Method and device for detecting positions between traffic participants

Abstract

The invention relates to a method for detecting the position of at least one first traffic participant (V1.1, V1.2) with a first transceiver unit relative to a second traffic participant (V2.1, V2.2, V3.1, V3.2) with a second transceiver unit in a spatially defined region. The transceiver units are radio-based, and no absolute positioning processes are carried out. Furthermore, the method has the steps of wirelessly measuring the distance (a1, a2, b1, b2, c1, c2) between the first traffic participant and the second traffic participant in the defined region at a defined point in time by means of the first traffic participant using the transceiver units and generating distance information. In another step, the distance information is provided to the second traffic participant via the radio-based transceiver unit.

Description

[0001] Description

[0002] title

[0003] Method and device for position detection between road users

[0004] State of the art

[0005] The present invention relates to a method and a device for relative position detection between road users.

[0006] In road traffic, communication technologies today enable the absolute positions, speeds, and directions of vehicles to be exchanged with each other. Using additional information such as map data, acceleration, steering angle, yaw rate, etc., vehicles can predict and warn of accidents or initiate automatic braking. Current technology requires the precise absolute positions of the vehicles for this application. This is expensive, and there are many problems that can arise when receiving signals from navigation satellites, such as shadowing, reflections, or atmospheric influences. As a result, a sufficiently accurate absolute position of the vehicle is not always available, which negatively impacts the quality of collision prediction.

[0007] It would be desirable to have a method that uses radio-based transmitting and receiving units to determine information about the position and movement status of road users without requiring absolute positioning. The method should be both fast and cost-effective, while providing information with a high degree of accuracy.

[0008] Disclosure of the invention

[0009] The method according to the invention for relative position detection between at least one first road user with a first transmitting and receiving unit and a second road user with a second transmitting and receiving unit, in a spatially defined area according to claim 1 and the device according to the invention according to claim 15 solve this problem.

[0010] The inventive method of independent claim 1 comprises the steps of measuring a distance between the first road user and a second road user in a defined area at a defined time using the transmitting and receiving units and generating distance information. A further step consists in providing the measured distance information using the radio-based transmitting and receiving units so that at least one road user can access the position information acquired from the other road user.

[0011] The method does not require absolute positioning. Absolute positioning primarily refers to position determination using the global navigation satellite system. Absolute speeds can be recorded within the framework of the method.

[0012] The spatially defined area in which the method for relative position detection between road users is carried out is defined to include the nearest road users around the first road user. However, the method preferably includes at least four road users in order to be geographically defined. In areas with high traffic density, the area in which the method is carried out can be reduced. The maximum limit is the range of the radio-based transmitting and receiving units.

[0013] At least one distance information is determined between the first and a second road user. The distance information only needs to be determined once and can be determined by both the first and second road user.

[0014] In addition to position detection between the first road user and the second road user, position detection between the first and a third or the first and a fourth road user is also possible.

[0015] Preferably, the distance information should be determined between all road users within the spatially defined area. For four or more road users, individual distance information becomes redundant and can be derived trigonometrically.

[0016] Once determined, the distance information is made available to other road users. Road users should preferably have access to all distance information between road users within the spatially defined area around the respective road user. However, the first road user should preferably have access to all distance information within the spatially defined area around them. The distance information can be actively sent to all or individual other road users in the spatially defined area on a permanent basis, or only upon request from one or more other road users.

[0017] The distance information can be determined wirelessly using time-of-flight and / or phase measurements. Possible wireless standards for determining and transmitting the distance information include ultra-wideband, Bluetooth (Denver revision and higher), C-V2X sidelink positioning (3GPP Rel. 18 and higher), IEEE 802.11 bd, or successor technologies.

[0018] Distance measurement and data transmission can be carried out via the same transmission path or the same radio technology, or different transmission paths or different radio technologies. Different transmission paths create redundancy and increase availability in the event of one of the transmission paths failing. A simple transmission path reduces the costs of the transmitting and receiving unit.

[0019] By determining the distance between road users, it is possible to obtain position information of the road users simply and reliably with low latency. The subclaims describe preferred developments of the invention.

[0020] According to a preferred development, the speed of the second road user is determined radio-based by the first road user. Using two distance information items at two discrete measurement times between two road users, their relative speed to one another can be determined. Using further position information of the road users, the absolute speed of the road users can also be determined radio-based. From the speed between two road users determined radio-based, radio speed information is generated and made available to the other road users. The same radio speed information is preferably not determined multiple times by different road users. This allows additional information about the road users in the surrounding area to be determined quickly and easily.

