Location device between a user and a vehicle

Abstract

Location device between a user and a vehicle This description relates to a location device (100, 100.1, 100.2) providing location between a user and an autonomous vehicle (1000), configured to be carried in a user's equipment (2000) or in the autonomous vehicle (1000), and comprising an electronic circuit that exchanges RF signals with another location device (100, 100.1, 100.2) carried in the autonomous vehicle (1000) or in the user's equipment (2000) respectively, measuring at least one distance, by direct means such as time of flight or indirect means, between the user's equipment (2000) and the autonomous vehicle (1000) using RF signal exchanges, and locating the autonomous vehicle (1000) or the user's equipment (2000) respectively using the measured distance. Figure for the summary: Fig. 2

Description

Title of the invention: Location device between a user and a vehicle technical field

[0001] This description relates generally to the field of autonomous vehicles, for example autonomous cars. Previous technique

[0002] Currently, when an autonomous car needs to find a user, driver, or customer, the user's location is based on GPS signals. However, the accuracy of this location is low, particularly in cases where there is no GPS connection available or only a weak GPS connection, for example, when picking up a user in underground or covered areas such as airports, shopping malls, and urban canyons.

[0003] Furthermore, once the autonomous car is close to the user, it must alert them, for example by means of a display or a sound generated by the vehicle and / or a notification on the user's device, in order to guide them to the car. The user must go to a designated pick-up area and find the correct car. This solution is poorly suited to congested areas with multiple users and leads to privacy issues and a poor user experience.

[0004] Safety problems may also arise. For example, without sufficient precision, the car may stop on the other side of the street, and the user may then be tempted to cross the street. This results in a potentially dangerous situation where the user is simply unable to reach the vehicle at all. Summary of the invention

[0005] There is a need to overcome all or part of the drawbacks of known solutions.

[0006] One embodiment provides a localization device providing a location between a user and an autonomous vehicle, configured to be embedded in the user's equipment or in the autonomous vehicle, and comprising an electronic circuit that exchanges RF signals with another localization device embedded in the autonomous vehicle or in the user's equipment respectively, measuring at least a distance, by direct means such as time of flight or indirect means, between the user's equipment and the autonomous vehicle using the RF signal exchanges, and locating the autonomous vehicle or the user's equipment respectively using the measured distance.

[0007] According to a particular embodiment, the electronic circuit comprises a UWB transceiver and the electronic circuit measures the distance between the user equipment and the autonomous vehicle using at least UWB signal exchanges.

[0008] According to a particular embodiment, the electronic circuit includes at least two Rx antennas for measuring an angle of arrival (AoA).

[0009] According to a particular embodiment, the UWB transceiver is configured to transmit and receive UWB signals in accordance with the IEEE 802.15.4ab standard.

[0010] According to a particular embodiment, the electronic circuit includes at least one of a Bluetooth transceiver and a Wifi transceiver (i.e. a Bluetooth transceiver and / or a Wifi transceiver), and the electronic circuit measures the distance between the user's equipment and the autonomous vehicle using at least one of Bluetooth signal exchanges and Wifi signal exchanges (i.e. using Bluetooth signal exchanges and / or Wifi signal exchanges).

[0011] According to a particular embodiment, the location device further includes a GPS receiver, and the electronic circuit locates the autonomous vehicle or the user's equipment using the measured distance and a GPS location.

[0012] According to a particular embodiment, the electronic circuit further comprises a narrowband transceiver, and the electronic circuit measures the distance between the autonomous vehicle and the user's equipment using narrowband signal exchanges.

[0013] According to a particular embodiment, the location device further comprises at least one inertial sensor, and the electronic circuit is configured to calculate additional information such as an angle between a line, which connects the position of the user and the position of the autonomous vehicle, and a direction of the user when the location device is on board the user's equipment, or between said line and a direction of the autonomous vehicle when the location device is on board the autonomous vehicle, using at least one measurement from the inertial sensor, and locates the autonomous vehicle or the user's equipment, respectively, also using the calculated angle.

[0014] According to a particular embodiment, the localization device further comprises an inertial measurement unit, IMU, comprising at least one inertial sensor.

[0015] According to a particular embodiment, the electronic circuit receives a security key before the exchange of RF signals and then exchanges RF signals using the security key.

