DE102023212560A1 - Method for determining a distance between a vehicle and another vehicle located in a surrounding area of the vehicle, as well as electronic determination system and vehicle - Google Patents

Abstract

The invention relates to a method for determining a distance (7) between a vehicle (1) and another vehicle (2) located in a surrounding area (3) of the vehicle (1), wherein
- a position (5) of the vehicle (1) is determined by a position determination system (9) and provided to an evaluation unit (12),
- a position (6) of the further vehicle (2) is determined with a further position determination system (11) and provided to the evaluation unit (12),
- position determination information relating to a position determination method used to determine the position (5) is provided to the electronic evaluation unit (12),
- further position determination information relating to a position determination method used to determine the position (6) is provided to the electronic evaluation unit (12),
- a comparison result is determined by the electronic evaluation unit (12) by comparing the position determination information, and
- the distance (7) is determined based on the positions (5, 6) and the comparison result.
Furthermore, the invention relates to an electronic determination system (8) and a vehicle (1, 2).

Description

The invention relates to a method for determining a distance between a vehicle and another vehicle located in an area surrounding the vehicle, wherein a position of the vehicle is determined using a position determination system of the vehicle and is provided to an electronic evaluation unit in the vehicle, and a position of the other vehicle is determined using a further position determination system and is transmitted to the electronic evaluation unit.

Furthermore, the invention relates to an electronic determination system for determining a distance between a vehicle and another vehicle located in a surrounding area of the vehicle. The electronic determination system has a position determination system for determining a position of the vehicle and for providing the position of the vehicle to an electronic evaluation unit of the electronic determination system. Furthermore, a provision unit is provided with which a position of the other vehicle can be provided to the electronic evaluation unit.

The invention also relates to a vehicle with an electronic determination system.

Today's vehicles feature a variety of driver assistance systems to enable the vehicle to operate at least partially autonomously or to assist the driver in steering the vehicle. Automated driving, corresponding to autonomous driving levels 1 to 5, requires not only reliable environmental recognition but also precise positioning of the vehicle. Driver assistance systems rely primarily on the accuracy of input data from sensors such as environmental sensors or positioning units. Positioning using GPS or GNSS sensors often exhibits inaccuracies, which can arise, for example, due to the path through the atmosphere between the vehicle and the satellite. Driver assistance systems that also utilize vehicle-to-vehicle communication (Car2x communication) are often subject to a double error at this point, as the inaccuracy is present in both the transmitting and receiving vehicles due to separate localization using the satellite. This high level of inaccuracy, particularly double inaccuracy, can lead to incorrect control or reactions by the driver assistance systems.

For example, the KR 2023 002 46 12 A A method for determining the position of a vehicle based on sensor fusion. This method can be used primarily for automated driving. Sensor fusion allows external environmental information to be taken into account when determining the position.

Furthermore, the EP 3 052 963 B1 A method for correcting position data recorded with a position sensor of a motor vehicle using a global navigation satellite system. In this method, a mechanical interaction of the motor vehicle with ground structures when driving over the ground structures can be measured using a structure sensor, and by evaluating the measurement data of the structure sensor, the driving over of at least one reference structure for the exact reference position in the geodetic coordinate system of the global navigation satellite system is known in at least one direction can be detected. Correction data to be used for the correction are determined from a deviation of the position data measured with the position sensor at the time of driving over from the reference position.

Furthermore, the US 10,986,478 B2 A device for a vehicle comprising a C-V2X communication unit. A navigation system is coupled to the C-V2X communication unit to determine the position of the vehicle based on transmitted signals.

An object of the present invention is to improve the determination of a distance between two vehicles based on a respective position of the vehicles.

This problem is solved by a method, an electronic determination system, and a vehicle according to the independent patent claims. Useful further developments arise from the dependent patent claims.

• - Insbesondere mit einem Positionsbestimmungssystem eine Position des Fahrzeugs bestimmt und einer elektronischen Auswerteeinheit in dem Fahrzeug bereitgestellt wird,
• - Insbesondere mit einem weiteren Positionsbestimmungssystem eine Position des weiteren Fahrzeugs bestimmt und der elektronischen Auswerteeinheit bereitgestellt wird, dadurch gekennzeichnet, dass
• - Insbesondere eine Positionsbestimmungsinformation betreffend eine zur Bestimmung der Position des Fahrzeugs verwendete Positionsbestimmungsmethode des Positionsbestimmungssystems der elektronischen Auswerteeinheit bereitgestellt wird,
• - Insbesondere eine weitere Positionsbestimmungsinformation betreffend eine zur Bestimmung der Position des weiteren Fahrzeugs verwendete Positionsbestimmungsmethode des weiteren Positionsbestimmungssystems der elektronischen Auswerteeinheit bereitgestellt wird,
• - Insbesondere ein Vergleichsergebnis durch die elektronische Auswerteeinheit bestimmt wird, indem die Positionsbestimmungsinformation mit der weiteren Positionsbestimmungsinformation verglichen wird, und
• - Insbesondere der Abstand zwischen dem Fahrzeug und dem weiteren Fahrzeug auf Basis der Position des Fahrzeugs, der Position des weiteren Fahrzeugs und des Vergleichsergebnisses bestimmt wird.

