Methods for clustering facilities

Abstract

The invention relates to a method (100) for clustering facilities, comprising the following steps, which are carried out by a facility using a communication system: - Sending (101) a message containing information indicating an ultra-wideband (UWB) capability of the facility (10), where a UWB capability is specified as an ability to accurately determine distance or range when at least one UWB tag is used, - Receiving (102) a reply message from at least one other entity, each of the at least one reply messages containing information indicating the UWB capability of the respective other entity, if at least one UWB tag is used, - Generating (103) a mapping between each UWB tag and each identified facility, - Performing (104) a distance measurement with at least one other device using an ultra-wideband (UWB) distance measurement, - Forming (105) a cluster (1) depending on the at least one distance measurement performed, characterized in that the formation (105) of the cluster (1) is based on performing (104) a relative distance measurement.

Description

[0001] The invention relates to a method for clustering devices, in particular using ultra-wideband technology. The invention further relates to a computer program, a device, and a storage medium for this purpose. State of the art

[0002] Vulnerable road users (VRUs) clustering has been identified as a challenging aspect of traffic scenarios where not all road users act independently. This phenomenon is referred to as VRU clusters, which are groups of VRUs exhibiting consistent behavior. This concept is further defined by ETSI TS 103 300-2, which specifies a VRU cluster as "a group of VRUs exhibiting consistent behavior, ... where Vulnerable Road User Attention (VAM) messages affecting the VRU cluster provide information about the entire cluster."

[0003] According to this definition, facilities in a VRU cluster can assume two roles: leader or member. Leader facilities transmit Vulnerable Road User Attention Messages (VAMs) containing cluster information and / or cluster operations, while member facilities send VAMs containing cluster operation containers to join or leave the VRU cluster. Specifically, member facilities never transmit VAMs containing cluster information containers.

[0004] Furthermore, a VRU cluster can comprise VRU devices with multiple profiles, categorized as homogeneous (containing only one profile) or heterogeneous (comprising devices with more than one profile). The VAM cluster information container includes a field that specifies which VRU profiles are present in the cluster. This is particularly important because it provides valuable information for predicting trajectory and behavior when the cluster is resolved.

[0005] Currently, clustering of road users relies on precise knowledge of their positions, typically achieved through the Global Navigation Satellite System (GNSS) and various communication technologies such as mobile networks (5G / 6G), direct communication (DSRC / C-V2X), or infrastructure sensors (e.g., cameras / radar / lidar). Where infrastructure is available, it provides information about the cluster. Otherwise, a communication technology is necessary to inform road users about the cluster. Disclosure of the invention

[0006] Therefore, it is an object of the present invention to at least partially overcome the disadvantages described above. In particular, it is an object of the present invention to provide an improved method for clustering facilities or road users that enables them to form clusters independently, without relying on information relating to the Global Navigation Satellite System (GNSS).

[0007] According to aspects of the invention, a method with the features of claim 1, a computer program with the features of claim 10, a data processing device with the features of claim 11, and a computer-readable storage medium with the features of claim 12 are provided. Further features and details of the invention are disclosed in the respective dependent claims, the description, and the drawings. Features and details described in the context of the method according to the invention also correspond in each case to a computer program, a data processing device, and a computer-readable medium according to the invention, and vice versa.

[0008] According to one aspect of the invention, a method for clustering devices, i.e., for forming a cluster of devices, is provided. The method comprises the following steps, which are carried out by a device using a communication system, wherein the steps can be performed repeatedly and / or sequentially: - Sending a message containing information indicating an ultra-wideband capability of the facility, where UWB capability is specified as an ability to accurately determine distance or range when at least one UWB tag is used, - Receiving a reply message from at least one other entity, each of the at least one reply messages containing information indicating the UWB capability of the respective other entity, if at least one UWB tag is used, - Generating a mapping between each UWB tag and each identified facility, - Performing a distance measurement with at least one other device using an ultra-wideband-based distance determination method, - Forming a cluster depending on at least one distance measurement performed.

[0009] The method is characterized by the fact that the formation of the cluster is based on performing a relative distance measurement.