[0016] Another embodiment describes an autonomous vehicle comprising a localization device according to a particular embodiment.

[0017] According to a particular embodiment, the autonomous vehicle corresponds to a car or a drone or similar.

[0018] Another embodiment describes a user's equipment, or a user device, comprising a location device according to a particular embodiment.

[0019] According to a particular embodiment, the user's equipment corresponds to a smartphone, a watch or a tablet.

[0020] Another embodiment describes a system for managing exchanges between a user comprising equipment and an autonomous vehicle, each comprising a location device according to a particular embodiment, which sends the security key to the location device of the user's equipment and to the location device of the autonomous vehicle.

[0021] According to a particular embodiment, the system implements the following steps:

[0022] - the creation of a session between the user's equipment and the autonomous vehicle;

[0023] - the generation of the security key;

[0024] - sending the security key to the user's equipment and the vehicle autonomous ;

[0025] - sending an instruction to invalidate the security key to the autonomous vehicle at the end of the session between the user's equipment and the autonomous vehicle.

[0026] According to a particular embodiment, the system also sends the security key to another user device. Brief description of the drawings

[0027] These features and advantages, as well as others, will be described in detail in the following description of particular embodiments, given by way of non-limiting example, in relation to the accompanying figures, among which:

[0028] [Fig.1] represents a first example of the use of location devices according to a particular embodiment in the user's equipment and in an autonomous vehicle, compared to an autonomous vehicle which locates a user using only GPS signals;

[0029] [Fig.2] represents a second example of the use of location devices according to a particular embodiment in user equipment and in an autonomous vehicle;

[0030] [Fig.3] represents a process implemented in a system to manage exchanges between a user's equipment and an autonomous vehicle, each comprising a localization device according to a particular embodiment;

[0031] [Fig.4] represents the differences between the IEEE 802.15.4z (data and telemetry frames over UWB) and 802.15.4ab (narrowband data frames and telemetry over UWB) standards;

[0032] [Fig.5] represents a narrowband assisted MMS range that can be used during exchanges between a user's equipment and an autonomous vehicle, each comprising a location device according to a particular embodiment;

[0033] [Fig.6] represents an autonomous vehicle and user equipment exchanging RF signals between them, as well as a system for managing these exchanges;

[0034] [Fig.7] represents an example of a high-level flow starting with registration for a service until the arrival of the car at the customer's level;

[0035] [Fig.8] represents an example of signal exchanges carried out during a 3-message DS-TWR process implemented to obtain a distance between an autonomous vehicle and a user's equipment;

[0036] Figure 9 shows examples of signal exchanges implemented according to a 3-message DS-TWR process between an initiator and several responders. Description of embodiments

[0037] The same elements have been designated by the same reference numerals in the different figures. In particular, the structural and / or functional elements common to the different embodiments may have the same reference numerals and may have identical structural, dimensional and material properties.

[0038] For the sake of clarity, only the steps and elements useful for understanding the described embodiments have been represented and are detailed.

[0039] Unless otherwise specified, when referring to two elements connected together, this means directly connected without intermediate elements other than conductors, and when referring to two elements coupled together, this means that these two elements can be connected or linked through one or more other elements.

[0040] In the following description, when reference is made to absolute position qualifiers, such as the terms "front", "back", "top", "bottom", "left", "right", etc., or relative position qualifiers, such as the terms "above", "below", "superior", "inferior", etc., or to orientation qualifiers, such as the terms "horizontal", "vertical", etc., reference is made, unless otherwise specified, to the orientation of the figures.

[0041] Unless otherwise specified, the expressions "approximately", "roughly", and "in the order of" mean within 10%, preferably within 5%.

[0042] One embodiment proposes using RF distance measurements in a vehicle equipped with RF technology, for example UWB (Ultra Wide). B and "ultra-wideband") and more specifically RF signals conforming to the IEEE 802.15.4ab standard, to locate the position of users, customers, or drivers (hereinafter referred to as "users" or "the user"), by determining the distance to the users' mobile devices. Therefore, the vehicle can locate the user's pick-up point with very high accuracy and stop close to the user.

[0043] In addition, the user can see very precisely the position of the vehicle in the event that the vehicle is not authorized to approach the user or is unable to do so, and the system will guide the user to the vehicle's parking location.