One aspect of the invention relates to a method for determining a distance between a vehicle and another vehicle located in a surrounding area of the vehicle, wherein

• - In particular, a position of the vehicle is determined using a positioning system and provided to an electronic evaluation unit in the vehicle,
• - In particular, with another positioning system, a position of the other vehicle is determined and the electronic evaluation unit is provided, characterized in that
• - In particular, positioning information relating to a positioning method of the positioning system used to determine the position of the vehicle is provided to the electronic evaluation unit,
• - In particular, further positioning information relating to a positioning method of the further positioning system used to determine the position of the further vehicle is provided to the electronic evaluation unit,
• - In particular, a comparison result is determined by the electronic evaluation unit by comparing the position determination information with the further position determination information, and
• - In particular, the distance between the vehicle and the other vehicle is determined based on the position of the vehicle, the position of the other vehicle and the comparison result.

The proposed method enables improved distance determination or distance measurement between two vehicles based on the respective vehicle position. Furthermore, the proposed method can improve the relative positioning accuracy between two vehicles. This is particularly advantageous when using the distance between the vehicles and, in particular, the relative positions of the vehicles with regard to the use of driver assistance systems, driver assistance functions, and/or autonomous driving modes.

Furthermore, the proposed method enables a higher degree of automation through the use of higher-quality driving functions, as more precise or improved distance determination between vehicles can be performed. This allows for improved accuracy in longitudinal or distance determination between vehicles. As a result of the more precise distance, incorrect reactions by driver assistance systems can be avoided, as, for example, improved positioning or lateral positioning between vehicles is possible.

A further advantage of the present invention is that existing systems, such as sensors, positioning systems or other sensor units can continue to be used in the systems, since the respective information, such as the positioning information of the respective positioning systems, can be compared on the system side in order to take into account the respective advantages or disadvantages of the respective positioning systems when determining the distance.

The vehicles can be at least partially autonomous, fully autonomous, or highly automated. The vehicles can be equipped with appropriate driver assistance systems that enable driving functions to be performed at least partially or fully automatically. The distance or relative distance between the two vehicles determined by the system can be used, for example, for an ACC (Adaptive Cruise Control) function to implement adaptive cruise control, i.e., using a distance control system. For this purpose, the proposed method can be used to improve and, in particular, more accurately determine the distance.

The electronic evaluation unit can be used to process the relevant information regarding the positions of the vehicles and the respective methods for determining those positions. The electronic evaluation unit can be, for example, a computing unit or an evaluation system. Both positioning systems can incorporate a wide variety of technologies with which positions, especially vehicle positions, can be determined.

The positioning systems can be, for example, a global navigation satellite system (GNSS), a global positioning system (GPS), a differential global positioning system (DGPS), a map-matching system, a camera-based positioning system, or other positioning systems. The two positioning systems can each use the same positioning technology or use different positioning technologies.

Above all, the vehicle can have the positioning system, such as the first positioning system. The additional, i.e., the second, positioning system can be configured externally to the vehicle.

For example, the additional positioning system may be at least partially integrated into the additional vehicle.

According to the invention, possible inaccuracies, tolerances, and/or other deviations of the positioning systems are taken into account for distance determination. This is achieved by providing or transmitting corresponding information on the positioning methods used or applied by the positioning systems, i.e., the positioning information, to the electronic evaluation unit. The electronic evaluation unit can thus compare the two positioning methods of the two positioning systems in order to take into account and, in particular, eliminate any tolerances, deviations, discrepancies, or other negative disturbances for the distance determination. The comparison result generated by the system can therefore be used to improve, and in particular, more accurately determine, the distance between the two vehicles based on the positions of the vehicles.

For example, if a comparison of the positioning information reveals that the two positioning systems use the same positioning methods, the two vehicle positions can essentially be used directly for distance determination. With identical positioning methods, the same tolerances, error sources, or other interference factors may be present, meaning that these are not significant in the distance determination or cancel each other out.

However, if the comparison results reveal that two different positioning methods are being used, this can be taken into account when determining the distance. This can be done by averaging the results. It is also conceivable to determine which of the two positioning methods has the greatest tolerance values, inaccuracies, or measurement uncertainties, so that the "poorer" positioning method can be eliminated.

In one exemplary embodiment, a vehicle-to-vehicle communication connection is established between the vehicle and the further vehicle, wherein the position of the further vehicle and the further position information are transmitted to the electronic evaluation unit via the vehicle-to-vehicle communication connection. This enables vehicles located within a common environmental area to exchange information with one another. In particular, the position information, such as the positioning information and the position itself, can be exchanged with one another. The vehicle-to-vehicle communication connection can be a C2X communication connection. Other communication connection types, such as "vehicle-2-vehicle communication connection" or "V2V communication connection" are also conceivable. Other communication types, such as WLAN, Bluetooth, mobile radio standards, or other wireless communication types, can also be used. For example, the vehicles can have corresponding communication units in order to be able to transmit or transmit the positions and, in particular, the positioning information.

