DE102023212560B4 - Method for determining the distance between a vehicle and another vehicle located in the vicinity of the vehicle, as well as electronic determination system and vehicle - Google Patents

Abstract

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 using a positioning system (9) and provided to an electronic evaluation unit (12) in the vehicle (1),
- with a further positioning system (11) a position (6) of the further vehicle (2) is determined and made available to the electronic evaluation unit (12), characterized in that
- a position determination information relating to a position determination method used to determine the position (5) of the vehicle (1) of the position determination system (9) of the electronic evaluation unit (12) is provided,
- further position determination information concerning a position determination method used to determine the position (6) of the further vehicle (2) of the further position determination system (11) of the electronic evaluation unit (12) is provided,
- a comparison result is determined by the electronic evaluation unit (12) by comparing the position determination information with the further position determination information, and
- the distance (7) between the vehicle (1) and the other vehicle (2) is determined on the basis of the position (5) of the vehicle (1), the position (6) of the other vehicle (2) and the comparison result.

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 by a positioning system of the vehicle and provided to an electronic evaluation unit in the vehicle, and a position of the other vehicle is determined by a further positioning system and transmitted to the electronic evaluation unit.

Furthermore, the invention relates to an electronic determination system for determining the distance between a vehicle and another vehicle located in the vicinity of the vehicle. The electronic determination system comprises a position determination system for determining the position of the vehicle and for providing the vehicle's position to an electronic evaluation unit of the electronic determination system. A provision unit is also provided, with which the position of the other vehicle can be provided to the electronic evaluation unit.

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

Modern vehicles feature a variety of driver assistance systems to enable at least partial autonomous operation or to support the driver in controlling the vehicle. For automated driving at autonomous driving levels 1 to 5, precise vehicle positioning is essential, in addition to reliable environmental perception. Driver assistance systems rely heavily on the accuracy of input data from sensors such as environmental sensors and positioning units. Positioning using GPS or GNSS sensors often exhibits inaccuracies, which can arise, for example, from the path through the atmosphere between the vehicle and the satellite. Driver assistance systems that also utilize vehicle-to-vehicle communication (Car2X communication) are frequently subject to a double error, as the inaccuracy exists in both the sending and receiving vehicles due to separate satellite-based localization. This high degree of inaccuracy, particularly the double inaccuracy, can lead to incorrect control measures or reactions from the driver assistance systems.

For example, the KR 10 2023 0 024 612 A A method for determining a vehicle's position based on sensor fusion. This method can be used primarily for automated driving. Sensor fusion allows for the consideration of external environmental information when determining the vehicle's position.

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

The DE 10 2015 014 048 A1 The invention shows a method for determining the relative position of a traffic object with respect to a motor vehicle. In this method, observation data determined from the traffic object at a specific receiving position is received by a control device of the motor vehicle. This observation data includes code information and/or phase information from a positioning signal of a navigation satellite system. The method also receives its own observation data, including code information and/or phase information, from a vehicle-integrated receiving device. A noise-canceled relative observation signal is generated by detecting a difference between the observation data, and a preliminary relative position is determined based on this relative observation signal. The invention further provides that a timestamp indicating the time of receipt is received from the traffic object, and a relative movement path of the motor vehicle and/or the traffic object since the time of receipt is determined. Finally, a final relative position is determined based on this relative movement path, starting from the preliminary relative position.

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

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

This task is solved by a method, an electronic determination system, and a vehicle according to the independent patent claims. Meaningful 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 an area surrounding the vehicle, wherein