[0044] One embodiment proposes connecting a user device, for example a smartphone, to a vehicle to exchange at least one secure key provided by the cloud (or similar) for use in secure telemetry. Furthermore, the IMU (Inertial Measurement Unit) of the user's equipment or the autonomous vehicle can also be exchanged to improve guidance. The final telemetry can be triggered based on the exchanged GPS position.

[0045] According to some embodiments, there is an exchange of position data via distance measurements between the autonomous vehicle and the user over the last distance (possibly from practically zero up to 20 to 100 m). One or more RF signal exchanges can be used to measure the distance between the user's equipment 2000 and the autonomous vehicle 1000, for example by measuring the time of flight of the signals between the user's equipment 2000 and the autonomous vehicle 1000.

[0046] For example, the technique used to measure the distance between user equipment 2000 and autonomous vehicle 1000 may correspond to the DS-TWR (Double-sided two-way ranging) method, or 3-message DS-TWR. In this case, user equipment 2000 sends a configuration to autonomous vehicle 1000, then a "ping" signal to the anchor points of vehicle 1000, i.e., to the communication elements having, for example, a predefined position in vehicle 1000. After all the anchor points, or at least one of them, have responded to equipment 2000 with a "pong" signal, equipment 2000 sends an additional "ping" signal, and then the final data. The distance between user equipment 2000 and autonomous vehicle 1000 can be measured based on the calculated execution times of these exchanges.

[0047] Figure 8 schematically represents an example of a 3-message DS-TWR implemented between the user equipment 2000 and the autonomous vehicle 1000. In this configuration, the propagation time Tprop, i.e. the time of flight (ToF) between equipment 2000 and vehicle 1000, can be equal to:

[0048] t- TroundJ*Tround2 - Trepl*Trep2 Tptop — TK)undl+Tround2+Trepi+Trep2

[0049] with Troundl: time between the emission of a first signal by equipment 2000 towards vehicle 1000 and the reception by equipment 2000 of a second signal emitted by vehicle 1000;

[0050] Tround2: time between the emission of the second signal by vehicle 1000 towards equipment 2000 and the reception by vehicle 1000 of a third signal emitted by equipment 2000;

[0051] Trepl: time between the reception of the second signal by vehicle 1000 and the emission of the third signal by vehicle 1000;

[0052] Trep2: time between the reception of the second signal by equipment 2000 and the emission of the third signal by equipment 2000.

[0053] The distance between the user's equipment 2000 and the autonomous vehicle 1000 can be calculated as follows:

[0054] Distance = speed of light * Tprop.

[0055] Fig. 9 represents examples of signal exchanges implemented according to a 3-message DS-TWR process between an initiator, for example the user equipment 2000, and several responders, for example the anchor points of the autonomous vehicle 1000. The duration values ​​shown in this figure are examples and may be different.

[0056] The calculations performed mainly include the distance measured between the vehicle and the user, but also an angle of arrival (aoa), IMU data such as the direction followed or a position on a map for the user, while the vehicle uses this data for similar reasons.

[0057] According to one embodiment, other RF technologies could be used to measure the distance, with less but sufficient accuracy. BLE (Bluetooth Low Energy) channel scanning or Wi-Fi Direct could be used as examples.

[0058] It is therefore described a localization of the user using RF signals, for example UWB, by autonomous transport vehicles, for example autonomous cars, as well as a localization of the autonomous transport vehicle using RF signals by a user.

[0059] The solution described above proposes to use an RF signal, for example UWB signals (and in particular the IEEE 802.15.4ab standard) to overcome the current limitations encountered by autonomous vehicles in finding the user.

[0060] Fig. 1 represents a first example of the use of location devices 100.1, 100.2 according to a particular embodiment in the user's equipment 2000 and in an autonomous vehicle 1000, compared to an autonomous vehicle 10 which locates a user using only GPS signals.

[0061] Figure 1 shows an autonomous vehicle 10 (identified as a "GPS car") locating a user using only GPS signals. Since this autonomous vehicle 10 uses only GPS signals, it is unable to accurately locate the intended user. Therefore, the autonomous vehicle 10 makes an announcement (e.g., visual or audible) of the user's name, command ID, or similar information. In Figure 1, several arrows are drawn between the autonomous vehicle 10 and several potential users, illustrating that the autonomous vehicle 10 cannot accurately locate the intended user, as all the people indicated by the arrows are located in an area where the intended user is located. In Figure 1, an audible announcement entitled "Hello Mr. Smith.The phrase "I'm coming to get you" is displayed, indicating that an announcement is currently being made in some way.