[0021] The radio speed information obtained between the two discrete measurement points is an average speed. To ensure the best possible match between the average speed and the current speed at the second measurement point, the time interval between the first and second measurement points should be as short as possible.

[0022] For example, if the distances between the first and second road users do not change over time, it can be concluded that both road users are moving at the same absolute speed. The relative speed between the road users is 0 km / h.

[0023] Further preferably, at least the first and / or second road user determines an absolute speed via a speed sensor and provides this as sensor speed information, and / or a direction via a direction sensor and provides this direction to other road users as direction information. The absolute speed can be determined, for example, via a wheel or engine speed sensor. The direction information can be determined, for example, via a steering angle sensor, an acceleration sensor, or a digital compass. Determining an absolute speed makes it possible to determine the absolute speed of other road users based on their relative speeds.Thus, by determining the sensor speed information and / or the direction information using simple sensors, further information about one's own position and the position of other road users can be quickly determined.

[0024] For example, if the distances between the first and second road users do not change over time and the first road user is moving at a measured absolute speed of 25 km / h, it can be concluded that the second road user is also moving at an absolute speed of 25 km / h.

[0025] Preferably, the distance information and / or the radio speed information and / or the sensor speed information and / or the direction information are transmitted between road users by means of direct communication and not, for example, via external servers. This further improves the latency of data acquisition and position detection.

[0026] Further preferably, a relative positioning of the road users is carried out based on the distance information as well as the sensor speed information and / or the radio speed information and / or the direction information. Based on the recorded position data, the road users are placed at an initial position in a coordinate system. The coordinate system is preferably a Cartesian coordinate system. The first road user is placed at the coordinate origin. The second road user is placed on a positive coordinate axis according to the previously determined distance information from the first road user. A preferably third road user is placed in the positive coordinate space according to the previously determined distance information from the first road user and according to the further previously determined distance information from the second road user.Additional road users can be freely positioned in space based on the distance information determined for each of them. Due to the specifications for the positioning of the first three road users, there is only one mapping solution. Without these specifications, an infinite number of solutions for the relative positioning of the road users would be possible through translation, rotation, or mirroring. The first road user is preferably the road user for whom the method according to the invention is applied. The additional road users can be numbered, for example, according to their distance from the first road user.

[0027] Distance information between three road users can also be calculated using exactly one piece of direction information and two pieces of distance information between three road users, or two pieces of distance information can be calculated if two pieces of direction information and exactly one piece of distance information between the road users are known. After the initial positioning, further positions of the road users can be calculated at a second time using newly determined

[0028] Distance information between road users, as well as their radio speed information and / or sensor speed information and / or direction information between the time of the initial position and the second time, can be determined. Thus, a radio-based image of the road users in the spatially defined area can be created without the aid of absolute positions.

[0029] In a further preferred embodiment, the relative position of the road users is displayed on a virtual map. The display on the virtual map allows for rapid visual perception and assessment of the surrounding road users.

[0030] In a preferred embodiment, the directional information regarding the direction of movement of at least the first and / or second road user is determined based on the determined distance information as well as the radio speed information and / or sensor speed information. For this purpose, the relative positions of the road users must be known. Distance information for preferably four road users is known at two discrete points in time. Thus, directional information can be determined simply, accurately, and quickly using radio signals, without the aid of absolute position information.

[0031] In a further advantageous development of the method, the radio speed information of the second road user determined from the first road user is compared with the sensor speed information of the second road user, and a speed plausibility check is performed. The speed plausibility check can also be performed analogously for any number of additional road users. The sensor speed information or the radio speed information can be validated using the speed plausibility check. Furthermore, any deviations in the radio speed information can be corrected.

[0032] Analogously, redundant measured values ​​can be used to detect errors in the transmission and processing chain, resulting in greater robustness of the process.

[0033] More preferably, speed plausibility check is used for tuning detection. The method for tuning detection is preferably applied to electric bicycles. Tuning can be determined by comparing the speed of the second road user measured by the first road user and the sensor speed information provided by the second road user. For example, the first road user is traveling at a speed of 25 km / h and is quickly overtaken by the second road user, with the absolute speed of the second road user determined via radio being 40 km / h. If the second road user then reports their own speed of 25 km / h, it can be detected that the speed sensor of the second road user has been tampered with. Tuned road users, such as electric bicycles, pose a significant danger to other road users.The external tuning control enables effective and tamper-proof tuning protection.

