CN108627854B - 使用v2v通信的自动化车辆gps准确度改进 - Google Patents

使用v2v通信的自动化车辆gps准确度改进 Download PDF

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CN108627854B
CN108627854B CN201810240519.5A CN201810240519A CN108627854B CN 108627854 B CN108627854 B CN 108627854B CN 201810240519 A CN201810240519 A CN 201810240519A CN 108627854 B CN108627854 B CN 108627854B
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G·厄兹比尔金
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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Abstract

公开了使用V2V通信的自动化车辆GPS准确度改进。一种用于自动化车辆的导航***包括全球定位***接收器(GPS接收器(14))、车辆对车辆收发器(V2V收发器)、物体检测器、和控制器。GPS接收器指示主车辆的接收器坐标。接收器坐标由接收器误差表征。V2V收发器接收来自主车辆附近的多个其他车辆的每一个的GPS坐标。物体检测器确定相对于主车辆到多个其他车辆中的每一个的距离和方向。控制器与GPS接收器、V2V收发器、和物体检测器通信。控制器被配置成基于距离和方向调整来自多个其他车辆中的每一个的每个GPS坐标，并由此提供符合主车辆的多个调整后的GPS坐标，并将多个调整后的GPS坐标与接收器坐标组合以确定由小于接收器误差的位置误差表征的主坐标。

Description

使用V2V通信的自动化车辆GPS准确度改进
技术领域
本公开大体涉及一种用于自动化车辆的导航***，并且更具体地涉及一种导航***，其将来自其他车辆的多个调整后的GPS坐标与主车辆的GPS接收器坐标组合，以确定比仅使用GPS接收器坐标具有更少的位置误差的主坐标。
背景技术
已知指示主车辆的接收器坐标的全球定位***接收器(GPS接收器)具有接收器误差。即，预计存在与主车辆上的GPS接收器指示的接收器坐标有关的一些误差，并且在许多车辆上使用的GPS接收器的经济型示例可能具有比优选更多的误差，尤其是在GPS接收器是确定主车辆在道路上的位置的唯一方式的情况。
发明内容
根据一个实施例，提供了用于自动化车辆的导航***。***包括全球定位***接收器(GPS接收器)、车辆对车辆收发器(V2V收发器)、物体检测器、和控制器。GPS接收器指示主车辆的接收器坐标。接收器坐标由接收器误差表征。V2V收发器接收来自主车辆附近的多个其他车辆的每一个的GPS坐标。物体检测器确定相对于主车辆到多个其他车辆中的每一个的距离和方向。控制器与GPS接收器、V2V收发器、和物体检测器通信。控制器被配置成基于距离和方向调整来自多个其他车辆中的每一个的每个GPS坐标，并由此提供与主车辆对应的多个调整后的GPS坐标，并将多个调整后的GPS坐标与接收器坐标组合以确定由小于接收器误差的位置误差表征的主坐标。
阅读优选实施例的下列详细描述并参考各个附图，进一步的特征和优点将更加显而易见，优选实施例只是作为非限制性示例给出的。
附图说明
现在将参考各个附图通过示例的方式来描述本发明，其中：
图1是根据一个实施例的导航***的示图；以及
图2是根据一个实施例的图1的***可遇到的交通场景。
具体实施方式
图1示出了适于在自动化车辆(例如主车辆12)上使用的导航***10(以下称为***10)的非限制性示例。如本文所使用的，术语“自动化车辆”可应用于当主车辆12正以自动模式(即，完全自主模式)操作的情况，其中本车辆12的人类操作者可几乎不用做指定目的地以便操作本车辆12以外的事情。然而，完全自动化不是必需的。构想到，当主车辆12以手动模式***作时本文中提供的教导是有用的，在手动模式下，自动化程度或等级可能仅仅是向总体上控制着主车辆12的转向、加速器和制动器的人类操作者提供可听或可视的警告。例如，***10可以仅仅根据需要帮助人类操作者跟随到目的地的路线。
***10包括基于从卫星18接收到的信号指示主车辆12的接收器坐标16的全球定位***接收器14(GPS接收器14)。如本领域技术人员将认识到的，接收器坐标16由接收器误差20表征。即，预计可能在主车辆12的典型示例上安装的GPS接收器14的典型经济型示例的准确度与可以通过使用GPS接收器的昂贵的、高准确度(例如，军事等级或陆地调查等级)的示例确定的实际(即，零误差)坐标之间存在一些差异。如在下文中将变得显而易见的，本文描述的***10通过考虑多个其他车辆22的坐标克服这个问题，该其他车辆22靠近(即，在视线范围内)主车辆并且在某一有限的范围内(例如，比一百米(100m)更近)。
图2示出了主车辆12靠近多个其他车辆22的交通场景30的非限制性示例。***10包括车辆对车辆收发器24(下文中称为V2V收发器24)，其接收来自主车辆12附近的多个其他车辆22中的每一个的GPS坐标26。GPS坐标26的位置被示为在其他车辆22的大约中心，但这不是必需的。认识到来自其他车辆22的每一个的GPS坐标26将可能具有与接收器误差20相似大小的误差。然而，因为预计误差是随机的，所以这些误差将趋向于平均接近零，如下文中将更详细解释的。
***10也包括物体检测器32，***10使用物体检测器32以确定相对于主车辆12(即，从主车辆12)到多个其他车辆22中的每一个的距离34和方向36。物体检测器32包括，但不限于，相机、激光雷达、和雷达中的任何一个或其组合。如本领域技术人员将认识到的，如果物体检测器32包括多于一个设备(例如，相机和雷达的组合)，可需要数据融合技术以组合来自各个设备的信息以更准确地确定距离34和方向36。
***10还包括与GPS接收器14、V2V收发器24、和物体检测器32通信的控制器28。该通信可以通过有线、光导纤维、或无线通信，但不限于此。控制器28可包括诸如微处理器的处理器(未具体示出)或其它控制电路，诸如模拟和/或数字控制电路，包括应当为本领域技术人员熟知的用于处理数据的专用集成电路(ASIC)。控制器28可包括用以存储一个或多个例程、阈值和所捕捉的数据的存储器(未具体示出)，包括非易失性存储器，诸如电可擦除可编程只读存储器(EEPROM)。一个或多个例程可以由处理器执行以执行用于减少接收器误差10的影响的步骤。
为了减少接收器误差20，控制器28被编程或被配置成首先执行将由V2V收发器24接收的GPS坐标26与物体检测器指示的距离34和方向36的数据匹配38。即，其他车辆22的每个实例必须被匹配到GPS坐标26的每个实例。然后控制器28基于距离34和方向36调整来自多个其他车辆22中的每一个的GPS坐标26的每个实例，并由此提供符合主车辆12的多个调整后的GPS坐标40。即，从每个其他车辆22的GPS坐标26中有效减去到其他车辆22的每一个实例的距离34和方向36，以对准或补偿其他车辆22中的每一个相对于主车辆的位置。作为结果，期望调整后的GPS坐标与接收器坐标16相似或几乎相等，其中差异预期主要是由于其他车辆22中的接收器误差20和GPS接收器的误差。
然后，控制器28将多个调整后的GPS坐标40与接收器坐标16组合以确定由小于接收器误差20的位置误差44表征的主坐标42。多个调整后的GPS坐标40与接收器坐标16的组合可以是调整后的坐标40与接收器坐标16的简单平均，或可以是加权平均，其中接收器坐标16可以被赋予比调整后的GPS坐标40的任何实例更多的权重。也构想到，可以基于与距离34和方向36相关联的置信度赋予每个调整后的GPS坐标40不同的权重。例如，如果其他车辆22靠近主车辆12，特别是在主车辆12的正前方或正后方，那么其他车辆22的调整后的GPS坐标40可以比例如距离主车辆12七十五米(75m)远并且在逆向车道行驶的其他车辆22的实例被赋予更多的权重。
构想到，在传输期间，可能有当来自其他车辆22中的一个的GPS坐标可能被破坏的情况；由于例如来自卫星18的多路径信号导致的具有过度误差；或在一个或多个其他车辆22故意地广播GPS坐标26的误差值的情况下由于恶意欺骗而有误差。相似地，由于各种原因，距离34和/或方向36可能具有相对较大的误差，不限于物体检测器32的一些方面的故障或间歇性操作。为了避免主坐标42的破坏，控制器28可以被配置或被编程为当有问题的调整后的GPS坐标与接收器坐标16相差大于误差阈值48时拒绝46来自多个调整后的GPS坐标40的调整后的GPS坐标的实例。
作为进一步安全动作，控制器可以被配置成操作V2V收发器24以广播其中调整后的GPS坐标被拒绝的其他车辆22的身份，并由此报告50过度误差或恶意欺骗的实例使得附近的其他车辆可以避免使用由有问题的其他车辆广播的GPS坐标。
尽管已经根据本发明的优选实施例描述了本发明，但是并不旨在受限于此，而是仅受随后的权利要求书中所阐述的范围限制。