[0062] In [Fig.1], another autonomous vehicle 1000 (identified as "UWB car 15.4ab") comprising a location device 100.1 exchanging RF signals, for example a UWB signal, with another location device 100.2 embedded in the user's equipment 2000, for example a smartphone, is capable of accurately locating the user intended to use it.

[0063] Figure 2 represents a second example of the use of the localization devices 100.1, 100.2 according to a particular embodiment in a user equipment 2000 and in an autonomous vehicle 1000. Compared to the first example, the localization devices 100.1, 100.2 embedded in the user equipment 2000 and in the autonomous vehicle 1000 each include an inertial measurement unit, IMU, comprising at least one inertial sensor, not shown in Figure 2. The electronic circuits of the location devices 100.1, 100.2 calculate an angle (identified as "angle" on the [Fig.2]) between a line 101, which connects the user's position and the position of the autonomous vehicle 1000, and a direction of the user 104 for the location device 100.2, which is embedded in the user's equipment 2000, or between said line 101 and a direction of the autonomous vehicle 106 for the location device 100.1, which is carried in the autonomous vehicle 1000, using at least one measurement by an inertial sensor. Each of these localization devices 100.2, 100.1 locates the autonomous vehicle 1000 or the user equipment 2000 respectively using the calculated angle and RF signal exchanges.

[0064] For example, by knowing the direction in which vehicle 1000 is traveling and which the customer is facing (data from the IMU) and the information that the distance is decreasing (data from the distance measurement, for example by means of 802.15.4ab, BLE or wifi signals), even without knowing the angle and direction (which could also be measured in the case where the user equipment 2000 is in contact with three anchor points of vehicle 1000), it is possible to know from which side vehicle 1000 is approaching the customer, even if GPS is not available.

[0065] For example, in the configuration illustrated in [Fig. 2], if vehicle 1000 is traveling west and the customer is facing north, vehicle 1000 must approach from the right side. The same applies from the car's point of view.

[0066] Thus, the use of additional exchanged information, such as the vehicle's IMU and that of the user's device, and the angle of arrival, improves guidance. For example, by knowing the vehicle's direction and speed, the direction the user is facing, and the information that the distance between the user's device and the vehicle is decreasing, even without the angle, it is possible to determine from which direction the vehicle is approaching the user, even if GPS is unavailable. As an example, the angle of arrival can be measured using at least two Rx antennas from each of the locating devices 100.1, 100.2. This measurement can be performed by triangulation, based on the data obtained.For example, knowing the distance between two anchor points of vehicle 1000 and the distance between each of the anchor points and the user's equipment 2000, it is possible to know the position of the user's equipment 2000. With a third anchor point of vehicle 1000, the possibility of the user's equipment 2000 overturning can be ruled out, and it is also possible to know which side of the car the user is on.

[0067] In the example above, if the vehicle is traveling west and the user is facing north, the vehicle can approach the user from the right. The same is true from the vehicle's point of view.

[0068] Figure 3 represents a process implemented in a system for managing exchanges between a user comprising equipment 2000 and an autonomous vehicle 1000, each comprising a location device 100.2, 100.1 as previously described. The process may include at least one of the following steps:

[0069] 1) When the user orders a given vehicle (step 200 of [Fig.3]), The cloud computing system (i.e., the management system) creates a session between user device 2000 and vehicle 1000 assigned to that user (step 202).

[0070] 2) The session generates a security key, or encryption key, which is sent to the vehicle 1000 (sentry designated by number "204") and to user device 2000 (sentry designated by number "206") and which is then used for telemetry and possible secure data exchange between vehicle 1000 and user device 2000.

[0071] In the process shown in [Fig. 3], before using RF signal exchanges, GPS can be used as a trigger to initiate telemetry and to determine a first rough location between the vehicle 1000 and the user device 2000 (step 208). The GPS positions can be considered to be within given limits, or to be close if GPS is inaccurate or unavailable.

[0072] 3) When vehicle 1000 is near the user, a UWB session, or more generally RF signal exchanges, begin between user device 2000 and vehicle 1000 based on the exchanged key (step 210).