• - In particular, a position determination system determines the position of the vehicle and provides it to an electronic evaluation unit in the vehicle,
• - In particular, a position of the other vehicle is determined using a further positioning system and made available to the electronic evaluation unit, characterized in that
• - In particular, position determination information concerning a position determination method used to determine the position of the vehicle by the position determination system of the electronic evaluation unit is provided,
• - In particular, further position determination information concerning a position determination method used to determine the position of the further vehicle of the further position determination system of the electronic evaluation unit is provided,
• - In particular, a comparison result is determined by the electronic evaluation unit by comparing the position determination information with the other 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 measurement between two vehicles based on their respective positions. Furthermore, the proposed method improves the relative positioning accuracy between two vehicles. This is particularly advantageous when using the distance between vehicles, and especially their relative positions, for the application 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 more advanced driving functions, as it allows for more precise and improved distance determination between vehicles. This results in improved accuracy in determining the longitudinal and distance between vehicles. Consequently, the more precise distance measurement helps avoid incorrect reactions by driver assistance systems, as it allows for improved positioning and lateral positioning between vehicles.

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 system-wise in order to take into account the respective advantages or disadvantages of the respective positioning systems in determining the distance.

The vehicles in question can be at least partially autonomous, fully autonomous, or highly automated. They can be equipped with driver assistance systems that enable at least partially or fully automated driving functions. 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 speed control. The proposed method allows for improved and, in particular, more precise distance determination in this context.

The electronic evaluation unit can be used to process the relevant information regarding the positions of the vehicles and the respective methods used to determine those positions. The electronic evaluation unit can be, for example, a computing unit or an evaluation system. The two positioning systems can... various technologies are included, which can be used to determine positions, especially the positions of vehicles.

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

In particular, the vehicle can have a positioning system, such as the first positioning system. The second positioning system can be external to the vehicle. For example, the second positioning system can be at least partially integrated into the second vehicle.

According to the invention, potential 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—i.e., the positioning information—to the electronic evaluation unit regarding the positioning methods used or applied by the positioning systems. The electronic evaluation unit can then compare the two positioning methods of the two positioning systems in order to account for and, in particular, eliminate any tolerances, deviations, discrepancies, or other negative disturbances affecting the distance determination. The comparison result generated by the system thus allows for a more accurate and, in particular, more precise determination of the distance between the two vehicles based on their positions.

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

However, if the comparison reveals that two different positioning methods are being used, this can be taken into account when determining the distance. One approach is to average the results. Alternatively, it is conceivable to check which of the two positioning methods exhibits the greatest tolerances, inaccuracies, or measurement uncertainties, so that the less accurate method can be factored out.

In one embodiment, a vehicle-to-vehicle communication link is established between the vehicle and the other vehicle, whereby the position of the other vehicle and other position information are transmitted to the electronic evaluation unit via this link. This allows vehicles within a common area to exchange information with each other. In particular, position information, such as the location data and the position itself, can be exchanged. The vehicle-to-vehicle communication link can be a C2X communication link. Other communication link types, such as vehicle-to-vehicle communication or V2V communication, are also conceivable. Other communication methods, such as WLAN, Bluetooth, mobile communication standards, or other wireless communication methods, can also be used. For example, the vehicles can have corresponding communication units to transmit their positions and, in particular, the location data.

In one embodiment, the position determination information is supplemented by accuracy information for the positioning method used by the positioning system, which is then taken into account when determining the distance. Alternatively, or in addition, further accuracy information for the positioning method used by the positioning system can be provided and considered when determining the distance. This allows the electronic evaluation unit to be informed about the accuracies, standard errors, measurement uncertainties, and/or susceptibility to interference of the positioning methods used by the positioning systems. The electronic evaluation unit can then use this information to... Take accuracy information into account when determining or calculating the distance, so that the distance can be determined more accurately, precisely and/or accurately.

The accuracy information allows for the provision of a specific level of accuracy regarding the determined positions of the vehicles. This level of accuracy can be described, for example, as the degree of accuracy. This information can specify the measurement uncertainties, tolerances, or inaccuracies that the determined positions may exhibit. This can be taken into account when determining the distance between the two vehicles by, for example, factoring out the measurement uncertainty using a weighting factor to determine the relative positioning and thus the relative distance between the vehicles as precisely as possible.

