Method for determining a position of a first subscriber relative to a second subscriber in an environment

Abstract

The invention relates to a method for determining a position of a first subscriber (110.1) relative to a second subscriber (110.2), in which the first subscriber and the second subscriber move or can move, using a wireless communications link of a first kind (120.1) and a wireless communications link of a second kind (120.2), wherein the wireless communications link of the first kind has a greater range than the wireless communications link of the second kind, comprising: the first subscriber receiving (200) a notification (130) which has been sent by means of the wireless communications link of the first kind, wherein the notification comprises information about the position of the second subscriber; the first subscriber checking (220) whether the second subscriber is located within the range of the wireless communications link of the second kind; and if the second subscriber is located within the range of the wireless communications link of the second kind: causing (230) the first subscriber to determine the position of the first subscriber relative to the second subscriber on the basis of the wireless communications link of the second kind.

Description

[0001] Description

[0002] title

[0003] Method for determining a position of a first participant relative to a second participant in an environment

[0004] The present invention relates to a method for determining a position of a first participant relative to a second participant in an environment in which the first participant and the second participant move or can move, as well as a system for data processing and a computer program for carrying out the method.

[0005] Background of the invention

[0006] In various environments, especially in road traffic, the determination of positions between different participants is increasingly being used. This serves, for example, in automated driving and the best possible collision avoidance.

[0007] Disclosure of the invention

[0008] According to the invention, a method for determining the position of a first participant relative to a second participant, as well as a data processing system and a computer program for implementing the method, are proposed, having the features of the independent patent claims. Advantageous embodiments are the subject of the dependent claims and the following description.

[0009] The invention generally relates to determining positions between two participants in an environment in which these participants are moving or can move. In particular, a traffic environment such as a public road or the like comes into consideration as the environment. In particular, vehicles such as cars, trucks, motorcycles or bicycles (including so-called e-bikes) come into consideration as participants. At this point, it should be mentioned that the determination of positions between such participants is typically carried out by data processing systems and using wireless communication links, wherein the data processing systems and means for wireless communication links are typically part of the participants or are comprised by them, or are otherwise assigned to them.

[0010] An accurate and reliable determination of the position of a first participant relative to a second participant - generally referred to as positioning - is becoming increasingly common in the automotive sector, particularly due to the increase in automated or at least partially automated driving. The accuracy of vehicle positioning can be important or essential for ensuring safe and efficient operation, but also in new types of use cases such as platooning (several vehicles, particularly trucks, drive automatically in a convoy) or the general optimization of traffic. However, typical types of positioning such as GPS are subject to certain limitations, particularly with regard to accuracy, reliability or availability, e.g. in tunnels or generally heavy traffic with potentially weak signals.

[0011] One type of positioning is based on UWB communication technology, a wireless communication link. UWB stands for "Ultra Wide Band," and accordingly uses a broad frequency spectrum for communication. A wireless communication link of this type enables very precise determination of the position of a first participant relative to a second participant, as well as very accurate detection of objects in general.

[0012] This type of wireless communication connection is also finding its way into more and more areas and is often already found in vehicles for other applications (e.g., as an alternative to a conventional door key or vehicle key). Regardless, such UWB sensors can be easily integrated into a vehicle or retrofitted, for example, even in bicycles. It is also conceivable that they could be assigned to a vehicle in other ways.

[0013] These sensors can communicate with each other and receive and exchange information about the position and speed of the other participant in real time. If a car or bicycle comes too close to the other vehicle, the sensors can trigger a warning signal to alert the driver of the impending collision.

[0014] In addition, the relative position determined via UWB can also be used for other safety functions, such as automatic emergency braking of a participant or vehicle. If the sensors detect an impending collision, they can automatically brake the vehicle (if provided) to avoid a collision or at least mitigate its impact.

[0015] However, a potential disadvantage of UWB has been shown to be its limited range compared to other wireless communication technologies (radio technologies) such as Bluetooth, Wi-Fi, or cellular (5G or 5G Sidelink). UWB typically has a range of only a few meters, which may not be sufficient to ensure complete road coverage. Furthermore, UWB requires a coupling or pairing process to establish a connection for positioning. This means that UWB may not be able to detect and avoid all potential collisions in a timely manner.

[0016] The main limitations of positioning using UWB arise from regulatory requirements. Because UWB uses a wide bandwidth, it would also interfere with many wireless communication links (radio technologies) in other frequency bands. Therefore, UWB must generally be used at very low power and a very limited duty cycle.