[0073] 4) When the user is sufficiently close to vehicle 1000, the user can enter vehicle 1000 and use it (by actively driving it or being driven) while the car, or vehicle, 1000 can also perform secure indoor / outdoor detection of user device 2000 depending on it.

[0074] 4a) In the case where another person is being transported by the vehicle 1000, such as a For a robot taxi (e.g., a child), the control device can be used to verify and initiate transport. Optionally, a second key can be generated for the transported person's device. This situation is depicted in [Fig. 3], where an optional receiver security key is sent to a control device (transmission labeled "212").

[0075] 4b) In the case where an object is being transported, the control device can be used to check and start the transport.

[0076] 5) When the user arrives at the destination (robot-taxi) or decides to end the session If you are driving (e.g., carpooling) and exiting the vehicle, the session is over and the security key is invalidated.

[0077] 5a) When the passenger arrives at the destination, the user's device that has The ordered ride is notified of the arrival (by various means, which may include, for example, verifying that the passenger exited at the correct location) and the session and security key are terminated (optionally upon confirmation by the device). If the passenger's device also receives a key, both keys are terminated.

[0078] 5b) When the vehicle arrives at its destination, secure communication with the the receiver user's device is triggered to allow the Package unloading. Once the package has been removed and the delivery completed, the session and key are terminated on both devices.

[0079] The above process can be implemented in a system for managing exchanges between a user comprising equipment and an autonomous vehicle, each comprising a location device as described above, which sends a security key (public or private) to the location device of the user's equipment and to the location device of the autonomous vehicle.

[0080] The system can implement the following steps:

[0081] - the creation of a session between the user's equipment and the autonomous vehicle;

[0082] - the generation of the security key;

[0083] - sending the security key to the user's equipment and the vehicle autonomous ;

[0084] - sending an instruction to invalidate the security key to the autonomous vehicle and to the user's equipment at the end of the session between the user's equipment and the autonomous vehicle.

[0085] Figure 4 represents RF and narrowband signals exchanged between user equipment 2000 and an autonomous vehicle 1000, each comprising a localization device.

[0086] The example shown in the upper part of [Fig. 4] corresponds to a UWB signal conforming to the IEEE 802.15.4z standard, which can be used for RF signal exchanges between user equipment 2000 and the autonomous vehicle 1000, each equipped with a 100.2, 100.1 location device. The upper part of [Fig. 4] shows an example of a UWB 300 frame exchanged between user equipment 2000 and the autonomous vehicle 1000, for example, on channel 9 between 7.737 GHz and 8.236 GHz or channel 5 between 6.240 GHz and 6.739 GHz. Other channels can be used for RF signal exchanges.

[0087] To fully exploit the potential of location devices in terms of distance and accuracy, it is possible to use, as shown in the lower part of [Fig. 4], a UWB signal conforming to the IEEE 802.15.4ab standard, since the link budget is increased by 15 to 17 dB, which increases the secure telemetry distance by a factor of 4 to 6 times compared to the distance obtained with a UWB signal conforming to the IEEE 802.15.4z standard. This full potential can be achieved using MMS (Multi-Millisecond) and narrowband assisted telemetry. The lower part of [Fig.4] represents an example of UWB and narrowband 302, 304 frames exchanged between user equipment 2000 and autonomous vehicle 1000, for example on channel 9 between 7.737 GHz and 8.236 GHz or channel 5 between 6.240 GHz and 6.739 GHz for UWB frames, and UNIL3 band between 5.725 GHz and 5.85 GHz or UNIL1 band between 5.15 GHz and 5.85 GHz. GHz and 5.25 GHz. Other channels can be used for RF signal exchange.

[0088] In the example in [Fig. 5], data communication is exchanged over a narrowband channel, resulting in an increase of approximately 17 dB compared to SPO. In this case, the SPO data frames are replaced by 250 available channels, a clock synchronized for narrowband (NB) with UWB MMS telemetry. Furthermore, the bidirectional data transfer allows for additional optimizations during the telemetry session, for example, by changing the MMS mode or the measurement frequency.

[0089] In the example of [Fig. 5], distance measurement with MMS telemetry results in an increase of approximately 15 dB compared to SP3 (17 to 18 dB compared to SPO). The SP3 frames are therefore replaced.