[0010] This offers the advantage of creating a robust and accurate clustering system. The ability to send and receive UWB capability information enables precise positioning using at least one UWB tag. Furthermore, creating a mapping between each UWB tag and an identified facility allows for more effective tracking of facilities within a network. The performance of distance measurements using ultra-wideband-based distance determination facilitates accurate clustering and grouping of facilities, advantageously based solely on their relative distances. Moreover, basing this method on relative distance measurement provides improved accuracy and advantageously reduces errors that can occur when relying exclusively on absolute distance measurements.

[0011] UWB, or Ultra-Wideband, is a radio technology that uses very low energy levels for short-range, high-bandwidth communication across a large portion of the radio spectrum. UWB capability refers to the ability of devices to perform functions requiring high bandwidth and precise positioning with minimal interference. A key feature of UWB technology is its ability to pinpoint the location of objects, equipment, or road users to within a few centimeters. This makes it suitable for real-time positioning systems, such as in traffic situations or scenarios, industrial automation, smart homes, or medical environments.UWB can operate with very low power, making it ideal for use in battery-powered devices such as mobile phones and portable equipment. UWB's wide bandwidth and unique signal characteristics make it difficult to intercept, providing an additional layer of security for data transmission.

[0012] Due to its wide bandwidth and the nature of its signal, UWB is less likely to interfere with other radio bands, making it a good neighbor in the heavily populated spectrum.

[0013] Devices with UWB capability can effectively utilize these properties for applications such as short-range data transmission, accurate position tracking in complex environments, and secure communication channels for connected facilities.

[0014] A UWB tag is a device that uses ultra-wideband (UWB) technology to accurately locate and track objects or people to which it is attached. These tags emit short pulses across a broad frequency spectrum, enabling their precise position to be determined indoors or in other environments with high accuracy. UWB tags can be used, for example, to track inventory in warehouses, for secure monitoring in factories, or to locate people in emergency situations. They are a key component in various applications that rely on precise location and tracking.

[0015] A device can be a vehicle, an object, or a vulnerable road user that is equipped with UWB technology, such as a UWB tag.

[0016] It is also possible that the procedure includes the following additional step: - Adding the result of each distance measurement taken to the generated image.

[0017] This offers the advantage of enabling real-time updates of the generated image, facilitating accurate and precise position tracking and navigation. Furthermore, adding the result of each distance measurement to the generated image facilitates continuous monitoring and refinement of the mapped environment, which can be particularly useful in applications such as autonomous vehicles, robotics, or smart home systems. This can also enable more efficient resource utilization, as the inventive method can take changing conditions into account and adapt to them, optimizing its behavior accordingly. Moreover, this real-time update capability can improve decision-making and response times in situations requiring immediate action.

[0018] It is also possible that the process includes the following additional step during the sending of the message: - Sending position information of at least one UWB tag in a local coordinate system of the facility.

[0019] This enables precise tracking and monitoring of facilities using UWB tags within a specific area or environment in a traffic scenario or situation. Providing real-time positional information allows for the accurate location and identification of tagged facilities, which can be particularly advantageous for applications such as inventory management, goods tracking, or location-based services. Furthermore, using information regarding UWB tags in their local coordinate systems advantageously allows for the calculation of distances and trajectories between multiple UWB tags, enabling more sophisticated spatial analysis and visualization.

[0020] It is also possible that the procedure includes the following additional step during the receipt of the message: - Receiving position information of at least one UWB tag in a local coordinate system of at least one other facility.

[0021] Receiving location information from these tags can facilitate real-time monitoring, enabling more efficient inventory management, asset tracking, and navigation applications. Furthermore, it advantageously improves accuracy or precision compared to other location-based technologies because the local coordinate system provides a precise reference frame for the UWB tags. This can be particularly useful in scenarios where accurate positioning is critical, such as certain traffic situations, industrial environments, or logistics. This feature can also enable advanced applications such as tracking the movement of people or objects within a building or facility, thereby enhancing security and surveillance capabilities.

[0022] It is also possible that the process includes the following additional step during the generation of the image: - Mapping a geometry with respect to each of the received position information of the at least one UWB tag, wherein the position information includes a respective position of the UWB tag in its local coordinate system.