In one embodiment, it is provided that, along with the position determination information, accuracy information of the position determination method used by the position determination system is additionally provided and taken into account when determining the distance. In addition to or instead of the further position determination information, further accuracy information of the position determination method used by the further position determination system can be additionally provided and taken into account when determining the distance. Thus, above all, the electronic evaluation unit can be informed of the accuracies, standard errors, measurement uncertainties and/or susceptibility to interference of the position determination methods used by the position determination systems. The electronic evaluation unit can thus take this accuracy information into account when determining or calculating the distance, so that, above all, the distance can be determined more accurately, more exactly and/or more precisely.

The accuracy information can be used to provide a respective accuracy with regard to the determined position of the vehicles. The extent of the accuracy can, for example, be referred to as the degree of accuracy. This can, for example, provide the measurement uncertainties, tolerances, or inaccuracies that the respective determined positions may have. This can be taken into account when determining the distance between the two vehicles, for example by subtracting the measurement uncertainty using a factor or weighting factor in order to determine, above all, the relative positioning and thus the relative distance between between the vehicles as precisely as possible.

In one embodiment, a plausibility check of the position of the vehicle and/or the position of the other vehicle is carried out on the basis of the comparison result. This plausibility check can, for example, be carried out by the electronic evaluation unit on the system side. This can be used to check, for example, whether the information on the positions of the two vehicles is plausible, i.e. whether it can be used reliably. If, for example, the comparison of the positioning methods reveals that one of the positioning methods used may have a very high measurement uncertainty or a very high error tolerance range, the plausibility check can be used to determine whether or not the position can be used to determine the distance. If, optionally, the plausibility check reveals that the position of one or both vehicles is erroneous, the distance can only be determined with limited reliability. This can therefore inform the driver assistance systems, which require the distance information, that the determined distance could be an error-prone distance value. If, on the other hand, the plausibility check reveals a high degree of possible deviation, the system can determine that a reliable distance determination cannot currently be carried out based on the current positions of the two vehicles.

In one embodiment, it is provided that, depending on the plausibility check performed, the position of the vehicle is redetermined based on the position of the other vehicle. In addition to or instead of the plausibility check performed, the position of the other vehicle can be redetermined based on the position of the vehicle. Thus, if it is determined that at least one position of the two vehicles may be faulty and thus exceeds a predetermined measurement uncertainty tolerance, the affected vehicle position can be redetermined or determined. In this case, a corresponding signal, in particular an electronic signal, can be transmitted to the affected vehicle with the aid of the electronic evaluation unit, so that the position of the affected vehicle can be redetermined. In order to be able to check this redetermination in advance, the position that was not rejected during the plausibility check can be considered as a reference or comparison. In particular, the plausibility check can be performed continuously and, in particular, can be performed as long as the two determined positions of the vehicles have not been rejected by the plausibility check. This ensures that the positions of the vehicles are sufficiently accurate for determining the distance, so that the distance can be determined as accurately as possible.

In one embodiment, it is further provided that a position of an infrastructure facility located in the surrounding area and positioning information relating to a positioning method used to determine the position of the infrastructure facility are provided to the positioning system and/or the further positioning system. The infrastructure facility can be, for example, a traffic system, a traffic light, a traffic control system, or other digitally networked objects in road traffic. By providing or transmitting the positions and positioning information relating to the infrastructure facility to the positioning systems, the individual positioning systems can determine the respective positions of the vehicles better, in particular more accurately. The position of the infrastructure facility can be used primarily as a reference position for determining the positions of the vehicles. Since such an infrastructure facility can, in particular, be a stationary object or an immovable object, such as a traffic light, the position of the infrastructure facility can be considered a reference position. Thus, the individual positions of the vehicles can be determined more accurately, taking this reference position into account. In this case, the respective positioning information regarding the infrastructure facility can also be used to determine the positions of the vehicles more efficiently, and in particular, more accurately. This offers the advantage that the positions of the vehicles provided for the distance determination have already been determined more accurately and thus more precisely in advance. This has a beneficial effect on the determination of the distance.

In one embodiment, it is provided that the position of the infrastructure facility and/or the positioning information relating to the positioning method used to determine the position of the infrastructure facility is taken into account when determining the position of the vehicle. In addition or Instead, the position of the infrastructure facility and/or the positioning method used to determine the position of the infrastructure facility is taken into account when determining the position of the other vehicle. If the vehicles are located in the vicinity of the infrastructure facility, appropriate data can be exchanged between the vehicle and the infrastructure facility via communication links. For example, the infrastructure facility can send the position information or the position and/or the positioning information to vehicles in the vicinity via a Car 2X communication link. Based on this position information from the infrastructure facility, the respective vehicles can determine their own position more accurately, since the position of the infrastructure facility can be taken into account as a reference position.