[0017] As it turns out, a different type of wireless communication connection can be used to improve positioning via UWB. In road traffic in particular, there are other wireless communication connections, such as Wi-Fi and mobile communications, which have a greater range than UWB and are also used to exchange messages between participants. So-called V2X communication technologies such as 5G Sidelink or ITS-G5 are particularly suitable here. V2X refers to communication between a vehicle (V for "Vehicle") and other participants (X; this can be other vehicles but also, for example, traffic infrastructure). This V2X communication technology or messages sent with it can be used as a trigger for the use of UWB technology for positioning. ITS stands for Intelligent Transport System.

[0018] It has been shown that this idea is not limited to specific V2X communication technology and UWB, but is generally suitable for the use of a first-type wireless communication link and a second-type wireless communication link, with the first-type wireless communication link having a greater range than the second-type wireless communication link, at least in a regular operating mode. A regular operating mode can be understood as a common, usual, normal, or preset operating mode.In other words, the second-type wireless communication link has at least two different operating modes, namely the regular operating mode and an extended operating mode, wherein the range of a message transmitted in the regular operating mode is smaller than the range of a message transmitted in the extended operating mode. Preferably, the transmission / reception power of the communication subscriber(s) is greater in the extended operating mode than in the regular operating mode. Within the scope of the present invention, the first subscriber receives a message that has been sent via the first-type wireless communication link. The message includes a position of the second subscriber. Since the position of the first subscriber itself is usually known, at least a rough distance between the second subscriber and the first subscriber can be determined.

[0019] The message can be a so-called Collision-Aware Message (CAM; often also referred to as a Collective-Aware Message), or it can be part of such a message. Likewise, for example,

[0020] Consider VAMs or similar. VAM stands for VRU-Aware Message, where VRU stands for Vulnerable Road User.

[0021] A Collision-Aware Message or Collective-Aware Message usually includes the participant's position, speed, direction of travel (orientation) and often even more information.

[0022] Furthermore, the message can preferably be a broadcast message, or include one, or be part of one. In other words, it need not be a message specifically sent from the second to the first participant, for example, but rather it can be a message that is generally sent by the second participant, for example, and which is then received by all other participants within the range of the first-type wireless communication connection or at an otherwise specified distance or according to other criteria.

[0023] This message does not have to have been sent by the second subscriber or have been caused to be sent by the second subscriber, although this is preferred. In one embodiment, the message is sent or caused to be sent by a third subscriber in the vicinity. The third subscriber can, like the first and second subscribers, also be a vehicle, but can also be, for example, an infrastructure object in the vicinity which, for example, knows based on other circumstances that the second subscriber is near the first subscriber. The first subscriber then checks whether the second subscriber is within range of the second type of wireless communication connection. If this is the case, i.e.If the second subscriber is within range of the second type of wireless communication connection, the first subscriber is prompted to determine the position of the first subscriber relative to the second subscriber based on the second type of wireless communication connection. Checking whether the second subscriber is within range of the second type of wireless communication connection can comprise transmitting or conveying, in particular exchanging, absolute position information regarding a position of the first and / or second subscriber. The position is preferably an absolute position, e.g. a GNSS-based position. Alternatively or additionally, checking can comprise transmitting a signal using the second type of wireless communication connection.The second participant is determined to be outside the range of the second type of wireless communication connection if no response is received to the transmitted signal.

[0024] In one embodiment, the first participant, using the first type of wireless communication connection, initiates a coupling of the first participant and the second participant for use of the second type of wireless communication connection. Coupling - also referred to as pairing - means that the necessary parameters are exchanged between the first and second participants. For this purpose, for example, the first participant can send a request to the second participant declaring readiness to use the second type of wireless communication connection, whereupon the second participant can send or sends a confirmation declaring readiness to use the second type of wireless communication connection to the first participant.

[0025] This coupling can, for example, only be initiated when a predetermined distance between the first and second participant falls below a predetermined threshold (which is then, for example, greater than the range of the second type of wireless communication connection).

[0026] In one embodiment, causing the first subscriber to determine the position of the first subscriber relative to the second subscriber based on the second type of wireless communication connection first comprises the first subscriber sending an activation request to the second subscriber to activate the second type of wireless communication connection. The second subscriber can receive this request and send a confirmation of activation of the second type of wireless communication connection to the first subscriber in the second subscriber by receiving it. Once the second type of wireless communication connection is established, the position of the first subscriber relative to the second subscriber can be determined based on the second type of wireless communication connection.