[0090] In [Fig.5], the autonomous vehicle 1000 is identified as "Car" and the user equipment 2000 is identified as "Telephone".

[0091] Fig. 6 represents an autonomous vehicle 1000, for example an autonomous car, and a user device 2000, for example a smartphone, which exchange RF signals between them, and a system 3000 to manage these exchanges.

[0092] The vehicle 1000 and the equipment 2000 each include a location device 100 between a user and an autonomous vehicle, configured to be embedded in the user's equipment 2000 or in the autonomous vehicle 1000, and comprising an electronic circuit 102 exchanging RF signals with another location device 100 embedded in the autonomous vehicle 1000 or in the user's equipment 2000 respectively, measuring a distance between the user's equipment 2000 and the autonomous vehicle 1000 using the RF signal exchanges, and locating the autonomous vehicle 1000 or the user's equipment 2000 respectively using the measured distance.

[0093] For example, the 100.2 location device of the user equipment 2000 may correspond to a set of RF chips capable of telemetry. This set of RF chips may be configured to perform UWB signal exchanges with or without the 802.15.4ab, BLE, or Wi-Fi specification. For example, the 100.1 location device of the autonomous vehicle 1000 may correspond to a set of RF chips located inside a vehicle anchor point and adapted for use with a telephone.

[0094] Fig. 7 represents an example of establishing secure telemetry between user equipment 2000 and autonomous vehicle 1000.

[0095] First, a user, or customer, registers with a service, thus forming proof of personhood (step 400). This service may correspond to a taxi or a carpooling service.

[0096] Next, the user orders the vehicle 1000 (step 402). A secure key, or security key, is sent to the vehicle 1000 and to the user's device 2000. This secure key could be similar to a friend key or a digital key or an endpoint key on the phone and a vehicle key on the car.

[0097] In the process of [Fig. 7], before using RF signal exchanges, GPS can be used to determine an initial rough location between the vehicle 1000 and the user device 2000 (step 404). The GPS positions can be considered to be within given limits, or as close if GPS is inaccurate or unavailable.

[0098] Then, when the vehicle 1000 and the user device 2000 are in proximity, temporarily or ephemerally, the keys are generated if they are close to the place where the public keys are exchanged between the car, i.e. the vehicle 1000, and the device 2000.

[0099] With these key pairs and after the Diffie-Hellmann process for example, a key is generated using multiplication processes with the two keys.

[0100] From this, the session keys and URSK (UWB ranging session key) are generated.

[0101] Additional keys can be obtained for secure telemetry (STS, MMS RFI, etc.).

[0102] Secure telemetry with the previously exchanged key is then performed (step 406).

[0103] There are other possibilities for establishing secure telemetry between the user's device and the car.

[0104] In all examples, when a user orders a given autonomous vehicle, for example, a self-driving car, the cloud computing system can create a session between the user's device and the vehicle assigned to that user. The session can generate a security key that is then used for secure telemetry between the vehicle and the user. When the vehicle is near the user, a UWB session, or an RF signal session, starts between the user's device and the vehicle.

[0105] A particular embodiment can improve the user experience. In particular, if deployed and used by a large number of people, the pickup is much smoother, offers a better user experience and is safer (the vehicle approaches from the right side, people do not need to cross streets).

[0106] It is possible to prevent a user from being taken by mistake, particularly in situations where there are many people.

[0107] According to a particular embodiment, a capability of the IEEE 802.15.4ab standard can be used to perform precise telemetry (~10 cm) over greater distances, even from 100 m to the last meter.

[0108] A particular embodiment proposes the use of RF signals, for example UWB 15.4ab technology (i.e., the IEEE 802.15.4ab standard), to enable vehicles and devices equipped with this technology to exchange distance, angle and other position / orientation data to enable autonomous vehicles to pick up users accurately and, in the event that the vehicle cannot approach the user, to guide the user to the vehicle.

[0109] For example, UWB 15.4ab signals will provide accurate, long-range "position" data (distance and angle) and will not be affected by area coverage like GPS. There is no need to call the user because the vehicle can accurately identify its position.

[0110] The solution described above can be applied to the fields of car rental, robotaxis, delivery drones, or ride-sharing. The solution described above can enable the discreet, safe, and precise location of a user. The solution described above is applicable to any type of autonomous vehicle, for example, for transporting people, animals, objects, etc.