For example, using the positioning information provided by a particular vehicle and its systems, it can be checked whether the infrastructure facility uses the same or a similar positioning method as the vehicle itself. If this is the case, the vehicle's positioning can be easily improved. If the respective vehicle and the infrastructure facility use different positioning methods, the vehicle's position can be corrected based on the respective advantages and/or disadvantages of the positioning method.

In one embodiment, it is provided that the determined distance between the vehicle and the other vehicle is provided to a vehicle system of the vehicle and/or a vehicle system of the other vehicle. It is also conceivable that the determined distance is transmitted or provided to other vehicles in the surrounding area which have communication units. For example, the vehicle systems can be driver assistance systems or autonomous driving systems. Based on the distance determination between the vehicles, the vehicle can, for example, carry out an at least partially autonomous following journey with regard to the other vehicle, i.e. an ACC journey. Above all, the distance determined according to the invention can be used to control the vehicles more safely, since in the event of a braking maneuver by one of the vehicles, the distance is crucial for determining when and with what force the other vehicle has to brake, for example to avoid a rear-end collision.

Furthermore, the distance can be made available to other vehicle functions such as driver assistance functions.

• - Insbesondere einem Positionsbestimmungssystem zum Bestimmen einer Position des Fahrzeugs und zum Bereitstellen der Position des Fahrzeugs einer elektronischen Auswerteeinheit des elektronischen Bestimmungssystems, und
• - Insbesondere einer Bereitstellungseinheit zum Bereitstellen einer Position des weiteren Fahrzeugs der elektronischen Auswerteeinheit, dadurch gekennzeichnet, dass
• - Insbesondere das Positionsbestimmungssystem ausgebildet ist, eine Positionsbestimmungsinformation betreffend eine zur Bestimmung der Position des Fahrzeugs verwendete Positionsbestimmungsmethode der elektronischen Auswerteeinheit bereitzustellen,
• - Insbesondere die Bereitstellungseinheit ausgebildet ist, eine weitere Positionsbestimmungsinformation betreffend eine zur Bestimmung der Position des weiteren Fahrzeugs verwendete Positionsbestimmungsmethode der elektronischen Auswerteeinheit bereitzustellen,
• - Insbesondere die elektronische Auswerteeinheit ausgebildet ist, ein Vergleichsergebnis durch Vergleichen der Positionsbestimmungsinformation mit der weiteren Positionsbestimmungsinformation zu bestimmen, und
• - Insbesondere das elektronische Bestimmungssystem eine Abstandsbestimmungseinheit aufweist, mit welcher der Abstand zwischen dem Fahrzeug und dem weiteren Fahrzeug auf Basis der Position des Fahrzeugs, der Position des weiteren Fahrzeugs und des Vergleichsergebnisses bestimmbar ist.

A further aspect of the invention relates to an electronic determination system for determining a distance between a vehicle and another vehicle located in a surrounding area of the vehicle, comprising

• - In particular, a positioning system for determining a position of the vehicle and for providing the position of the vehicle to an electronic evaluation unit of the electronic determination system, and
• - In particular, a provision unit for providing a position of the further vehicle to the electronic evaluation unit, characterized in that
• - In particular, the positioning system is designed to provide positioning information relating to a positioning method used to determine the position of the vehicle to the electronic evaluation unit,
• - In particular, the provision unit is designed to provide further position determination information relating to a position determination method used to determine the position of the further vehicle to the electronic evaluation unit,
• - In particular, the electronic evaluation unit is designed to determine a comparison result by comparing the position determination information with the further position determination information, and
• - In particular, the electronic determination system has a distance determination unit with which the distance between the vehicle and the other vehicle can be determined on the basis of the position of the vehicle, the position of the other vehicle and the comparison result.

The electronic determination system can improve the relative positioning accuracy between vehicles. In particular, the electronic determination system according to the invention can determine the distance between two vehicles more accurately and better.

In particular, the electronic determination system can be used to carry out a method according to the previous aspect or an advantageous further development thereof.

The advantages mentioned at the beginning regarding the method of the previous aspect can also be advantages of the electronic determination system just described.

In particular, the electronic determination system may be an electronic device, a server unit, or a distributed system.

The systems or components of the electronic identification system can be networked with each other and can therefore be designed centrally or decentrally.

For example, the electronic determination system can be a component of the vehicle. It is also conceivable that the electronic determination system is at least partially integrated into the vehicle. In particular, there is a communicative coupling or network between the vehicle and the electronic determination system.

Above all, the distance determination unit can be provided with the appropriate information in order to be able to carry out an efficient distance determination of the distance between the vehicles.

For example, the positioning system can be at least partially integrated into the vehicle. The provision unit can, for example, be designed as an additional positioning system and can be configured such that it can be integrated or installed in another vehicle. It is also conceivable for the provision unit to also be integrated into the vehicle and, in turn, receive the position information regarding the additional vehicle via communication units.