[0023] This offers the advantage of providing a more accurate spatial representation of the UWB tags in their local coordinate systems. This enables precise tracking and monitoring of the UWB tag positions, facilitating real-time applications such as localization and object tracking. Furthermore, this feature can generate accurate representations of environments, which can be used for tasks such as indoor navigation, plant design, and spatial analysis.

[0024] It is also possible, and is characterized by the fact that the respective message includes further information regarding speed and / or direction of travel and / or the like during sending and / or receiving.

[0025] This allows for more precise tracking of a position's movement by incorporating data regarding speed and direction. This could be particularly useful in applications where real-time updates are critical, such as navigation systems or logistics management software. Furthermore, providing additional information about speed and direction can advantageously improve decision-making in situations where timely responses are paramount.

[0026] It is also possible that, if the institution is to be a leading institution of the cluster to be formed, the procedure will include the following additional step: - Sending a request to form the cluster, depending on the relative distance measurement performed with at least one other facility.

[0027] This allows the lead device to trigger cluster formation by sending a request based on the relative distance measurements obtained from the performed measurements. Furthermore, the method according to the invention can facilitate efficient and accurate cluster formation because the lead device's request is triggered by the successful completion of the relative distance measurement process. Sending the request also enables coordinated communication between devices to form a cluster. This can allow seamless data transmission or reduce latency. This feature allows the lead device to monitor and manage cluster formation, ensuring that all participating devices are correctly aligned.

[0028] It is possible that the formation of the cluster is carried out by a function of an infrastructure.

[0029] Using an infrastructure feature, such as a road site unit (e.g., a traffic light or camera), to create clusters allows for greater scalability and flexibility in data clustering, as it enables the processing and analysis of large datasets from various sources. Furthermore, this approach can facilitate real-time clustering, allowing for rapid adaptation to changing conditions or new data. Advantageously, the road site unit manages clusters within a specific area, such as an intersection or a lane merging zone on a highway. Alternatively, clustering can be performed by a feature of the mobile network system, such as a 5G network.

[0030] Using infrastructure when forming clusters can provide a central function or unit for cluster management with potentially more computing power and fewer limitations regarding electrical power supply.

[0031] It is also possible that it is characterized by the fact that the formation of the cluster for distributed decision-making is decentralized.

[0032] This feature allows nodes or resources to make independent decisions without relying solely on a central authority. As a result, this promotes scalability, adaptability, and fault tolerance within the system. Decentralized clustering also enables self-organizing networks, where nodes can dynamically adjust their connections and behavior based on changing conditions or requirements. This characteristic enhances resilience and robustness against errors or disruptions. Furthermore, decentralization facilitates parallel processing and accelerates computation, as multiple nodes can process data concurrently without relying on a central bottleneck. This leads to improved overall system performance and reduced latency.

[0033] An example of distributed decision-making is distributed consensus-based decision-making. Without a leader, the vehicles circulate proposals for a cluster composition and modify them according to some predefined rules until a consensus is reached.

[0034] In a further aspect of the invention, a computer program, in particular a computer program product, can be provided which includes instructions which, when the computer program is executed by a computer, cause the computer to perform the method according to the invention. Thus, the computer program according to the invention can have the same advantages as have been described in detail with reference to a method according to the invention.

[0035] In another aspect of the invention, a data processing device can be provided that is configured to execute the method according to the invention. The device can, for example, be a computer that executes the computer program according to the invention. The computer can contain at least one processor that is used to execute the computer program. Furthermore, a non-volatile data storage medium can be provided in which the computer program can be stored and from which the computer program can be read by the processor so that it can be executed.

[0036] According to a further aspect of the invention, a computer-readable storage medium can be provided which comprises the computer program according to the invention and / or instructions which, when executed by a computer, cause the computer to perform the steps of the method according to the invention. The storage medium can be configured as a data storage device such as a hard disk, non-volatile memory, memory card, or solid-state drive. The storage medium can, for example, be integrated into the computer.

[0037] Furthermore, the method according to the invention can be implemented as a computer-implemented method. Alternatively or additionally, at least one of the disclosed method steps can be computer-implemented and / or automated.

