following a negative plausibility check in order to render the vehicle in question harmless or at least to monitor it more closely.

[0022] With regard to a vehicle of the type mentioned at the outset, the problem underlying the invention is solved by providing it with confirmation means for verifying the position data. This is advantageous because the means for determining the vehicle's position data could be faulty or manipulated. By providing the vehicle with confirmation means according to the invention, it is advantageously possible to determine whether the position data is usable.

[0023] In a particularly advantageous embodiment of the vehicle according to the invention, the confirmation means comprise distance measuring means for measuring a measuring distance to at least one other vehicle, data exchange means for receiving position data from the other vehicle, and evaluation means for carrying out a method according to any one of claims 1 to 9. Measuring a distance to a neighboring vehicle is technically relatively easy to implement. Based on a measured distance, comparing the position data of a pair of vehicles provides a simple criterion for confirming or falsifying the position data. Crucially, this requires that data exchange with one or more neighboring vehicles can take place. The evaluation means serve to compare the measuring distance with the position data distance to assess whether the position data can be confirmed or not.

[0024] In particular, in a further development of the vehicle according to the invention, the distance measuring devices are designed to determine the travel time of a signal transmitted from the other vehicle via the data exchange means. If the signal transmitted by the other vehicle contains, in addition to its position data, a timestamp indicating the time of transmission, the receiving vehicle can determine the travel time by comparing it with the time of reception. The distance can be calculated in a known manner based on the propagation speed of the signal. In the case of radio signals, these propagate at the speed of light.

[0025] In particular, the data exchange means in an advantageous embodiment of the vehicle according to the invention include means for establishing a radio connection to another vehicle.

[0026] It is particularly advantageous if the means for determining its position data include receiving means for a global positioning system, especially for a global satellite navigation system. For example, the vehicle, such as a drone, can have a GPS receiver. GPS receivers are frequently used and normally function reliably. However, they are subject to the manipulation possibilities described above and can therefore be verified using the vehicle according to the invention.

[0027] Insofar as the invention relates to an ensemble of vehicles, the underlying problem is solved by designing the vehicles according to one of claims 10 to 14, wherein the vehicles are connected to each other via data exchange means. In this way, the ensemble of vehicles advantageously forms a data-technically flying ad hoc network, a so-called flying ad hoc network (FANENT).

[0028] The invention is described in a preferred embodiment by way of example with reference to a drawing, further advantageous details of which can be seen in the figures of the drawing.

[0029] Functionally identical parts are marked with the same reference symbols.

[0030] The figures in the drawing show, in detail: Fig. 1: Schematic representation of an ensemble of vehicles to illustrate a preferred embodiment of the method according to the invention as well as to illustrate an exemplary embodiment of an ensemble according to the invention; Fig. 2: Schematic representation to illustrate another ensemble of vehicles according to the invention to illustrate another embodiment of the method according to the invention.

[0031] The Fig. Figure 1 schematically shows an exemplary ensemble 1 of three vehicles A, B, C according to the invention to illustrate an embodiment of the method.

[0032] Three vehicles, A, B, and C, are shown, communicating via radio link 2. In this example, vehicle A transmits its position data, along with a timestamp indicating the time the message was sent, to the neighboring vehicle B via radio link 2. The message containing the position data and timestamp is in the Fig. 1 designated as Type 1. The position data that vehicle A transmits to vehicle B in the Type 1 message, along with the timestamp, was obtained by vehicle A via a satellite navigation system 3, which is located in the Fig. 1 is only schematically indicated, received.

[0033] The neighboring vehicle B receives the Type 1 message containing the position data of vehicle A, supplemented by the timestamp of its transmission. Vehicle B has a corresponding communication module, not shown in the figure, which adds the timestamp of the receipt of the Type 1 message.

[0034] On the vehicle B side, the travel time of the signal from vehicle A to vehicle B is determined from the difference between the timestamp of receiving and the timestamp of sending the type 1 message. Since the radio signal propagates at the speed of light, the distance between vehicles A and B can be calculated from the determined travel time and the speed of light in a known manner.