In one embodiment, a plausibility check of the vehicle's position and/or the position of the other vehicle is performed based on the comparison result. This plausibility check can be carried out system-wide, for example, by the electronic evaluation unit. This check can verify, for instance, whether the position data for the two vehicles is plausible, i.e., whether it can be used reliably. If, for example, the comparison of the position determination methods reveals that one of the methods used has a very high measurement uncertainty or a very high error tolerance, the plausibility check can verify whether the position can be used to determine the distance. Optionally, if the plausibility check reveals that the position of one or both vehicles is inaccurate, the distance can only be determined with limited reliability. This is particularly important for informing driver assistance systems that require distance information that the calculated distance value may be prone to error. Should the plausibility check reveal a high degree of potential 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, the position of one vehicle is recalculated based on the position of another vehicle, depending on the plausibility check performed. Alternatively, depending on the plausibility check, the position of the other vehicle can be recalculated based on the position of the first vehicle. Thus, if it is determined that at least one of the two vehicle positions may be faulty and therefore exceeds a predefined measurement uncertainty tolerance, the affected vehicle position can be recalculated. In this case, a corresponding signal, particularly an electronic signal, can be transmitted to the affected vehicle via the electronic evaluation unit, enabling a recalculation of its position. To verify this recalculation beforehand, the position that was not flagged during the plausibility check can be used as a reference or for comparison. In particular, the plausibility check can be performed continuously, and this can continue as long as the two determined vehicle positions have not been flagged by the plausibility check. This ensures that the positions of the vehicles are sufficiently accurate for determining the distance, so that the distance can then be determined as accurately as possible.

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

In one embodiment, 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 are taken into account when determining the position of the vehicle. Additionally, or instead, the position of the infrastructure facility and/or the positioning method relating to the positioning method used to determine the position of the infrastructure facility are taken into account when determining the position of the other vehicle. If the vehicles are located in the vicinity of the infrastructure facility, a corresponding data exchange between the vehicle and the infrastructure facility can be carried out via communication links. For example, the infrastructure facility can transmit the position information, or the position and/or the positioning information, to vehicles located in the vicinity via a Car2X communication link. Based on this position information from the infrastructure facility, the respective vehicles can perform a more accurate or precise positioning of their own, since the position of the infrastructure facility can be used as a reference position.

For example, the positioning information from a vehicle and its systems can be used to check whether the infrastructure uses the same or a similar positioning method as the vehicle itself. If so, the vehicle's position can be easily improved. If the vehicle and the infrastructure use different positioning methods, the vehicle's position can be corrected based on the respective advantages and/or disadvantages of each method.

In one embodiment, 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 vicinity that have communication units. For example, the vehicle systems could be driver assistance systems or autonomous driving systems. Based on the distance determination between the vehicles, the vehicle can, for example, perform at least partially autonomous following with respect to the other vehicle, i.e., adaptive cruise control (ACC). Above all, the distance determined according to the invention can be used to control the vehicles more safely, since the distance is crucial in the event of braking by one of the vehicles, determining when and how hard the other vehicle must brake to prevent, for example, 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.

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

• - In particular, a positioning system for determining the position of the vehicle and for providing the vehicle's position to an electronic evaluation unit of the electronic positioning system, and
• - In particular, a provisioning 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 to the electronic evaluation unit regarding a positioning method used to determine the position of the vehicle,
• - In particular, the provision unit is designed to provide further position determination information regarding a position determination method used by the electronic evaluation unit to determine the position of the other vehicle,
• - In particular, the electronic evaluation unit is designed to produce a comparison result to determine by comparing the position determination information with the other 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 based on the position of the vehicle, the position of the other vehicle and the comparison result.

The electronic determination system enables an improvement in the relative positioning accuracy between vehicles. In particular, the electronic determination system according to the invention allows the distance between two vehicles to be determined more accurately.

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

The advantages mentioned at the beginning regarding the procedure 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 interconnected and can therefore be designed centrally or decentrally.

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

Above all, the distance measurement unit can be supplied with the relevant information to efficiently determine the distance between the vehicles.