[0027] In this way, positioning between two participants can be improved by using a message sent over a long-range wireless communication link as a trigger for establishing a second-type wireless communication link with a shorter range. Furthermore, the coupling is then also achieved via this first-type wireless communication link. Positioning via a second-type wireless communication link, such as UWB, can thus be initiated earlier and automatically.

[0028] At this point it should be mentioned that a conventional coupling option for using UWB as a second-type wireless communication link is Bluetooth Low Energy. However, on the one hand the range of Bluetooth Low Energy is significantly shorter than that of, for example, WLAN or cellular, and on the other hand active initiation is always necessary; the latter can be simplified via the message (e.g. CAM) and, for example, automated. In one embodiment the second-type wireless communication link has a greater range in an extended operating mode than in the regular operating mode. UWB, for example, has a special mode for this which can be used under certain conditions and allows the use of higher transmission power and therefore also a greater range.

[0029] In this case, after the first participant has received the message, the second type of wireless communication link is used in the extended operating mode. This can be done by the first participant, who then sends the aforementioned activation request with a longer range, allowing the second participant to also use the extended operating mode. This allows for precise positioning over a greater distance.

[0030] A data processing system according to the invention comprises means for executing the method according to the invention or its method steps, which are performed by or through the first participant. The system can be arranged at the first participant and / or assigned to the first participant. The system can be a computer or a control unit in such a participant.

[0031] The implementation of a method according to the invention in the form of a computer program or computer program product with program code for carrying out all method steps is also advantageous, since this entails particularly low costs, in particular if an executing control unit is also used for other tasks and is therefore already present. Finally, a machine-readable storage medium is provided with a computer program stored thereon, as described above. Suitable storage media or data carriers for providing the computer program are, in particular, magnetic, optical, and electrical memories, such as hard disks, flash memories, EEPROMs, DVDs, and others. Downloading a program via computer networks (Internet, intranet, etc.) is also possible. Such a download can be wired or cable-based or wireless (e.g., via a WLAN network, a 3G, 4G, 5G, or 6G connection, etc.).Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

[0032] The invention is illustrated schematically in the drawing using an embodiment and is described below with reference to the drawing.

[0033] Short description of the drawings

[0034] Figure 1a schematically shows an environment for explaining the invention in one embodiment.

[0035] Figure 1 b shows a schematic representation of a participant in the environment of Figure 1 a in more detail.

[0036] Figure 2 shows schematically a sequence of a method according to the invention in one embodiment.

[0037] Embodiment(s) of the invention

[0038] Figure 1a schematically shows an environment 100 for explaining one embodiment of the invention. The environment 100 here represents, by way of example, a road traffic environment. The environment includes, by way of example, a road intersection. In addition, several road users are depicted, for example, vehicles such as cars, motorcycles, and bicycles.

[0039] To further explain the invention, a car 110.1 as the first participant, a bicycle 110.2 as the second participant, and a car 110.3 as the third participant will be discussed by way of example. A traffic infrastructure object 110.4 is also shown as an example as a participant. For communication between participants, a wireless communication connection of the first type 120.1, e.g. mobile radio, and a wireless communication connection of the second type 120.2, e.g. UWB, are used. The wireless communication connection of the first type 120.1 has a greater range than the wireless communication connection of the second type 120.2 in a regular operating mode. The range of the wireless communication connection of the first type 120.1 is shown as 122.1, the range of the wireless communication connection of the second type 120.2 as 122.2. At this point, it should be mentioned that range 122.1 of the wireless communication connection of the first type 120.1 can also be significantly larger, which may also be due to the type of first-type wireless communication connection 120.1 (mobile radio); regardless of this, the range 122.2 of the second-type wireless communication connection 120.2 is limited.

[0040] Figure 1b shows the first participant 110.1, a passenger car, in somewhat more detail. In particular, the first participant 110.1 comprises a data processing system 112, embodied, for example, as a control unit, which is also configured to communicate via the first-type wireless communication connection 120.1 and the second-type wireless communication connection 120.2. It is understood that suitable radio modules can also be provided and connected or integrated for this purpose.

[0041] The first participant 110.1 can, for example, receive a message 130 that has been sent via the first type of wireless communication connection 120.1.

