Method for determining the position of one vehicle with respect to another vehicle, in particular for motor vehicles

• US 20060074548A1
• Filed: 04/26/2005
• Published: 04/06/2006
• Est. Priority Date: 10/01/2004
• Status: Active Grant

• Current Assignee: C.R.F. Societa Consortile Per Azioni
• Original Assignee: C.R.F. Societa Consortile Per Azioni
• Inventors: Burzio, Gianfranco
• Granted Patent: US 7,149,624 B2
• Time in Patent Office: Days
• US Class Current: 701/207
• CPC Class Codes: G01S 13/825 with exchange of information between interrogator and responder

Abstract

Described herein is a method for determining the position of one vehicle with respect to another vehicle, in which the position of one vehicle with respect to the others is determined using counter means and short-range radio systems that provide for exchange of electromagnetic signals between the vehicles when these are within a pre-set range of coverage, on the basis of the calculation of the distance between the vehicles and the measurement of the their displacements in successive time intervals made by means of odometers, compasses and inclinometers.

Claims

1. A method for determining the position of one vehicle with respect to another vehicle, characterized in that it comprises the steps of:

calculating the distance do between a first and a second vehicle at an instant T₀;

measuring the displacement of the first vehicle with respect to a reference system having its origin at the point where the first vehicle is located at the instant T₀ by detecting the position z_r1,y_r1,z_r1 of the vehicle at an instant T₁;

measuring the displacement of the second vehicle with respect to a reference system having its origin at the point where the second vehicle is located at the instant T₀ by detecting the position x_r1,y_s1,z_s1 of the vehicle at the instant T₁;

calculating the distance d₁ between the first vehicle and the second vehicle at the instant T₁;

measuring the displacement of the first vehicle with respect to the reference system with its origin at the point where the first vehicle is located at the instant T₀ by detecting the position x_r2,y_r2,z_r2 of the vehicle at an instant T₂;

measuring the displacement of the second vehicle with respect to the reference system having its origin at the point where the second vehicle is located at the instant T₀ by detecting the position x_s2,y_s2,z_s2 of the vehicle at the instant T₂;

calculating the distance d₂ between the first vehicle and the second vehicle at the instant T₂; and

using the information regarding the distances and the positions for determining the position of one vehicle with respect to the other vehicle;

2. The method according to claim 1, in which said step of using the information regarding the distances and the positions for determining the position of one vehicle with respect to another vehicle comprises the step of solving a system of equations.

3. The method according to claim 2, in which said system of equations comprises the following equations:

x²+y²+z²=d₀
(x−

x₁)²+(y−

y₁)²+(z−

z₁)²=d₁
(x−

x₂)²+(y−

y₂)²+(z−

z₂)²=d₂

where;

x ₁ =x _r1 −

x _s1 x ₂ =x _r2 −

x _s2
y ₁ =y _r1 −

y _s1 y ₂ =y _r2 −

y _s2
z ₁ =z _r1 −

z _s1 z ₂ =z _r2 −

z _s2

and x, y, z represent, in the reference system of the first vehicle, the position of the second vehicle with respect to the first vehicle at the instant T₀.

4. The method according to claim 1, in which the reference systems of the first and second vehicles have the same orientation.

5. The method according to claim 1, in which there are moreover envisaged the steps of:

generating an identification signal in the first vehicle and transmitting said signal to the second vehicle by means of a short-range radio-communication system belonging to the first vehicle;

receiving a similar identification signal coming in response from the second vehicle by means of a short-range radio-communication system belonging to the second vehicle;

forwarding a first sync request between the first vehicle and the second vehicle for execution of said calculation of distance do.

6. The method according to claim 1, in which there are moreover envisaged the steps of:

generating, on the part of a first vehicle, the request of the data regarding the positions detected (x_s1,y_s1,z_s1;

x_s2,y_s2,z_s2) by the second vehicle;

transmitting, on the part of the second vehicle, the data requested; and

determining the position between the first vehicle and the second vehicle on the basis of the global set of the data available.

7. The method according to claim 1, in which the calculation of the distance comprises the steps of:

generating a start-of-count signal in a first vehicle and transmitting said signal to the second vehicle by means of a short-range radio-communication system belonging to the first vehicle by activating simultaneously an internal local counter designed to count the time Tc that has elapsed from the start of the start-of-count signal;

receiving said start-of-count signal by means of a short-range radio-communication system belonging to the second vehicle for sending a command for activation of an internal local counter, designed to count for a pre-set time interval Δ

Tr;

generating and transmitting, at the end of counting, an end-of-count signal to the vehicle that has generated the start-of-count signal;

stopping the counter provided on the first vehicle upon receipt of the end-of-count signal for detecting the time interval Tc elapsing between the generation of the start-of-count signal and the receipt of the end-of-count signal;

said time interval Tc allows for the time occupied by the start-of-count signal and by the end-of-count signal in the propagation from one vehicle to the other;

calculating the propagation time Tp of the electromagnetic signal as the difference between the time interval Tc and the pre-set time interval Δ

Tr; and

calculating the distance D between the two vehicles according to said propagation time Tp and to the speed of propagation of the electromagnetic waves.

8. The method according to claim 7, in which said distance D is calculated as:

D=Tp/2C

where C is the speed of propagation of the electromagnetic signal equal to the speed of light and Tp is said propagation time.

9. The method according to claim 7, in which said propagation time Tp is calculated as:

Tp=Tc−

Δ

Tr−

Td

where Td allows for the delays that are generated in a computerized system set on the second vehicle and designed to receive said start-of-count signal and to generate the end-of-count signal.