For example, the positioning system can be at least partially integrated into the vehicle. The deployment unit can, for instance, be designed as a further positioning system and can be configured in such a way that it can be integrated or installed in another vehicle. It is also conceivable that the deployment unit is also integrated into the vehicle and, in turn, receives the position information regarding the other vehicle via communication units.

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

The vehicle in question could be, for example, a vehicle that is at least partially or fully autonomous. 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 reverse is also true.

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

For use cases or application situations that may arise during the procedure and are not explicitly described here, it may be provided that, according to the procedure, an error message and/or a request for 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 and the 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 electronic determination system 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.

The following describes exemplary embodiments of the invention. This is illustrated by:

• 1 an exemplary traffic situation in which two vehicles exchange information regarding their positions via Car2X;
• 2 a positioning system with which a distance between the two vehicles can be determined from the 1 can be determined based on their positions;
• 3 an exemplary procedure for determining the distance between the vehicles when the positions of both vehicles have been determined using the same positioning method;
• 4 an exemplary procedure for determining the distance in the case where the position of the ego vehicle is more accurate than the position determination of the other vehicle;
• 5 another exemplary procedure for the case where the position determination of the other vehicle is more accurate than 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 embodiments described below are preferred embodiments of the invention. In these embodiments, 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 embodiments can also be supplemented by other features of the invention already described.

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

In the 1 For example, a traffic situation along a roadway is depicted. Here, vehicle 1 can follow a vehicle ahead, such as another vehicle 2 in the vicinity 3 of vehicle 1, or use adaptive cruise control. Vehicle 1 can detect the other vehicle 2 and receive information for adaptive cruise control (ACC) via a communication link, such as a vehicle-to-vehicle communication link 4. The position 5 of vehicle 1 and the position 6 of vehicle 2 are particularly relevant for this. However, it is possible that both vehicles 1 and 2 may have inaccuracies in their position determination, which could lead to incorrect position readings and thus an erroneous reaction in the following maneuver. For example, an incorrect assessment of the distance to the other vehicle 2 could result in unnecessary braking or acceleration, even though these actions are inappropriate in this situation and could therefore pose a danger.

The present invention allows for the accuracy of position determination and thus distance determination to be improved, since the relative accuracy or assignment of 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 to illustrate 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 vehicles 1 and 2. This electronic determination system 8 can either be fully integrated into vehicle 1. It is also conceivable that the electronic determination system 8 is a distributed or decentralized system, which can have various units at different locations, which in turn are communicatively coupled to each other and to vehicle 1 and/or vehicle 2. Furthermore, it is also conceivable that the determination system 8 is designed as a distributed system and is at least partially integrated or arranged in vehicles 1 and 2 and/or in external systems or data clouds.

For example, the determination system 8 includes at least one positioning system 9. Positioning system 9 could be, for example, a DGPS system, GPS system, GNSS system, or another positioning system.

In particular, the position 5 of vehicle 1 can be determined using the positioning system 9. Furthermore, for example, a provisioning unit 10, especially an electronic one, can be provided with which the position 6 of the other vehicle 2 can be provided.

The provisioning unit 10 can, for example, be configured as a communication unit and transmit or provide information regarding position 6 via communication links such as communication link 4. The position 6 of the other vehicle 2 can in turn be determined or ascertained by another positioning system 11. This other positioning system 11 can either be part of the vehicle 2 or of the electronic positioning system 8. It is also conceivable that the position 6 is determined by systems external to the vehicle and then made available to the positioning system 8.

Positions 5 and 6 of vehicles 1 and 2 are provided or transmitted in particular to an electronic evaluation unit 12 of the determination system 8.

With the help of the electronic evaluation unit 12, the relative positioning accuracy between the vehicles 1, 2 and in particular the distance 7 can be determined or calculated.