[0042] Figure 1a shows that, for example, the first subscriber 110.1 and the third subscriber 110.3 are configured to use the first type of wireless communication connection 120.1 and the second type of wireless communication connection 120.2, while the second subscriber can, for example, only be configured to use the second type of wireless communication connection 120.2. Subscriber 110.4, for example, can, on the other hand, only be configured to use the first type of wireless communication connection 120.1. Figures 1c and 1d show the first subscriber 110.1 and the second subscriber 110.2 from different perspectives. In each case, only the second type of wireless communication connection is indicated. While the second subscriber 110.2 has one sensor 114 for the second type of wireless communication connection, the first subscriber 110.1 has several, e.g. five, sensors for the second type of wireless communication connection.

[0043] These sensors of the second participant 110.2 are, for example, a sensor 114.1 on the roof of the car, two sensors 114.2, 114.3 left and right at the front of the car and two sensors (only one sensor 114.4 shown) at the rear of the car.

[0044] The multiple sensors can be used jointly or individually to determine the position of the second participant 110.2 relative to the first participant 110.1. Unlike with only one sensor for the first participant 110.1, this allows a more precise position to be determined, in particular not just a distance, but also a more precise relative position and / or a relative orientation or, for example, a movement of the second participant relative to the first participant.

[0045] It is understood that the second participant 110.2 may also have multiple sensors for the second type of wireless communication connection, even if the second participant is a bicycle; For example, one sensor could then be arranged at the front and one at the rear.

[0046] It should be noted at this point that such a sensor for the second type of wireless communication connection does not necessarily have to be permanently located at the respective subscriber; it is conceivable, for example, to assign a mobile sensor, e.g., in a smartphone, to the subscriber.

[0047] Figure 2 schematically illustrates a method according to the invention in one embodiment as a type of flowchart or sequence diagram. This will be explained using an example environment such as that shown in Figure 1a. For this purpose, the first participant 110.1 and the second participant 110.2 are schematically indicated. In particular, the range 122.1 of the first type of wireless communication connection, e.g., mobile radio, and the range 122.2 of the second type of wireless communication connection, e.g., UWB, are also indicated here.

[0048] The steps involved will be explained below, from top to bottom. According to the ranges 122.1 and 122.2, this also means, for example, that the participants can approach each other.

[0049] Firstly - and for example in general - both the first participant and the second participant can send messages 130 by means of the wireless communication connection of the first type, which messages include information at least about a position of the respective participant.

[0050] In this connection, in step 200, the first participant 110.1 receives such a message 130. In this way, the first participant 110.1 can roughly determine the distance between the second participant 110.2 and the first participant 110.1.

[0051] Then, in step 210, the first subscriber 110.1, using the first type of wireless communication connection, initiates a coupling of the first subscriber 110.1 and the second subscriber 110.2 for use of the second type of wireless communication connection. This includes, for example, sending, in step 212, from the first subscriber 110.1 to the second subscriber 110.2 an availability request 140 or a request to declare readiness to use the second type of wireless communication connection. Then, in step 214, the first subscriber 110.1 can receive a confirmation 142 from the second subscriber 110.2 regarding the availability or readiness to use the second type of wireless communication connection. This can also be referred to as pairing.

[0052] In this case, for example, the use of the second-type wireless communication connection in the extended operating mode with a longer range can also be initiated (step 216). This can be done, for example, as part of the availability request 140. Then, in step 220, the first subscriber 110.1 checks whether the second subscriber 110.2 is within range of the second-type wireless communication connection. If so, in step 230, the first subscriber 110.1 is prompted to determine the position of the first subscriber relative to the second subscriber based on the second-type wireless communication connection.

[0053] This may initially involve, step 232, sending an activation request 150 from the first subscriber to the second subscriber to activate the second-type wireless communication connection. The second subscriber may receive this and send a confirmation 152 of activation of the second-type wireless communication connection to the first subscriber by receiving it, step 234. Once the second-type wireless communication connection is established, the position of the first subscriber relative to the second subscriber may be determined based on the second-type wireless communication connection.

[0054] This is represented by the exchange of corresponding signals 160.

[0055] Figure 3 schematically illustrates a method according to the invention in a further embodiment as a type of flowchart or sequence diagram. One difference from the sequence according to Figure 2 is that the messages 130 are exchanged here, for example, between the second participant 110.1 and a third participant 110.3; instead of the third participant 110.3, the participant 110.4 according to Figure 1a could also be provided.