A further aspect of the invention relates to a vehicle with an electronic determination system according to the previous aspect or an advantageous development thereof.

The vehicle may, for example, be at least partially or fully autonomously operated. In particular, the vehicle is a motor vehicle, such as a passenger car or truck.

Advantageous embodiments of one aspect of the present invention are to be regarded as advantageous embodiments of all other aspects. The same applies in reverse.

In particular, the electronic determination system and/or the vehicle may have means for carrying out or implementing the method according to the invention.

For use cases or application situations that may arise during the method and which are not explicitly described here, it may be provided that, in accordance with the method, an error message and/or a request to enter user feedback is issued and/or a default setting and/or a predetermined initial state is set.

The invention also includes further developments of the electronic determination system according to the invention and the vehicle according to the invention, which have features as already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the electronic determination system according to the invention and the vehicle according to the invention are not described again here.

The invention also includes combinations of the features of the described embodiments.

• 1 eine beispielhafte Verkehrssituation, bei welcher zwei Fahrzeuge über Car2X Informationen hinsichtlich ihrer Positionierungen austauschen;
• 2 ein Positionsbestimmungssystem, mit welchem ein Abstand zwischen den beiden Fahrzeugen aus der 1 auf Basis ihrer Positionen ermittelt werden kann;
• 3 einen beispielhaften Ablauf der Abstandsbestimmung des Abstands zwischen den Fahrzeugen, wenn die Positionen beider Fahrzeuge mit der gleichen Positionsbestimmungsmethode bestimmt worden sind;
• 4 einen beispielhaften Ablauf der Abstandsbestimmung für den Fall, dass die Position des Ego-Fahrzeugs genauer ist als die Positionsbestimmung des weiteren Fahrzeugs;
• 5 einen weiteren beispielhaften Ablauf für den Fall, dass die Positionsbestimmung hinsichtlich des weiteren Fahrzeugs genauer ist als die Positionsbestimmung des Ego-Fahrzeugs; und
• 6 eine beispielhafte Verkehrssituation, bei welcher Infrastruktureinrichtungen dazu verwendet werden, um die Positionsbestimmungen der einzelnen Fahrzeuge zu verbessern.

Exemplary embodiments of the invention are described below. Shown are:

• 1 an example traffic situation in which two vehicles exchange information regarding their positioning via Car2X;
• 2 a positioning system with which a distance between the two vehicles can be determined from the 1 can be determined on the basis of their positions;
• 3 an exemplary sequence of determining the distance between the vehicles when the positions of both vehicles have been determined using the same positioning method;
• 4 an exemplary sequence of distance determination in the event that the position of the ego vehicle is more accurate than the position determination of the other vehicle;
• 5 another example procedure in the event that the position determination is more accurate with regard to the other vehicle as the position determination of the ego vehicle; and
• 6 an exemplary traffic situation in which infrastructure facilities are used to improve the positioning of individual vehicles.

The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

In the figures, functionally identical elements are provided with the same reference numerals.

In the 1 For example, a traffic situation along a roadway is shown. Here, for example, a vehicle 1 can follow or perform adaptive cruise control based on a vehicle in front, such as another vehicle 2 in the vicinity 3 of vehicle 1. Here, vehicle 1 can detect the other vehicle 2 and, for example, receive information for the adaptive cruise control or ACC control via a communication connection such as a vehicle-to-vehicle communication connection 4. The position 5 of vehicle 1 and the position 6 of vehicle 2 are particularly relevant for this. However, it can happen that the two vehicles 1, 2 each have an inaccuracy in determining their position, as a result of which an incorrect position determination can lead to an incorrect reaction with regard to the following journey. For example, an incorrect assessment of the distance to the other vehicle 2 can lead to unnecessary braking or acceleration, even though these are not appropriate in this situation and can therefore pose a danger.

For this purpose, the present invention can be used to determine the accuracy with regard to position determination and thus distance determination, since the relative accuracy or assignment of the vehicles 1, 2 is improved by checking which positioning technologies the vehicles 1, 2 use and this can be taken into account accordingly when determining the distance.

In the 2 the two vehicles 1, 2 are shown schematically in order to explain the improved positioning accuracy between the two vehicles 1, 2 and in particular the improved distance determination of a distance 7 between the vehicles 1, 2.

For example, an electronic determination system 8 can be used to determine the distance 7 between the vehicles 1, 2. This electronic determination system 8 can either be fully integrated into the vehicle 1. It is also conceivable for the electronic determination system 8 to be a distributed or decentralized system that can have various units at different locations, which in turn are communicatively coupled to one another and to the vehicle 1 and/or the vehicle 2. It is also further conceivable for the determination system 8 to be designed as a distributed system and to be at least partially integrated or arranged in the vehicles 1, 2 and/or in external systems or data clouds.

For example, the determination system 8 has at least one positioning system 9. The positioning system 9 can be, for example, a DGPS system, GPS system, GNSS system, or another positioning system.