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

Furthermore, additional position determination information regarding a position determination method used to determine the position 6 of the other vehicle 2 can be provided to the evaluation unit 12. Based on the provided or transmitted position determination information, a comparison or analysis, and in particular the determination of a comparison result, can be carried out by the system. In this process, it can be determined which position determination technology was used and what inaccuracies, tolerances, measurement uncertainties, or other properties it exhibits. This is important because this additional information, beyond the pure position data or position information, provides such comprehensive information as to be able to determine the distance 7 and, in particular, the positioning of the two vehicles 1 and 2 relative to each other more accurately or precisely. Based on the comparison result and the positions 5 and 6, the distance 7 can, for example, be determined using 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. Vehicle systems 14 and 15 may be driver assistance systems or autonomous driving systems, which can be operated more efficiently with the help of the improved distance 7.

In addition to the type and technology of the positioning method used, the respective position determination information can also provide accuracy information regarding that method. This allows the evaluation unit 12 to receive comprehensive information about the positioning methods used. This information can include advantages, properties, tolerances, accuracies, measurement uncertainties, susceptibility to errors, or other factors influencing the position determination. This can be advantageously used to determine the relative positioning of the two vehicles 1 and 2, and in particular, the distance 7 between them.

For example, vehicles 1 and 2 can be up to 1 kilometer apart and exchange the relevant information via the vehicle-to-vehicle communication link 4. If the two positions 5 and 6 were determined using the same positioning method, such as GPS, it can be assumed that both positions could have had the same or similar inaccuracies. Therefore, with the same positioning technology, the distance 7 can simply be calculated by averaging the positions 5 and 6. Using the same positioning technology or method, such as GPS or GNSS, a potential error in the position determinations can be eliminated, since both signals can have approximately the same error with regard to 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 position determination and the error can thus be calculated out again.

In particular, the positions 5 and 6 can be determined using various positioning technologies, such as GPS, motion sensors, front sensor fusion, DGPS, etc., and exchanged between the vehicles or systems. Subsequently, the positioning technologies used by vehicles 1 and 2 can be compared, allowing for calculation and error-dependent handling of the position data from vehicles 1 and 2, depending on the technology used. This improves relative positioning and, in particular, distance determination. This, in turn, can be advantageous for driver assistance systems. For example, driver assistance systems configured for traffic jams or ACC situations can be operated more effectively.

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

In step S11, the two positions 5 and 6 can be determined using their respective positioning systems 9 and 11. Both positioning systems 9 and 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 for position 6, and analogously the information regarding position 5, can be transmitted or made available to the evaluation unit 12. Data can be exchanged in this process, particularly via Car2X communication.

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

In a subsequent step S14, it can be determined and provided as a comparative result that both positions 5 and 6 were determined using the same technology or positioning method, and therefore the determined positions 5 and 6 exhibit essentially the same error. In other words, the error cancels out because the same technology was used.

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

In the 4 Another possible procedure for determining the distance is illustrated using a flowchart. In this example, it is assumed that positions 5 and 6 were determined using different positioning methods.

In step S21, positions 5 and 6 can be determined separately. In this configuration, position 5 of vehicle 1 could have been determined using a DGPS (Differential Global Positioning System) combined with a correction using map matching. Conversely, position 6 of the other vehicle 2 could have been determined using GPS as the method of determination.

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

In step S23, the electronic evaluation unit 12 can be used to compare the position determination methods employed. In this configuration, it can be assumed that the position determination of position 5 of vehicle 1 is more accurate than the position determination of position 6 of vehicle 2 due to the position determination technology used.

In step S24, for example, the "raw value" of the position data of position 6, which were determined here using GPS, can be used for the distance calculation with regard to vehicle 1 in order to eliminate a potential error with regard to vehicle 2.

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

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

In step S31, position 5 may have been determined using GPS as the positioning method. In contrast, position 6 of vehicle 2 may have been determined using DGPS as the positioning method.

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

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

In a subsequent optional step S34, the transmitted “raw GPS value” regarding position 6 can be used for the distance calculation in order to eliminate the error in determining the position 5 of vehicle 1.