[0034] In a further preferred embodiment, the distance information and the direction information or additionally the sensor speed information and / or radio speed information are used to carry out a collision prediction between the road users. Furthermore, additional information, such as weather data, can be included. Preferably, the collision prediction is carried out by the first road user and determines the risk of a collision between the second road user or other road users and the first road user. However, it is also possible for the first road user, for example, to make the collision prediction between the second and third road users and warn them of a hazard. Likewise, the second road user can, for example, carry out the collision prediction for the first road user and warn them of a hazard.This enables simple, accurate, and rapid collision prediction without the need for absolute positioning. For example, if the distance between the first and second road users decreases steadily over time, there is a greater risk of collision.

[0035] In another possible embodiment, at least the first and / or second road user comprises multiple transmitting and receiving units for determining the relative distance between the road users. Each transmitting and receiving unit can serve as a theoretical road user. This artificial increase in the number of road users through additional transmitting and receiving units on the road users allows, among other things, more precise relative positioning and collision prediction with a small number of actual road users. The fixed distance between multiple radio-based transmitting and receiving units on the road user can also serve to validate and calibrate the measured values.

[0036] Preferably, a transmitting and receiving unit is arranged at the front and rear of the road user, and / or at the left and right of the road user. This allows for more precise relative positioning and information about the road user's orientation.

[0037] More preferably, road users can comprise stationary objects with transmitting and receiving units. Possible stationary objects are preferably traffic infrastructure items, such as a traffic light, a lamppost, or an intelligent paving stone. Stationary objects, by definition, have a speed of zero and thus do not move from their initial position. Equipping stationary objects with transmitting and receiving units to implement the inventive method increases the density of road users and improves relative positioning and collision prediction when there are a small number of non-stationary road users. Due to the defined speed of the stationary objects with transmitting and receiving units, they can also be used for calibration purposes.

[0038] Non-stationary road users include cars, bicycles, motorcycles and trucks, which have transmitting and receiving units for position detection.

[0039] In a further preferred embodiment, at least the second road user determines at least the distance information and / or the radio speed information and / or the direction information of a third road user via its radio-based transmitting and receiving unit and makes this available to at least the first road user. This makes it possible, for example, for the first road user to obtain information between the second and third road users that the first road user cannot directly measure. The method is applicable to any other road user.

[0040] The invention further relates to a device configured to implement the inventive method. The device preferably comprises a computing unit and a memory in which the inventive method is implemented. Furthermore, the device calculates the collision prediction from the relative positions and speeds of the road users and / or performs the tuning detection. The device for implementing the inventive method is preferably part of at least the first road user.

[0041] Short description of the drawing

[0042] Embodiments of the invention are described in detail below with reference to the accompanying drawings. In the drawing:

[0043] Figure 1 is a schematic representation of an inventive

[0044] Method for determining the distance between road users according to an embodiment of the invention.

[0045] Embodiment of the invention

[0046] A method for exclusively radio-based relative position detection between road users according to an embodiment of the invention is described in detail below with reference to Figure 1.

[0047] Figure 1 schematically shows the relative positions of road users V1, V2, and V3 at time t1 in the form of three points V1.1, V2.1, and V3.1 in a Cartesian coordinate system, which represent, by way of example, the initial relative positions of three road users. The distances a1, b1, and c1 between the points V1.1, V2.1, and V3.1 are plotted. For clarity, the method according to the invention is illustrated in two dimensions in Figure 1 using three road users.

[0048] Preferably, the method comprises more than three road users and can be applied analogously to a large number of road users in two or three dimensions.

[0049] The distances a1, b1 and c1 are measured using radio-based methods between the road users V1.1, V2.1 and V3.1 at a defined time t1. The road user V1.1, for example, can only directly measure the distances a1 and b1 from the road users V2.1 and V3.1 to himself. The distance c1 can only be directly measured by V2.1 and V3.1. The road users then create distance information from the measured distances and make this available to the other road users in the spatially defined area. It is therefore possible, for example, for the road user V1.1 to query the distance c1 between the road users V2.1 and V3.1 from one of these road users.

[0050] Starting from a certain number of road users and distance information, additional distance information can be calculated trigonometrically from the previously recorded distance information. Distance information is preferably measured only once between road users at a defined time.

[0051] With a double measurement, redundant information can be used to detect errors in the transmission and processing chain.

[0052] Since only the relative distances a1, b1 and c1 between the road users V1.1, V2.1 and V3.1 are known for the initial relative positioning, the points could be moved, mirrored or rotated as desired in space without changing the distances to each other. In order to nevertheless determine a defined initial relative position, the first road user V1.1 is placed at the origin of coordinates in order to prevent any displacement of the points. The second road user V2.1 is placed at a distance a1 on the x-axis in order to prevent any rotation of the points. The third road user V3.1 is placed at a distance b1 from V1.1 and at a distance c1 from V2.1 in the positive coordinate space in order to prevent any mirroring of the points.

