Method for operating a motor vehicle on the basis of improved position information, and motor vehicle

Abstract

According to the invention, in the event that position information is subject to data corruption, processing is carried out without using further signals, for example using an extended Kalman filter. This can be used in a motor vehicle (1).

Description

[0001] 202403437

[0002] 1

[0003] Description

[0004] Procedures for operating a motor vehicle and motor vehicle

[0005] The invention relates to a method for operating a motor vehicle and a corresponding motor vehicle, in particular to applications in which position information (regarding one's own vehicle and / or other vehicles) is used.

[0006] It is known to acquire position information using position signals from a satellite. Vehicles can then also transmit this position information to other vehicles.

[0007] Problems arise when the satellite signal is disrupted. In this context, it is known to use other parameters to determine a vehicle's position. For example, CN 1 15 484 543 A discloses a method for determining a vehicle's position when a satellite signal is disrupted, using other determined parameters. A similar method is also known from US 2018 / 0 292 227 A1.

[0008] US 2019 / 0295283 A1 describes how, if only a rough estimate of the location of other vehicles is available, the vehicle's position data can be estimated using a map (i.e., using the navigation system). This estimation is based on probabilities.

[0009] From US 2023 / 0236 022 A1, an error correction regarding a user data source using a different data source is known.

[0010] In the current state of the art, it is a disadvantage that complex procedures are required to obtain accurate position information.

[0011] Accordingly, the object of the present invention is to demonstrate a way to obtain position information even in the case of unreliable data.

[0012] 2 can be provided, which can be used through an application in the motor vehicle.

[0013] The problem is solved by the method with the features according to claim 1 and the motor vehicle with the features according to claim 7.

[0014] The procedure for operating a motor vehicle accordingly comprises: receiving a sequence of position signals with position information about a vehicle, the position information being subject to prior data corruption;

[0015] Use only these position signals to obtain improved position information;

[0016] Utilizing the improved position information for an application by the motor vehicle that has received the sequence of position signals.

[0017] The application can, for example, include controlling at least one actuator of the motor vehicle.

[0018] The invention is based on the finding that there are certain types of prior data corruption, in particular so-called "scrambling", which are intentionally imposed on the signals, for example for data protection reasons, and that these can be improved by processing based on the position signals alone, i.e. without including the measured values ​​from other sensors (distance sensors, speed sensors and the like), so that the actual ("correct") position signal can be reconstructed.

[0019] In this context, it has been shown that the use of an Extended Kalman Filter can be particularly useful in obtaining improved position information.

[0020] Using the Extended Kalman Filter (or any other processing method) is advisable if it is determined that the vehicle is moving. Otherwise, position information from a previous pass can be used: 202403437

[0021] The improved position information obtained in step 3 of the procedure will be used.

[0022] This is because, when the vehicle is stationary, position information does not need to be repeatedly determined.

[0023] According to a first embodiment of the method, the sequence of position signals relates to the position information for the motor vehicle itself. These position signals can be, in particular, signals from an Earth satellite (GPS - Global Positioning System, GNSS - Global Navigation Satellite System). Alternatively, the sequence of position signals can also relate to the position information for another vehicle, whereby these position signals are usually transmitted by the other vehicle, but often themselves also originate from Earth satellite signals.

[0024] Both processes can also be combined: The sequence of position signals can pertain to the vehicle itself, and an additional sequence of position signals can be received from another vehicle, from which improved position information about the other vehicle is derived. This improved position information for the vehicle itself and the improved position information for the other vehicle are then used to determine the distance between the vehicle and the other vehicle, and this determined distance is used in an application. In a sense, the method is used twice, once for the vehicle itself and once for the other vehicle, in order to account for potential interactions (warning of possible impending collisions, collision avoidance, etc.).

[0025] The motor vehicle according to the invention comprises a receiver (“receiving device”) for receiving a sequence of position signals, a first data processing device for processing the position information transmitted by the position signals exclusively on the basis of data transmitted by the position signals, and a second 202403437

[0026] 4

[0027] Data processing facility for using the processed position information for an application.

[0028] The motor vehicle according to the invention implements the method according to the invention.