In particular, the position 5 of the vehicle 1 can be determined with the aid of the positioning system 9. For example, a provision unit 10, in particular an electronic one, can also be provided, with which the position 6 of the further vehicle 2 can be provided.

The provision unit 10 can, for example, be designed as a communications unit and transmit or provide information regarding the position 6 via communications connections such as the communications connection 4. The position 6 of the further vehicle 2 can in turn be determined or ascertained by a further positioning system 11. This further positioning system 11 can be either a component of the vehicle 2 or of the electronic determination system 8. It is also conceivable that the position 6 is determined by systems external to the vehicle and in turn made available to the determination system 8.

The positions 5, 6 of the vehicles 1, 2 are provided or transmitted in particular to an electronic evaluation unit 12 of the determination system 8. With the help of the electronic The relative positioning accuracy between the vehicles 1, 2 and in particular the distance 7 can be determined or ascertained by the electronic evaluation unit 12.

For example, via the vehicle-to-vehicle communication link, vehicles 1, 2 can transmit the detection technology or determination technology used, for example, DGPS (Differential GPS, higher accuracy through local error detection and error correction), GPS/GNSS, map matching/camera-based corrected position. Above all, electronic evaluation unit 12 can be provided with positioning information regarding a positioning method used to determine position 5 of vehicle 1. In other words, evaluation unit 12 can be informed of the technology on which position 5 was determined or ascertained.

Furthermore, further position determination information relating to a position determination method used to determine the position 6 of the further vehicle 2 can be provided to the evaluation unit 12. On the basis of the provided or transmitted position determination information, a comparison or analysis and, in particular, a determination of a comparison result can be carried out on the system side. In this case, it can be determined, in particular, which position determination technology was used and which inaccuracies, tolerances, measurement uncertainties or other properties these have. This is important because, in addition to the pure position data or position information, this additional information provides such comprehensive information in order to be able to determine or ascertain the distance 7 and, in particular, the positioning of the two vehicles 1, 2 relative to one another more accurately or precisely. On the basis of the comparison result and the positions 5, 6, the distance 7 can be determined or ascertained, for example, by means of a distance determination unit 13 of the determination system 8. The determined distance 7 can, for example, be provided or transmitted to a vehicle system 14 of vehicle 1 and/or a vehicle system 15 of vehicle 2. The vehicle systems 14, 15 can be driver assistance systems or autonomous driving systems, which can be operated more efficiently with the aid of the improved distance 7.

With the respective positioning information, in addition to the type or technology of the positioning method used, respective accuracy information regarding the positioning method used can be provided. Thus, comprehensive information regarding the positioning methods used can be communicated to the evaluation unit 12. Advantages, properties, tolerances, accuracies, measurement uncertainties, susceptibility to errors, or other influences regarding the positioning can be provided. This can advantageously be used to determine the positioning of the two vehicles 1, 2 relative to one another and, in particular, the distance 7.

For example, vehicles 1, 2 can be up to 1 kilometer apart, and the corresponding information can be exchanged via the vehicle-to-vehicle communication link 4. If the two positions 5, 6 were determined using the same positioning method, such as GPS, it can be assumed that the same or similar inaccuracies could have occurred in both positioning methods. Thus, for example, if the positioning technology is the same, the distance 7 can be determined simply by calculating the positions 5, 6. If the positioning technology or method is the same, such as GPS or GNSS, a potential error in the positioning can be eliminated, since both signals can have approximately the same error with regard to the GPS transmission or satellite determination. The difference signal is therefore less error-prone, since the same errors "cancel out."

If one of the positions 5, 6 was determined using a different technology, then an optimization value can first be calculated out when determining the distance, so that both vehicles 1, 2 use the same input with regard to the position determination and the error can thus be calculated out again.

In particular, the positioning of positions 5, 6 can be determined using various positioning technologies, such as GPS, motion sensors, fused front sensors, DGPS, etc., and exchanged between the vehicles or between the systems. Subsequently, a comparison of the positioning technologies used by vehicles 1, 2 can be performed, allowing for offsetting or error-dependent handling of the position data of vehicles 1, 2. can be performed depending on the technology identified. This can improve relative positioning and, in particular, distance determination. This, in turn, can be used advantageously for driver assistance systems. For example, driver assistance systems configured for traffic jam responses or ACC situations can be operated more effectively.

In the 3 An example is explained using a flow chart in which positions 5 and 6 were determined using the same technology or the same positioning method.

In a step S11, the two positions 5, 6 can be determined using a respective positioning system 9, 11. Both positioning systems 9, 11 use GPS as their positioning method.

In an optional subsequent step S12, position 6 and, in particular, the respective information regarding the position determination concerning position 6 and, in a similar manner, the information regarding position 5 can be transmitted or provided to the evaluation unit 12. Data can be exchanged, in particular, via Car2X communications.

In a subsequent step S13, the position determination methods for determining the two positions 5, 6 can be compared or adjusted.

In a subsequent step S14, the comparison result can be determined or provided that both positions 5, 6 were determined using the same technology or position determination method, and thus the determined positions 5, 6 essentially have or can have the same error. In other words, the error is thus canceled out because the same technology was used.

