Method and device for the position determination of objects by means of communication signals, and use of the device

• US 9,607,517 B2
• Filed: 11/21/2012
• Issued: 03/28/2017
• Est. Priority Date: 11/21/2011
• Status: Active Grant

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Schrbler, Sighard, Sthlin, Ulrich, Menzel, Marc
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US14/359,816
• Publication Number:
  US 20140350793A1
• Time in Patent Office: 1,588 Days
• Field of Search: 701/2, 701/23, 701/28, 701/36, 701/41, 701300-302, 342/6, 342/27, 342/29, 342/90, 342/102, 342/104, 342/114, 342/118
• US Class Current: 1/1
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: G01S 13/02 Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93273 on the top of the vehicles
• CPC Class Codes: G01S 7/006 using shared front-end circuitry, e.g. antennas G01S13/765, G01S13/825 take precedence
• CPC Class Codes: G01S 7/2886 using I/Q processing
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

The invention relates to a method for the position determination of objects (62, 707,84, 96) by means of communication signals, in which a transceiver capable of wireless communication transmits communication signals, the transceiver (51) being capable of simultaneous transmission and reception, and wherein the communication signals are at least partially reflected as reflection signals on at least one object (62, 707, 84, 96) in a signal propagation zone and the transceiver (51) receives the reflection signals. The method is characterized in that phase information of the reflection signals or communication signals are determined. The invention further relates to a corresponding device and to a use of the device.

Claims

1. A method performed by a vehicle-to-X communication device being mounted in a vehicle for position determination of an object by means of a communication signal, comprising the steps of:

providing a transceiver capable of wireless communication which transmits the communication signal, wherein the communication signal is a signal for vehicle-to-X communication,

simultaneously transmitting and receiving by the transceiver, at least temporarily reflecting the communication signal as a reflection signal on the object in a signal propagation zone,

receiving by the transceiver the reflection signal,

determining phase information of the reflection signal or of the communication signal,

determining a distance or a direction from the transceiver to the object from the phase information, wherein the phase information is in the form of differential phases of the reflection signal.

2. The method as claimed in claim 1 further comprising in that a received one of the reflection signal or a transmitted one of the communication signal is split up into a leading component and a trailing component, wherein the phase of the leading component remains unaffected and the phase of the trailing component is delayed by 90°

.

3. The method as claimed in claim 1 further comprising determining the phase information in the form of differential phases by means of mixing of the communication signal with an associated reflection signal or by means of mixing of two different one of the reflection signal by means of complex conjugate multiplication or by means of crossover multiplication.

4. The method as claimed in claim 1 further comprising the transceiver transmitting communication signals on at least two different frequencies.

5. The method as claimed in claim 4, further comprising determining a distance to the object from the phase information generated by the at least two different frequencies.

6. The method as claimed in claim 4 further comprising determining the direction and the distance to the object by means of temporally alternating evaluation of the differential phases of two frequencies and the differential phases on two antenna elements.

7. The method as claimed in claim 4 further comprising in that the at least two frequencies are two different communication channels of a common communication means.

8. The method as claimed in claim 1 further comprising in that the communication signal and the reflection signal are received by at least two electrically independent antenna elements of the transceiver, wherein the phase information is determined by means of the at least two antenna elements.

9. The method as claimed in claim 8, further comprising receiving the communication signal and the reflection signal by means of four electrically independent antenna elements of the transceiver, and determining the phase information by means of the four antenna elements.

10. The method as claimed in claim 8 further comprising determining a direction to the object from the phase information generated by the at least two electrically independent antenna elements.

11. The method as claimed in claim 1 further comprising the transceiver communicating with communication participants in the form of traffic participants and with infrastructure devices.

12. The method as claimed in claim 11, further comprising in that the object is a traffic participant, including one or more of a, vehicle cyclists and a pedestrians, and at least one of an infrastructure device and a communication participant.

13. The method as claimed in claim 1 further comprising in that the transceiver in each case determines a Doppler frequency for the object in the signal propagation zone.

14. The method as claimed in claim 13, further comprising determining the Doppler frequency from a Doppler phase.

15. The method as claimed in claim 13 further comprising filtering the Doppler frequency by means of a digital low-pass filter.

16. The method as claimed in claim 1 further comprising producing a movement path of the object from a multiplicity of determined distances and directions.

17. The method as claimed in claim 1 further comprising in that data transported in a received communication signal is at least proportionally evaluated.

18. The method as claimed in claim 1 further comprising aligning a determined position of a communication participant with a position datum contained in a message sent by the communication participant and validating the position datum if it does not conflict with the determined position.

19. The method as claimed in claim 1 further comprising forwarding the transported data or the determined positions to at least one driver assistance system.

20. The method as claimed in claim 1 further comprising providing the driver assistance system configured to carry out an autonomous braking intervention or an autonomous steering intervention or a warning of a driver, or a distance and speed regulator.

21. The method as claimed in claim 1 further comprising the transceiver transmitting communication signals without information content or transmitting the communication signal of which information content remains valid in multiple succession.

22. The method as claimed in claim 1 further comprising evaluating a receive power of the reflection signal.

23. The method as claimed in claim 22, further comprising determining a class of the object from the distance and the received power.

24. The method as claimed in claim 1 further comprising determining the distance or the direction to the object from a ratio formed from an electromagnetic field strength received by at least two antenna elements.

25. The device as claimed in claim 1, wherein an angle of radiation of the communication signal is approximately 360 degrees.

26. A vehicle-to-X communication device being mounted in a vehicle for the communication-signal-based position determination of objects comprising:

a transceiver with a transmit module for the wireless transmission of communication signals and with a receive module for the wireless reception of communication signals and reflection signals, wherein the communication signals are signals for vehicle-to-X communication,

wherein the reflection signals are at least partially reflected on objects in a propagation zone of the communication signals,

wherein the transceiver is configured to be capable of simultaneous transmission and reception,

wherein the transceiver comprises an antenna arrangement,

the device configured to determine phase information of the reflection signals or the communication signals by means of phase evaluation means, and

the device is configured to determine from the phase information a distance from the transceiver by means of distance determination means or a direction from the transceiver to the at least one object by a direction determination means.

27. The device as claimed in claim 26 further comprising in that the antenna arrangement consists of at least two antenna elements.

28. The device as claimed in claim 26 further comprising the antenna alignment includes antenna elements arranged into at least one of a multi-beam star, a polygon, are shaped as Vivaldi horns, surround a metal tube reflector radially, are shaped as narrowband patch elements , and are aligned in a back-to-back arrangement.

29. A use of the device as claimed in claim 26 in an infrastructure device or a traffic participant including at least one of a motor vehicle a motorcycle , a bicycle, a pedelec, and a pedestrian.

30. The device as claimed in claim 26, wherein the antenna arrangement has a directional characteristic for determining an incoming direction of the communication signals or the reflection signals.

31. The device as claimed in claim 30 further comprising in that the antenna elements are assignable via switching elements to the transmit module or to the receive module or to a terminal resistor and that the directional characteristic is defined by the assignment.

32. The device as claimed in claim 26, wherein an angle of radiation of the communication signals is approximately 360 degrees.