[0035] Vehicle B, using a suitable evaluation module (not shown in the figures), can calculate a position data distance from the position data received by vehicle A and the position data of vehicle B received via satellite navigation system 3. This calculation is performed using vector calculus methods, which are known per se, to determine the Euclidean distance. The position data distance calculated by vehicle B can then be compared with the measurement distance determined based on the signal's travel time. If the position data distance matches the measurement distance, the position data of both vehicle A and vehicle B, received via satellite navigation system 3, are confirmed.In this case, there is no indication of either a fault or manipulation of navigation system 3. However, if significant deviations—that is, deviations outside a tolerance range—are detected between the position data distance and the measured distance, the position data of vehicles A and B cannot be confirmed. This would indicate a fault or manipulation of satellite navigation system 3.

[0036] Similarly, vehicle A can also transmit a message of type 1 to vehicle C via radio link 2, in order to enable vehicle C, with suitable modules, to confirm the position data that vehicle C has received from the satellite navigation system 3.

[0037] How Fig. As illustrated in Figure 1, there is also a radio connection 2 between vehicle B and vehicle C. Vehicles A, B, and C therefore form a network in the sense of a flying ad hoc network (FANET). Vehicle B can thus transmit a message of type 1 to vehicle C. This allows for the confirmation of the position data of vehicles B and C, analogous to the situation described above regarding vehicles A and B.

[0038] In addition, vehicle B can also transmit a completed Type 2 message to vehicle C via radio link 2. The completed Type 2 message contains the Type 1 message supplemented by the timestamp of the Type 1 message's reception on the vehicle B side. In this way, vehicle C receives the message with suitable receiving modules located in the Fig. Vehicle B receives information from vehicle A about the transit time of message type 1 during transmission from vehicle A to vehicle B, as well as the position data of both vehicle A and vehicle B. As a participant in the network formed by ensemble 1, vehicle C thus receives both the position data spacing between vehicles A and B and the measurement distance between vehicles A and B. Therefore, vehicle C also has information about the confidence interval of the position data of vehicles A and B. In this way, vehicle C is enabled, beyond simply communicating with vehicle A, to confirm its position data received via satellite navigation system 3 or, if necessary, to refute it in the event of manipulation or errors.

[0039] Fig. Figure 2 shows an ensemble 10 in another exemplary embodiment of the invention. The one in Fig. The ensemble 10 shown consists of nine vehicles A, B, C, D, E, F, G, H, I according to the invention. Radio links 2 exist between some of the vehicles A to I. Specifically, radio links 2 exist between vehicles that are spaced apart from each other within a radio range.

[0040] Depending on the specific implementation of the FANET network protocol, various network graphs can arise within the scope of the invention. However, all nodes are always interconnected. Ideally, all nodes within range also communicate wirelessly with each other to obtain the highest information content for plausibility checks. For the sake of network efficiency, unnecessary wireless connections can be eliminated.

[0041] Vehicles of Ensemble 10 according to Fig. Vehicles 2, which are located outside of radio range, do not have a direct radio connection. This is the case, for example, with vehicles C and D, between which no direct radio connection exists due to the distance exceeding the radio range. As already mentioned in Fig. The ensemble 1 of vehicles shown also receives each of the vehicles A to I of ensemble 10. Fig. 2. The satellite navigation system 3 receives navigation data, from which it determines its own position data, in a manner not shown in detail. In addition, vehicles A to I of ensemble 10 are available according to Fig. 2. in such a way as in Fig. 1 explained in relation to the ensemble 1 consisting of three vehicles A, B, C.

[0042] Based on the ensemble comprising the nine vehicles A to I, 10 of the Fig. Figure 2 below illustrates how, by evaluating several measurement distances and position data intervals, a confidence level for the position data of each vehicle in the ensemble 10 interconnected in a network is determined. In terms of network theory, the radio links 2 are edges and the vehicles A to I are nodes.

[0043] Fig. Figure 2 now shows the case where the position data of vehicle A, which it determined from the navigation data received by satellite navigation system 3, are not consistent with the measurement distances. This is shown in Fig. 2 is illustrated by the fact that the position data determined from the navigation data received by the satellite navigation system 3 locate vehicle A at position A. In contrast, the data shown in connection with Fig. Section 1 explains that, based on distance measurements obtained via travel time measurements relative to vehicles B, D, F, G, H, and I, the position of vehicle A must be position A'. Therefore, the position A' of vehicle A, determined from the distance measurements, differs from the position A obtained via the position data of satellite navigation system 3 by the difference distance r. f The measurement intervals 4, however, are in the ensemble 10 according to Fig. 2 illustrated with dashed lines. In the schematic representation of the Fig. 2, however, the measurement distances are identical to the radio connection 2 between the vehicles concerned in cases where they correspond to the position data distances calculated from the position data of neighboring vehicles.