[0029] Here too, the first data processing facility preferably applies an Extended Kalman Filter.

[0030] According to a first embodiment, the receiver is designed to receive position signals from an Earth satellite. According to a second embodiment, the receiver is designed to receive position signals from another vehicle. These embodiments can also be implemented in combination with a single receiving device and / or with two different receiving devices.

[0031] To perform the described steps, a processor circuit can be provided that includes programming or software comprising program instructions which, upon execution of the program instructions, cause the processor circuit to carry out an embodiment of the method. The processor circuit can include at least one microprocessor and / or microcontroller. The program instructions can be stored in a data memory of the processor circuit.

[0032] The invention also includes further developments of the motor vehicle according to the invention, which have features already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the method according to the invention are not described again here.

[0033] For use cases or application situations that may arise during the procedure and are not explicitly described here, it may be necessary to issue an error message and / or a prompt according to the procedure 202403437.

[0034] 5 is displayed for user feedback input and / or a default setting and / or a predetermined initial state is set.

[0035] The invention also includes combinations of the features of the described embodiments.

[0036] An embodiment of the invention is described below. The following is shown:

[0037] Fig. 1 schematically shows the components of an embodiment of the motor vehicle according to the invention in conjunction with other components; and

[0038] Fig. 2 is a flowchart to explain the steps of an embodiment of the method according to the invention.

[0039] The embodiment described below is a preferred embodiment of the invention. In this embodiment, the described components each represent individual features of the invention that can be considered independently of one another. Each of these features further develops the invention independently and can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiment can also be supplemented by other features of the invention already described.

[0040] In the figures, functionally identical elements are each provided with the same reference symbols.

[0041] A motor vehicle, designated as a whole by 1, comprises a first receiving device 10a for receiving the position signal from an Earth satellite 3a. It also comprises a second receiving device 10b for receiving a position signal with position data (position information) for this second motor vehicle 2, transmitted by a transmitting device 18' of a second motor vehicle 2. The second 202403437

[0042] 6

[0043] Motor vehicle 2 receives these position signals in particular from its own receiving device 10', with a data processing device 12' optionally interposed. Correspondingly, motor vehicle 1 also includes a transmitting device 18 for transmitting position signals to motor vehicle 2 or other motor vehicles.

[0044] Of particular interest here is the data processing in a data processing unit, which is shown here as a two-part unit consisting of a data processing unit 12a and a data processing unit 12b. These can be separate hardware units or simply software blocks provided in the single first data processing unit 12. In the first data processing unit 12, an extended Kalman filter is applied to the received position data, specifically by data processing unit 12a for the position data received via receiver 10a, and by data processing unit 12b for the position data received by receiver 10b.The Extended Kalman Filter improves potentially corrupted position data originating from satellite 3a or the other vehicle 2, resulting in a higher degree of precision in determining the "correct" position value. The position information determined by data processing unit 12a pertains to vehicle 1 itself, while the position information determined by data processing unit 12b pertains to the position of the other vehicle 2.

[0045] In a second data processing unit 14, this data is now processed so that the distance between motor vehicle 1 and the other motor vehicle 2 can also be derived. Depending on this distance, an application implemented by the second data processing unit can control actuators 16a and 16b of motor vehicle 1. For example, these could be warning lights and / or the speed of the 202403437

[0046] 7

[0047] Actuators influencing motor vehicles (brake; effecting a short-term acceleration).

[0048] One possible application is the so-called EEBL ("Emergency Electronic Brake Light"), which gives a warning, FCW ("Forward Collision Warning"), RLVW ("Red Light Violation Warning"), ICW ("Intersection Collision Warning"), etc.

[0049] The method according to the invention is further explained below with reference to one embodiment and to Fig. 2. In step S10, it is determined whether the motor vehicle 1 is stationary or moving. Depending on this, in step S12 the state can be changed from "stationary" to "moving" and a binary value can be set (e.g., "enable = True"). Conversely, if it is determined that the motor vehicle has come to a stop, the state can be switched from "moving" to "stationary," and the binary value can be implemented (e.g., "enable = False"). The process steps S10, S12, and S14 are carried out continuously alongside the actual process, which begins with step S20 ("Start"). In step S22, the state is initialized, and the variables are also initialized.