[0056] Here, too, such a message 130 is received by the first participant 110.1 at 200. However, the message 130 is not sent by the second participant 110.2, but by the third participant 110.3. This works because messages such as the aforementioned CAMs can, for example, also include information about the positions of participants other than the sending participant. Therefore, the first participant can also recognize, based on the message received from the third participant 110.3, that the second participant 110.2 is nearby and thus initiate the coupling between itself, i.e., the first participant 110.1, and the second participant 110.2. The subsequent steps then correspond to those according to Figure 2.

Claims

Claims 1. A method for determining a position of a first participant (110.1) relative to a second participant (110.2) in an environment (100) in which the first participant (110.1) and the second participant (110.2) are moving or can be moving, using a wireless communication link of the first type (120.1) and a wireless communication link of the second type (120.2), wherein the wireless communication link of the first type (120.1) has a greater range than the wireless communication link of the second type (120.2) in a regular operating mode, comprising: Receiving (200), by the first subscriber (110.1), a message (130) which is transmitted by means of the wireless communication connection of the first type (120.1), wherein the message (130) comprises information about a position of the second subscriber (110.2); Checking (220), by the first subscriber (110.1), whether the second subscriber (110.2) is within the range of the second type of wireless communication connection (120.2); and if the second subscriber is within the range of the second type of wireless communication connection (120.2): causing (230) the first subscriber (110.1) to determine the position of the first subscriber (110.1) relative to the second subscriber (110.2) based on the second type of wireless communication connection (120.2).

2. The method according to claim 1, comprising a step of causing (210), by the first participant (110.1), using the wireless communication connection of the first type (120.1), a coupling of the first participant (110.1) and the second subscriber (110.2) for the use of the second type wireless communication connection (120.2).

3. The method according to claim 1 or 2, wherein the second type wireless communication link (120.2) has a greater range in an extended operating mode than in the regular operating mode, further comprising: after the message has been received by the first subscriber (110.1): causing (216) the second type wireless communication link (120.2) to be used in the extended operating mode.

4. The method according to any one of the preceding claims, wherein causing (230) the first participant (110.1) to determine the position of the first participant (110.1) relative to the second participant (110.2) based on the second type wireless communication link (120.2) comprises: Sending (232), from the first subscriber (110.1) to the second subscriber (110.2), an activation request for activating the second type of wireless communication connection (120.2); Receiving (234), from the first participant, a confirmation from the second participant (110.2) about an activation of the second type wireless communication connection (120.2) in the second participant (110.2); and when the second type wireless communication connection (120.2) is established: determining the position of the first participant (110.1) relative to the second participant (110.2) based on the second type wireless communication connection (120.2).

5. The method according to any one of the preceding claims, wherein the message (130) is or comprises at least one of the following messages: a collision-aware message, a VRU-aware message.

6. The method according to any one of the preceding claims, wherein the message is or comprises a broadcast message or is part of such a broadcast message.

7. Method according to one of the preceding claims, wherein the second type of wireless communication connection (120.2) is based on a UWB communication technology.

8. Method according to one of the preceding claims, wherein the wireless communication connection of the first type (120.1) is based on at least one of the following technologies: mobile radio, WLAN.

9. Method according to one of the preceding claims, wherein the message (130) was sent or caused to be sent by the second subscriber (110.2), or wherein the message (130) was sent or caused to be sent by a third subscriber in the environment.

10. Method according to one of the preceding claims, wherein the first subscriber (110.1) is or comprises a vehicle, in particular a car, a truck, a motorcycle or a bicycle, or is part of such a vehicle or is assigned to such a vehicle, and wherein the first subscriber (110.1) comprises means for using the wireless communication connection of the first type (120.1) and the wireless communication connection of the second type (120.2).

11. Method according to one of the preceding claims, wherein the second subscriber (110.2) is or comprises a vehicle, in particular a car, a truck, a motorcycle or a bicycle, or is part of such a vehicle or is assigned to such a vehicle, wherein the second subscriber (110.2) comprises means for using the wireless communication connection of the first type (120.1) and the wireless communication connection of the second type (120.2).

12. A data processing system comprising means for carrying out the steps of the method according to any one of the preceding claims carried out in and / or by the first participant.

13. A computer program comprising instructions which, when the program is executed by a computer and / or the system according to claim 12, cause the computer and / or the system to carry out the method steps of a method according to one of claims 1 to 11 when it is executed on the computer or by the system.

14. A computer-readable storage medium on which the computer program according to claim 13 is stored.

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