[0044] The Fig. Figure 2 illustrates the following for vehicle I, for example. Vehicle I is in radio contact with vehicles G, F, A, B, and H. The comparison of the measurement distances to the position data distances by the [method] according to Fig. The data exchange illustrated in Figure 1 showed agreement between the distance values ​​of vehicle I and the neighboring vehicles G, F, B, and H. However, the comparison of the measured distance (Figure 4) with the position data distance between vehicle I and vehicle A revealed a significant deviation. For vehicle I, however, the cause of this deviation is initially unknown, i.e., which neighboring vehicle's position data is faulty.

[0045] Within the scope of the invention, a confidence level is therefore determined for each vehicle. According to the invention, this confidence level provides a measure of the probability that the vehicle's position data, which it has determined from the navigation data obtained by the satellite navigation system 3, are plausible and can thus be confirmed.

[0046] With regard to vehicle I, agreement between the measurement distance and the position data distance was found for four neighboring vehicles, namely vehicles G, F, B, and H, but not for vehicle A. Overall, the measurement distance and the position data distance to vehicle I agree for four out of five neighboring vehicles. Therefore, the confidence ratio for the accuracy of the position data of vehicle I is given as 0.8 according to the invention.

[0047] Similarly, the confidence level for the position data of vehicle C is specified as 1.0. This is because, with respect to the neighboring vehicles H, B, and E, with which vehicle C is in radio communication 2, the measurement distance corresponds to the position data distance. This is in the Fig. 2 is illustrated by the fact that no dashed connecting lines are shown, which indicate a measurement distance 4 that differs geometrically from a radio connection 2. Thus, with respect to vehicle C, three out of three neighboring vehicles are arranged at a measurement distance that corresponds to the position data distance. The confidence ratio for the position data of vehicle C can therefore be specified as 1.0.

[0048] As another extreme case, on the side of vehicle A, the measurement distance to each of the neighboring vehicles I, G, F, D, B, H, with which vehicle A is connected via radio links 2, deviates from the position data distance. Regarding the confidence level of vehicle A's position data, this means that zero of the six neighbors are at a position data distance from each other that matches the measurement distance. Accordingly, the confidence level of vehicle A's position data is zero.

[0049] For vehicle E, the confidence ratio of the position data is 1.0, since the measurement distance for all neighboring vehicles, i.e. vehicles D, B, H, C, matches the position data distance.

[0050] Vehicle F is in contact with vehicles G, I, A, and D via radio links 2, with a discrepancy between position data spacing and measurement distance only existing with respect to the distance to vehicle A. Therefore, the confidence level of the position data that vehicle F has determined from the navigation data received by satellite navigation system 3 is given as 0.75.

[0051] Similarly, for vehicle G, of the three neighbors, a discrepancy between the measured distance and the position data distance was only found with respect to one neighbor, namely vehicle A. Accordingly, the confidence ratio for the position data of vehicle G is given as 2 / 3, which is approximately 0.67.

[0052] Vehicle B has six neighboring vehicles, namely vehicles D, E, C, H, I, and A, of which a discrepancy between the measurement distance and the position data distance was only found for vehicle A. The confidence ratio of the position data for vehicle B is therefore 5 / 6, which is approximately 0.83.

[0053] In the Fig. In the illustrated example 2, within the scope of the invention, vehicle A can be eliminated from the network for confirming the position data of the other vehicles B to I, since the position data of vehicle A is obviously incorrect due to the zero confidence relationship.