[0053] The distances b1 and c1 do not have to be specified explicitly, but can also be calculated based on directional information or the knowledge of an angle between b1 and a1 and / or c1 and a1.

[0054] The movement of the road users changes their relative position. The second relative position of road users V1.2, V2.2, and V3.2 at a time t2 can be calculated trigonometrically using their traveled distances d1, d2, and d3 and the corresponding directions h1, h2, and h3. For this purpose, the data collected from the individual road users is exchanged directly with each other.

[0055] The distances d1, d2 and d3 can be determined using the average speed of the road users from time t1 of the last relative positioning until time t2. Alternatively, the distances are measured directly. It is preferably assumed that the distance is covered in a straight line. For longer time intervals, the distance can be calculated along an average direction taking into account the changes in direction between time t1 and time t2. The directions hi, h2 and h3 can be determined directly by the road users using sensors, such as steering sensors. Alternatively, the direction can be calculated using the last relative positions V1.1, V2.1 and V3.1, the distances a2, b2 and c2 between the road users at time t2 and the distances d1, d2 and d3.To ensure a clear calculation of directions from the distances between road users, the procedure should preferably include four or more road users.

[0056] A collision prediction can be performed based on the relative position of the road users, their speed, and / or direction. For example, if road user V2 is moving toward road user V1 at high speed and V1 is close to V2, or if the projected paths of the road users intersect, the probability of a collision is high. At large distances, low speeds, and opposite directions, the probability of a collision is low.

[0057] Based on the collision prediction, further actions can be taken, such as a warning signal for the affected road users and / or autonomous intervention in the direction of travel of the affected road users and / or their braking or acceleration.

[0058] From the relative positions V1.2, V2.2 and V3.2, a new relative position can be determined again after a defined time, knowing the distance and direction of the road users, and a collision prediction between the road users can be carried out.

Claims

Claims 1 . Method for the relative position detection of at least one first road user with a first transmitting and receiving unit and a second road user with a second transmitting and receiving unit, in a spatially defined area, • where the transmitting and receiving units are radio-based, and • where no absolute positioning is carried out, comprising the steps: • radio-based measurement of a distance by the first road user using the transmitting and receiving units between the first road user and the second road user at a defined time in the defined area and generating distance information, and • Providing the distance information to the second road user via the radio-based transmitting and receiving unit.

2. The method according to claim 1, wherein at least the first road user measures a speed of the second road user using radio and generates radio speed information.

3. Method according to one of the preceding claims, wherein at least the first and / or the second road user measures its absolute speed via a speed sensor and provides it as sensor speed information and / or determines a direction of movement via a direction sensor and generates and provides direction information.

4. Method according to one of claims 2 or 3, wherein the distance information and / or the radio speed information and / or the sensor speed information and / or the direction information is exchanged directly between the road users. Method according to one of claims 2 to 4, wherein a relative positioning of the road users to one another is carried out based on the distance information and / or the radio speed information and / or the sensor speed information and / or the direction information. Method according to claim 5, wherein the relative position of the road users is displayed on a virtual map. Method according to one of claims 5 or 6, wherein direction information of the at least first and / or second road user is determined based on the determined distance information and the radio speed information and / or the sensor speed information of the first and / or second road user.Method according to one of claims 3 to 7, wherein the first road user compares the radio speed information of the second road user with the absolute sensor speed information of the second road user and performs a speed plausibility check. Method according to claim 8, wherein the speed plausibility check is used for tuning detection. Method according to one of claims 3 to 9, wherein a collision prediction is performed between two road users based on the distance information and the direction information or additionally the radio speed information and / or sensor speed information. Method according to one of the preceding claims, wherein the first and / or the second road user comprises a plurality of transmitting and receiving units.

12. The method according to claim 11, wherein a transmitting and receiving unit is arranged in each case at a front and a rear area of ​​the road user and / or at a left and a right area of ​​the road user.

13. Method according to one of the preceding claims, which is carried out with a plurality of road users, wherein in particular one road user is stationary.

14. Method according to one of the preceding claims, wherein the second Road user determines at least the distance information and / or the radio speed information and / or the direction information of a third road user via its radio-based transmitting and receiving unit and makes it available to at least the first road user.

15. Apparatus for carrying out the method according to one of the preceding claims.

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