In step S35, the “DGPS value” regarding the position 6 of vehicle 2 can be used to improve the positioning of vehicle 1 itself; 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 This document explains a method for improving the individual position determinations with regard to the respective positions 5, 6 of vehicles 1, 2. In this method, one or more infrastructure facilities 17 can be used as a reference point for the respective position determination. These infrastructure facilities 16, 17 could be, for example, traffic lights, overhead sign gantries, traffic management systems, or other stationary traffic systems. Since they do not move, they possess a largely precise position of their own. Therefore, they can be used as a reference point, allowing vehicles 1, 2 to verify and validate their position determinations. For this purpose, information can be transmitted to vehicles in the vicinity of the respective infrastructure facilities 16, 17 via V2X or Car2X communication. In addition to transmitting the position data, the positioning methods used to determine the position 18 of the infrastructure facilities 16, 17 can also be provided.

Therefore, 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, since they essentially know their own position 18 very precisely, which does not change, and can thus additionally determine the error that is transmitted to the environment to provide the vehicles or other means of transport with the help of GPS sensors or other positioning methods. In particular, such infrastructure facilities 16, 17 can have their respective position permanently programmed and additionally determine the GPS error, for example, using GPS or according to the determination technology used. This error and the exact position 18 of the infrastructure facility 16, 17 are transmitted to the environment using communication means. The vehicles 1, 2 in the environment 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 user's location on Earth relative to the satellite is crucial in determining whether, for example, potential regional errors might exist. Thus, the respective permanently installed infrastructure 16, 17 knows its position 18 and the error prevalent due to its location. This information can then be transmitted or communicated to the vehicles 1, 2 and/or the determination system 8. that the respective positions 5 and 6 of vehicles 1 and 2 can be corrected or checked. This greatly improves the subsequent determination of distance 7, as a fundamental error may have been corrected.

Reference symbol list

1

vehicle

2

other vehicle

3

surrounding area

4

Vehicle-to-vehicle communication link

5

Vehicle position

6

Position of the other vehicle

7

Distance between the vehicles

8

electronic identification system

9

Positioning system

10

Deployment unit

11

further positioning system

12

electronic evaluation unit

13

Distance measuring 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

Claims (10)

A method for determining a distance (7) between a vehicle (1) and another vehicle (2) located in an area (3) surrounding the vehicle (1), wherein: - a position (5) of the vehicle (1) is determined by a positioning system (9) and provided to an electronic evaluation unit (12) in the vehicle (1); - a position (6) of the other vehicle (2) is determined by a further positioning system (11) and provided to the electronic evaluation unit (12); characterized in that: - positioning information relating to a positioning method of the positioning system (9) used to determine the position (5) of the vehicle (1) is provided to the electronic evaluation unit (12); - further positioning information relating to a positioning method of the further positioning system (11) used to determine the position (6) of the other vehicle (2) is provided to the electronic evaluation unit (12); - a comparison result is determined by the electronic evaluation unit (12) by the position determination information is compared with the further position determination 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 link (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 link (4). Procedure according to Claim 1 or 2 , characterized in that - with the position determination information, additional accuracy information of the position determination method used by the position determination system (9) is provided and taken into account when determining the distance (7), and/or - with the further position determination information, additional accuracy information of the position determination method used by the further position determination system (11) is 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 by the fact that - depending on the plausibility check performed, the position (5) of the vehicle (1) is re-determined based on the position (6) of the other vehicle (2), and/or - depending on the plausibility check performed, the position (6) of the other vehicle (2) is re-determined based on 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 to a vehicle system (15) of the further vehicle (2). Electronic determination system (8) for determining a distance (7) between a vehicle (1) and another vehicle (2) located in an area (3) surrounding the vehicle (1), comprising: - 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 other vehicle (2) to the electronic evaluation unit (12), characterized in that : - the position determination system (9, 11) is configured to provide position determination information to the electronic evaluation unit (12) regarding a position determination method used to determine the position (5) of the vehicle (1), - the provision unit (10) is configured to provide further position determination information to the electronic evaluation unit regarding a position determination method used to determine the position (6) of the other vehicle (2). (12) to provide, - the electronic evaluation unit (12) is designed to determine 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 .