In an optional step S15, a direct distance calculation of the distance 7 can be carried out on the basis of the two positions 5, 6.

In the 4 Another conceivable process for determining the distance is illustrated using a flowchart. The example or embodiment assumes that positions 5 and 6 were determined using different positioning methods.

In a step S21, positions 5, 6 can each be determined separately. In this embodiment, position 5 of vehicle 1 can be determined using a DGPS (Differential Global Positioning System) system in combination with a correction using map matching. In contrast, position 6 of the other vehicle 2 can be determined using GPS as the determination method.

In an optional step S22, the position 6 of the vehicle 2 and the information relevant to determining the position 6 are transmitted to the evaluation unit 12. The information regarding the position 5 of the vehicle 1 is provided for the objection procedure.

In a step S23, the used positioning methods can be compared using the electronic evaluation unit 12. In this embodiment, it can be assumed that the positioning of position 5 of vehicle 1 is more accurate than the positioning of position 6 of vehicle 2 due to the positioning technology used.

In a step S24, for example, the “raw value” of the position data of position 6, which was determined here by means of GPS, can be used for the distance calculation with regard to vehicle 1 in order to cancel out a potential error with regard to vehicle 2.

In an optional step S25, the exact position can now be calculated back to determine distance 7. For this purpose, the difference between the "GPS" technology and the "DGPS + Map Matching" technology from the vehicle with respect to vehicle 1 can be included again. This allows the scatter regarding the GPS determination of position 6 to be taken into account, so that potential errors regarding the position determination of vehicle 2 can be included and thus not negatively influence the distance determination.

In the 5 In a further embodiment, a process is described using a flowchart in which the two positions 5, 6 were determined using different positioning methods. In this embodiment, it can be assumed that the position determination of position 6 of vehicle 2 is more accurate than the position determination of position 5 of vehicle 1.

In a step S31, the position 5 can be determined using GPS as the positioning method The position 6 of vehicle 2, however, may have been determined using DGPS as the positioning method.

In a step S32, the corresponding data regarding the position determination of positions 5, 6 and the associated information regarding the position determination methods used can again be transmitted to the evaluation unit 12.

Subsequently, in an optional step S33, a comparison or determination of the comparison result with regard to the position determination methods can be carried out with the aid of the evaluation unit 12.

In a subsequent optional step S34, the transmitted “GPS raw value” with regard to position 6 can be used for the distance calculation in order to cancel out the error in the position determination of position 5 of vehicle 1.

In a step S35, the “DGPS value” regarding the position 6 of the vehicle 2 can be used to improve the own positioning of the vehicle 1, in particular, the difference between DGPS as a method and GPS as a method is carried out here, and the distance or the distance 7 can be used along a map for positioning or determination.

In the 6 A possibility is explained for improving the individual position determinations with regard to the respective positions 5, 6 of the vehicles 1, 2. In this case, one infrastructure facility 16 or several infrastructure facilities 17 can be used as a reference value for the respective position determination. These infrastructure facilities 16, 17 can be, for example, traffic lights, sign gantries, traffic control systems or other traffic systems that are arranged in a fixed location. These therefore have an essentially precise position of their own because they do not move. They can therefore be used as a reference or as a reference position so that the vehicles 1, 2 can each check or verify their position determination. For this purpose, information can be transmitted to vehicles in the area of the respective infrastructure facilities 16, 17 via V2X or Car2X communications. In addition to the position transmission, the positioning methods used to determine the position 18 of the infrastructure facilities 16, 17 can also be provided.

Thus, additional Car2X infrastructure elements, such as infrastructure facilities 16, 17, can be used to improve the positioning accuracy of vehicles 1, 2, or other vehicles. These infrastructure facilities 16, 17 can be considered stationary V2X transmitters, as they essentially know their own position 18 very precisely, which does not change. They can thus additionally determine the error transmitted to the surroundings with the aid of GPS sensors or other positioning methods in order to make the vehicles or other means of transport available. Above all, such infrastructure facilities 16, 17 can have their respective positions permanently programmed and, for example, additionally determine the GPS error with the aid of GPS or according to the determination technology used. This error and the exact position 18 of infrastructure facilities 16, 17 are transmitted to the surroundings via communication channels. The vehicles 1, 2 in the surroundings 3 can receive this information and check their own positioning accordingly, and correct it if necessary.

When using GNSS, GPS, or other satellite-based positioning systems, the respective location on Earth with respect to the satellite is crucial in determining whether, for example, potential regional errors may exist. Thus, the respective permanently installed infrastructure facility 16, 17 knows its position 18 and the error prevailing due to its location. This can be transmitted or communicated to the vehicles 1, 2 and/or the determination system 8, so that the respective position 5, 6 of the vehicles 1, 2 can be corrected or verified. This greatly improves the subsequent distance determination of the distance 7, since a fundamental error can thus be calculated out.