[0050] In step S24, activation occurs when the motor vehicle 1 transitions from a stationary state to a moving state.

[0051] In the subsequent step S26, the value of the binary variable, which was determined in the parallel procedure with steps S10, S12, and S14, is checked. If the vehicle is stationary ("N" for "No", which occurs when "enable = False"), then, according to step S28, the position information used is the one already obtained in a previous iteration of the procedure. This takes into account the fact that a stationary vehicle does not need to have its position recalculated each time. 202403437

[0052] 8

[0053] If, however, the question in step S26 is answered with "Y" ("Y", which occurs when "enable = True"), the process proceeds to step S30 (position prediction), and then, following step S32 (position estimation), to step S34 (output of position information). Steps S30 and S32 correspond to the application of an extended Kalman filter. The use of other algorithms is also possible.

[0054] In step S36, the estimated error regarding the position information is calculated. In step S38, it is then checked whether this error exceeds a threshold value (for example, a threshold of 3 m, typical for the width of a road lane). As long as the threshold value is too high ("Y" for "Yes"), the process proceeds back to step S22. If the threshold value is not exceeded ("N" for "No"), the process proceeds to step S40 and ends. Step S40 can also be performed immediately after step S34.

[0055] Overall, this example shows how to provide an adjustment of the effect of the position being shifted and scrambled in V2X applications.

[0056] 202403437

[0057] 9

[0058] Reference symbol list

[0059] 1 motor vehicle

[0060] 2 second motor vehicle

[0061] 3a Earth satellite

[0062] 10a Receiver

[0063] 10b Recipient

[0064] 10' Reception facility

[0065] 12 first data processing facility

[0066] 12a first data processing facility

[0067] 12b first data processing facility

[0068] 12' Data processing unit

[0069] 14 second data processing facility

[0070] 16a Actuator

[0071] 16b Actuator

[0072] 18 Transmitting device

[0073] 18' Transmitter

[0074] S10, S12, S14, S20, S22, S24, S26, S28, S30, S32, S34, S36, S38, S40

[0075] Steps of an embodiment of the method according to the invention

Claims

202403437 10 Patent claims 1. Procedure for operating a motor vehicle (1) comprising the steps: - Receiving a sequence of position signals containing position information about a vehicle, where the position information is subject to prior data corruption; - Use only these position signals to obtain improved position information; - Use of the improved position information for an application by the motor vehicle (1) that has received the sequence of position signals.

2. The method of claim 1, wherein the position signals are subjected to an extended Kalman filter to obtain improved position information.

3. The method of claim 2, wherein the Enhanced Kalman Filter is applied when the motor vehicle (1) is moving and otherwise improved position information determined in a previous pass of the method is used as position information.

4. Method according to any one of claims 1 to 3, wherein the sequence of position signals relates to the position information for the motor vehicle (1) itself.

5. Method according to any one of claims 1 to 3, wherein the sequence of position signals relates to the position information for another vehicle (2).

6. The method of claim 4, wherein an additional sequence of position signals is received from another vehicle (2), improved position information about the other vehicle (2) is derived therefrom, and wherein the improved position information about the motor vehicle (1) itself and the improved position information about the other vehicle (2) are used to determine the distance of the motor vehicle (1) itself to the other vehicle. 202403437 11 (2) be used and the determined distance is used in an application.

7. Motor vehicle (1 ) with a receiver (10a, 10b) for receiving a sequence of position signals, with a first data processing device (12a, 12b) for processing the position information transmitted by the position signals exclusively on the basis of data transmitted by the position signals, and with a second data processing device (14) for using the processed position information for an application.

8. Motor vehicle (1 ) according to claim 7, wherein the first data processing device (12a, 12b) applies an Extended Kalman Filter.

9. Motor vehicle (1 ) according to claim 7 or 8, wherein the receiver (10a) is designed to receive the position signals from an Earth satellite (3a).

10. Motor vehicle (1 ) according to one of claims 7 to 9, wherein the receiver (10b) is designed to receive the position signals from another vehicle (2).

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