[0111] Various embodiments and variations have been described. A person skilled in the art will understand that certain features of these various embodiments and variations could be combined, and other variations will become apparent to a person skilled in the art.

[0112] Finally, the practical implementation of the embodiments and variants described is within the reach of a person skilled in the art, based on the functional indications given above.

Claims

Demands

1. A location device (100, 100.1, 100.2) providing location between a user and an autonomous vehicle (1000), configured to be embedded in user equipment (2000) or in the autonomous vehicle (1000), and comprising an electronic circuit (102) that exchanges RF signals with another location device (100, 100.1, 100.2) embedded in the autonomous vehicle (1000) or in user equipment (2000) respectively, measuring at least one distance, by direct means such as time of flight or indirect means, between the user equipment (2000) and the autonomous vehicle (1000) using RF signal exchanges, and locating the autonomous vehicle (1000) or the user equipment (2000) respectively using the measured distance.

2. Location device (100, 100.1, 100.2) according to claim 1, wherein the electronic circuit (102) comprises a UWB transceiver and wherein the electronic circuit (102) measures the distance between the user equipment (2000) and the autonomous vehicle (1000) using at least UWB signal exchanges.

3. Location device (100, 100.1, 100.2) according to claim 2, wherein the electronic circuit (102) comprises at least two Rx antennas for measuring an angle of arrival.

4. Location device (100, 100.1, 100.2) according to claim 3, wherein the UWB transceiver is configured to transmit and receive UWB signals in accordance with IEEE 802.15.4ab.

5. Location device (100, 100.1, 100.2) according to any one of the preceding claims, wherein the electronic circuit (102) comprises at least one of a Bluetooth transceiver and a Wifi transceiver, and wherein the electronic circuit (102) measures the distance between the user equipment (2000) and the autonomous vehicle (1000) using at least one of Bluetooth signal exchanges and Wifi signal exchanges.

6. A location device (100, 100.1, 100.2) according to any one of the preceding claims, further comprising a GPS receiver, and wherein the electronic circuit (102) locates the vehicle autonomous (1000) or user equipment (2000) using measured distance and GPS location.

7. Location device (100, 100.1, 100.2) according to any one of the preceding claims, wherein the electronic circuit (102) further comprises a narrowband transceiver, and wherein the electronic circuit (102) measures the distance between the autonomous vehicle (1000) and the user equipment (2000) using narrowband signal exchanges.

8. A location device (100, 100.1, 100.2) according to any one of the preceding claims, further comprising at least one inertial sensor, and wherein the electronic circuit (102) is configured to calculate additional information such as an angle between a line (101), which connects the user's position and the position of the autonomous vehicle (1000), and a direction of the user when the location device (100, 100.2) is carried in the user's equipment (2000), or between said line (101) and a direction of the autonomous vehicle when the location device (100, 100.1) is carried in the autonomous vehicle (1000), using at least one measurement taken by an inertial sensor, and locates the autonomous vehicle (1000) or the user's equipment (2000) respectively, also using the calculated angle.

9. Location device (100, 100.1, 100.2) according to claim 8, further comprising an inertial measuring unit, IMU, comprising said at least one inertial sensor.

10. A location device (100, 100.1, 100.2) according to any one of the preceding claims, wherein the electronic circuit (102) receives a security key before the RF signal exchanges and then exchanges RF signals using the security key.

11. Autonomous vehicle (1000) comprising a localization device (100, 100.1) according to any one of the preceding claims, corresponding for example to a car or a drone.

12. User equipment (2000) comprising a location device (100, 100.2) according to any one of claims 1 to 10, and corresponding to a smartphone, a watch or a tablet.

13. System (3000) for managing exchanges between a user comprising equipment (2000) and an autonomous vehicle (1000), each comprising a location device (100, 100.1, 100.2) according to claim 10, which sends the security key to the device of user equipment location and autonomous vehicle location device.

14. System (3000) according to claim 13, implementing the following steps: - creating a session between the user equipment (2000) and the autonomous vehicle (1000); - generating the security key; - sending the security key to the user equipment (2000) and the autonomous vehicle (1000); - sending an instruction to invalidate the security key to the autonomous vehicle (1000) at the end of the session between the user equipment (2000) and the autonomous vehicle (1000).

15. System (3000) according to any one of claims 13 or 14, which also sends the security key to another user device.

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