List of reference symbols

1

vehicle

2

another vehicle

3

surrounding area

4

Vehicle-to-vehicle communication link

5

Position of the vehicle

6

Position of the other vehicle

7

Distance between vehicles

8

electronic identification system

9

Positioning system

10

Provisioning unit

11

additional positioning system

12

electronic evaluation unit

13

Distance determination unit

14

Vehicle system of the vehicle

15

Vehicle system of the other vehicle

16, 17

Infrastructure facility

18

Position of the infrastructure facility

S11 to S15

Steps

S21 to S25

Steps

S31 to S35

Steps

QUOTES CONTAINED IN THE DESCRIPTION

This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• KR 2023 002 46 12 A [0005]
• EP 3 052 963 B1 [0006]
• US 10,986,478 B2 [0007]

Claims (10)

Method for determining a distance (7) between a vehicle (1) and another vehicle (2) located in an area surrounding the vehicle (1), wherein - a position (5) of the vehicle (1) is determined using a position-determining system (9) and provided to an electronic evaluation unit (12) in the vehicle (1), - a position (6) of the further vehicle (2) is determined using a further position-determining system (11) and provided to the electronic evaluation unit (12), characterized in that - position-determining information relating to a position-determining method used by the position-determining system (9) to determine the position (5) of the vehicle (1) is provided to the electronic evaluation unit (12), - further position-determining information relating to a position-determining method used by the further position-determining system (11) to determine the position (6) of the further vehicle (2) is provided to the electronic evaluation unit (12), - a comparison result is determined by the electronic evaluation unit (12) by comparing the positioning information with the further positioning information, and - the distance (7) between the vehicle (1) and the further vehicle (2) is determined on the basis of the position (5) of the vehicle (1), the position (6) of the further vehicle (2) and the comparison result. Procedure according to Claim 1 , characterized in that a vehicle-to-vehicle communication connection (4) is established between the vehicle (1) and the further vehicle (2), wherein the position (6) of the further vehicle (2) and the further position determination information of the electronic evaluation unit (12) are transmitted via the vehicle-to-vehicle communication connection (4). Procedure according to Claim 1 or 2 , characterized in that - with the position determination information, accuracy information of the position determination method used by the position determination system (9) is additionally provided and taken into account when determining the distance (7), and/or - with the further position determination information, further accuracy information of the position determination method used by the further position determination system (11) is additionally provided and taken into account when determining the distance (7). Method according to one of the preceding claims, characterized in that a plausibility check of the position (5) of the vehicle (1) and/or the position (6) of the further vehicle (2) is carried out on the basis of the comparison result. Procedure according to Claim 4 , characterized in that - depending on the plausibility check carried out, the position (5) of the vehicle (1) is determined again on the basis of the position (6) of the further vehicle (2), and/or - depending on the plausibility check carried out, the position (6) of the further vehicle (2) is determined again on the basis of the position (5) of the vehicle (1). Method according to one of the preceding claims, characterized in that a position (18) of an infrastructure facility (16, 17) which is arranged in the surrounding area (3) and position determination information relating to a position determination method used to determine the position (18) of the infrastructure facility (16, 17) are provided to the position determination system (9) and/or the further position determination system (11). Procedure according to Claim 6 , characterized in that - the position (18) of the infrastructure facility (16, 17) and/or the position determination information relating to the position determination method used to determine the position (18) of the infrastructure facility (16, 17) is taken into account when determining the position (5) of the vehicle (1), and/or - the position (18) of the infrastructure facility (16, 17) and/or the position determination information relating to the position determination method used to determine the position (18) of the infrastructure facility (16, 17) is taken into account when determining the position (6) of the further vehicle (2). Method according to one of the preceding claims, characterized in that the determined distance (7) between the vehicle (1) and the further vehicle (2) is provided to a vehicle system (14) of the vehicle (1) and/or a vehicle system (15) of the further vehicle (2). Electronic determination system (8) for determining a distance (7) between a vehicle (1) and a vehicle in an environmental area (3) of the vehicle (1), with - a position determination system (9, 11) for determining a position (5) of the vehicle (1) and for providing the position (5) of the vehicle (1) to an electronic evaluation unit (12) of the electronic determination system (8), and - a provision unit (10) for providing a position (6) of the further vehicle (2) to the electronic evaluation unit (12), characterized in that - the position determination system (9, 11) is designed to provide position determination information relating to a position determination method used to determine the position (5) of the vehicle (1) to the electronic evaluation unit (12), - the provision unit (10) is designed to provide further position determination information relating to a position determination method used to determine the position (6) of the further vehicle (2) to the electronic evaluation unit (12), - the electronic evaluation unit (12) is designed to generate a comparison result by comparing the position determination information with the further position determination information, and - the electronic determination system (12) has a distance determination unit (13) with which the distance (7) between the vehicle (1) and the further vehicle (2) can be determined on the basis of the position (5) of the vehicle (1), the position (6) of the further vehicle (2) and the comparison result. Vehicle (1, 2) with an electronic determination system (8) according to Claim 9 .

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