[0054] The method according to the invention, an ensemble 1, 10 according to the invention consisting of vehicles A to I according to the invention, enables the confirmation of position data obtained from navigation data from a satellite navigation system 3 based on a time-of-flight distance measurement to neighboring vehicles with which a radio link 2 exists. In this way, according to the invention, an error or manipulation of the satellite navigation system 3 can be advantageously detected in order to ensure the safe operation of unmanned and / or autonomously operated vehicles, in particular unmanned aerial vehicles, against malicious manipulation such as spoofing or jamming, as well as against technical defects. REFERENCE MARK LIST 1 Ensemble A vehicle Vehicle B C vehicle The vehicle Electric vehicle F vehicle G vehicle H vehicle I vehicle 2 radio connection 3 Satellite navigation system 4 Measuring distance 10 Ensemble

Claims

[1] Method for confirming position data of a number of vehicles (A, B, C, D, E, F, G, H, I), in particular aircraft, which are determined by a position determination method, especially autonomously operated vehicles, characterized by , that a position data distance is calculated between at least one vehicle pair selected from the number of vehicles (A, B, C, D, E, F, G, H, I) based on the position data, that a distance measurement procedure is carried out to determine a measurement distance (4) between the vehicle pair, and that a comparison is then made between the position data distance and the measurement distance (4), and finally, confirmation data for the position data are determined from the comparison. [2] Method according to claim 1, characterized by that the distance measurement method includes a time-of-flight measurement. [3] Method according to claim 1 or 2, characterized by, that at least between some, preferably between all, of the vehicles (A, B, C, D, E, F, G, H, I) a data connection (2) is established, wherein the confirmation data and / or the position data are exchanged via the data connection (2). [4] Method according to claim 1 or 2, characterized by , that the data connection (2) is designed as a radio connection (2). [5] Method according to claim 1 or 2, characterized by , that the comparison between the position data distance and the measurement distance (4) is carried out pairwise between several vehicles (A, B, C, D, E, F, G, H, I). [6] Method according to claim 1 or 2, characterized by , that a deviation of the measuring distance (4) to the position data distance is determined, wherein the position data of a vehicle pair are confirmed if a deviation of the measuring distance (4) to the position data distance is within a tolerance limit. [7] Method according to claim 1, characterized by , that the positioning procedure includes a global positioning procedure, in particular using a global satellite navigation system (3). [8] Method according to claim 1, characterized by , that the comparison between the position data distance and the measurement distance (4) is carried out between a sample number of vehicle pairs (A, B) comprising a first vehicle (A), wherein to confirm the position data of the first vehicle (A) a confidence ratio is calculated from the number of vehicle pairs (A, B) where the determined deviation is within the tolerance limit to the sample number and wherein the position data of the first vehicle (A) are confirmed if the confidence ratio reaches or exceeds a minimum value. [9] Method according to claim 7, characterized by, that the number of samples corresponds to the number of vehicles (D, F, G, H, I) to which the first vehicle (A) is in radio contact (2). [10] Vehicle (A, B, C, D, E, F, G, H, I), in particular an autonomously operated, preferably an aircraft, with means for determining its position data, characterized by that it has confirmation means to verify the position data. [11] Vehicle (A, B, C, D, E, F, G, H, I) according to claim 10, characterized by , that the confirmation means comprise distance measuring means for measuring a measuring distance (4) to at least one other vehicle (A, B, C, D, E, F, G, H, I), data exchange means for receiving position data of the other vehicle (A, B, C, D, E, F, G, H, I) and evaluation means for carrying out a method according to one of claims 1 to 9. [12] Vehicle (A, B, C, D, E, F, G, H, I) according to claim 10 or 11, characterized bythat the distance measuring devices are designed to determine the transit time of a signal transmitted via the data exchange means from the other vehicle (A, B, C, D, E, F, G, H, I). [13] Vehicle according to any one of claims 10 to 12, characterized by , that the data exchange means include means for establishing a radio link (2) to another vehicle (A, B, C, D, E, F, G, H, I). [14] Vehicle (A, B, C, D, E, F, G, H, I) according to any one of claims 10 to 13, characterized by , that the means for determining its position data include receiving means for a global positioning system, in particular for a global satellite navigation system (3). [15] Ensemble (1, 10) of vehicles (A, B, C, D, E, F, G, H, I), characterized by, that the vehicles (A, B, C, D, E, F, G, H, I) are designed according to one of claims 10 to 14, wherein the vehicles (A, B, C, D, E, F, G, H, I) are connected to each other via the data exchange means in a data connection (2).

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