[0038] Further advantages, features, and details of the invention will become apparent from the following description, in which embodiments of the invention are described in detail with reference to the drawings. In this context, the features mentioned in the claims and in the description can be essential to the invention, either individually or in any combination; they show: Fig. 1: a method, a computer program, a storage medium and a device according to embodiments of the invention; Fig. 2: a schematic diagram according to embodiments of the invention; and Fig. 3: a schematic flow chart according to embodiments of the invention.

[0039] In the following figures, the same reference numerals are used for different embodiments of the same technical features.

[0040] The core of the invention is an ultra-wideband (UWB) distance determination approach for cluster formation that avoids relying on systems such as the Global Navigation Satellite System (GNSS) or a dedicated infrastructure. By effectively employing relative distance measurements between objects, the invention enables cluster formation without requiring absolute positional knowledge. This UWB-based method is position-independent and offers improved accuracy compared to GNSS-based distance calculations, thus proving to be a suitable alternative for evaluating distance-based clustering conditions.

[0041] Fig. Figure 1 shows a method 100, a computer program 50, a computer-readable storage medium 15 and a data processing device or equipment 10 according to embodiments of the invention.

[0042] Fig. Figure 1 shows in particular an embodiment of a method 100 for clustering facilities. The method 100 comprises the following steps, which are performed by a facility using a communication system, in particular a system such as New Radio V2X or a WiFi-based system. In a first step 101, a message is sent containing information specifying the ultra-wideband (UWB) capability of the facility (10), where UWB capability is specified as the ability to determine precise positioning when at least one UWB tag is used. In a next step 102, a reply message is received from at least one other facility, each of the at least one reply message containing information specifying the UWB capability using a UWB tag. In step 103, a mapping is created between each UWB tag and each identified facility.In the next step 104, a distance measurement is performed with at least one other device using an ultra-wideband (UWB) distance determination method. In step 105, depending on the at least one distance measurement performed in step 104, a cluster 1 is formed, the formation of cluster 1 in step 105 being based on performing a relative distance measurement that was measured in step 104.

[0043] Fig. Figure 2 shows a schematic diagram according to embodiments of the invention. In particular, it shows Fig. 2 an exemplary clustering of devices 10, 20, 20a, 20b, 20c, such as bicycles in a traffic scenario using the inventive method according to embodiments of the invention, which is described in Fig. 3 is described. In this embodiment, which is described in Fig. As shown in Figure 2, the facility 20d or the bicycle 20d, which moves parallel to cluster 1 behind some parked vehicles 30, 31, 32, 33, 34, is not included in the formed cluster 1 because its distance to facility 10, the leading facility, is greater than any distance between the bicycles 20, 20a, 20b, 20c.

[0044] Fig. Figure 3 shows a schematic flow chart of the method according to the invention in accordance with embodiments of the invention. Fig. 3 represents a facility 10 or a station 10 and further facilities 20, 20a, 20n. The facility 10 and the further facilities 20, 20a, 20n communicate with each other to form a cluster 1.

[0045] In step 301, facility 10 sends a message, including its UWB capabilities, to the other facilities 20, 20a, 20n.

[0046] In step 302, facility 10 receives a message or reply message, which includes UWB capabilities, from the other facilities 20, 20a, 20n.

[0047] In step 303, facility 10 generates a map based on the messages received from the other facilities 20, 20a, and 20n. The map includes information regarding the respective distance between facilities, a UWB distance determination, geometric information related to the respective UWB technology or UWB tag, such as position information or a position in the respective coordinate system of each facility.

[0048] In step 304, the UWB communication UWB tag of facility 10 sends a communication message to the UWB tags of facilities 20, 21, 20n.

[0049] In step 305, facility 10 receives the response messages from the other tags of facilities 20, 21, and 20n, and in step 306 maps the received information to the generated map from step 303. The clustering of the facilities depends on a pre-configured threshold distance to select facilities 20, 20a, and 20n within the predefined range to form cluster 1.

[0050] Therefore, the further setup will be 20d, as in Fig. 3 shown, not selected to be included in cluster 1 because their distance is outside the preset range.

[0051] If facility 10 will be a leader of the cluster 1 to be formed, it will send a cluster formation request to the other facilities 20, 20a, 20n in step 306a.

[0052] Alternatively, if facility 10 is not a leader facility, 306b it receives such a cluster request from another leader facility, which could be, for example, the other facility 20, 20a, 20n, and 306c confirms the cluster formation based on sending 306d an acceptance message back to leader facility 20 to be part of the formed cluster.

[0053] In one embodiment, the steps of the method according to the invention can be carried out iteratively during or in a tracking process.

[0054] In a further embodiment, additional information such as speed and / or direction of travel is communicated between the devices during the sending and receiving of messages in order to improve the effectiveness of the method according to the invention.

[0055] In another embodiment, the exchange of messages between the devices 10, 20, 20a, 20n can be replaced by the distribution of a CAM message (“Cooperative Awareness” message) which is augmented with information relating to UWB capabilities.

[0056] In another embodiment, UWB communication between the devices 10, 20, 20a, 20n can be used to exchange user data.

[0057] The above explanation of the embodiments describes the present invention in the context of examples. It is understood that individual features of the embodiments can be freely combined with one another, provided that this is technically feasible without departing from the scope of the present invention.

Claims

[1] Method (100) for clustering facilities (10, 20, 20a, 20b, 20c, 20d, 20n) comprising the following steps, which are carried out by a facility (10) using a communication system: - Sending (101) a message containing information indicating an ultra-wideband (UWB) capability of the facility (10), where a UWB capability is specified as an ability to accurately determine distance or range when at least one UWB tag is used, - Receiving (102) a reply message from at least one other facility (20, 20a, 20b, 20c, 20d, 20n), each of the at least one reply messages containing information indicating the UWB capability of the respective other facility (20, 20a, 20b, 20c, 20d, 20n) when at least one UWB tag is used, - Generating (103) a mapping between each UWB tag and each identified facility (20, 20a, 20b, 20c, 20d, 20n), - Performing (104) a distance measurement with the at least one other device (20, 20a, 20b, 20c, 20d, 20n) using an ultra-wideband (UWB) distance determination, - Forming (105) a cluster (1) depending on the at least one distance measurement performed, characterized by , that the formation (105) of the cluster (1) is based on performing (104) a relative distance measurement. [2] Method (100) according to claim 1, characterized by , that the procedure (100) includes the following further step: - Adding a result of each distance measurement performed (104) to the generated (103) figure. [3] Method (100) according to any one of the preceding claims, characterized by, that the procedure (100) during the sending (101) of the message includes the following further step: - Sending position information of at least one UWB tag in a local coordinate system of the facility (10, 20). [4] Method (100) according to any one of the preceding claims, characterized by , that the procedure (100) during the receipt (102) of the message includes the following further step: - Receiving position information of at least one UWB tag in a local coordinate system of at least one other facility (10, 20). [5] Method (100) according to claim 4, characterized by , that the procedure (100) during the generation (103) of the figure includes the following further step: - Mapping a geometry with respect to each of the received position information of the at least one UWB tag, wherein the position information includes a respective position of the UWB tag in its local coordinate system. [6] Method (100) according to any one of the preceding claims, characterized by , that the respective message includes further information regarding speed and / or direction of travel and / or the like during sending (101) and / or receiving (102). [7] Method (100) according to any one of the preceding claims, characterized by , that if the facility (10) is to be a leading facility of the cluster (1) to be formed, the procedure (100) includes the following further step: - Sending a request to form the cluster (1) depending on the relative distance measurement performed with at least one other facility (20, 20a, 20b, 20c, 20d, 20n). [8] Method (100) according to any one of the preceding claims, characterized by , that the formation (105) of the cluster (1) is carried out by a function of an infrastructure. [9] Method (100) according to any one of the preceding claims, characterized by , that the formation (105) of the cluster (1) for distributed decision-making is decentralized. [10] Computer program (50) comprising instructions which, when the computer program (50) is executed by a computer (10), cause the computer (10) to execute the method (100) according to any of the preceding claims. [11] Data processing device (10) comprising means for carrying out the method (100) according to any one of claims 1 to 9. [12] Computer-readable storage medium (15) comprising instructions which, when executed by a computer (10), cause the computer (10) to perform the steps of the method (100) according to any one of claims 1 to 9.

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