Claims (3)

1.一种用于自动化车辆的导航***(10)，所述***(10)包括
全球定位***接收器(14)即GPS接收器(14)，指示主车辆(12)的接收器坐标(16)，其中，所述接收器坐标(16)由接收器误差(20)表征；
车辆对车辆收发器(24)即V2V收发器，接收来自所述主车辆(12)附近的多个其他车辆(22)的每一个的GPS坐标(26)；
物体检测器(32)，确定相对于所述主车辆(12)到所述多个其他车辆(22)中的每一个的距离(34)和方向(36)；以及
控制器(28)，与所述GPS接收器(14)、所述V2V收发器、和所述物体检测器(32)通信，其中，所述控制器(28)：
基于所述距离(34)和所述方向(36)调整来自所述多个其他车辆(22)中的每一个的所述GPS坐标(26)中的每一个，并由此提供符合所述主车辆(12)的多个调整后的GPS坐标(40)，
当调整后的GPS坐标(40)与所述接收器坐标(16)相差大于误差阈值(48)时，拒绝来自所述多个调整后的GPS坐标(40)的所述调整后的GPS坐标(40)，
操作V2V收发器以广播其中调整后的GPS坐标(40)被拒绝的其他车辆(22)的身份，以及
将所述多个调整后的GPS坐标(40)与所述接收器坐标(16)组合以确定由小于所述接收器误差(20)的位置误差(44)表征的主坐标(42)。
2.根据权利要求1所述的***(10)，其中，所述物体检测器(32)包括相机、激光雷达、和雷达中的一个或多个。
3.一种用于自动化车辆的导航方法，包括
接收来自主车辆(12)附近的多个其他车辆(22)的每一个的GPS坐标(26)；
确定相对于所述主车辆(12)到所述多个其他车辆(22)中的每一个的距离(34)和方向(36)；
基于所述距离(34)和所述方向(36)调整来自所述多个其他车辆(22)中的每一个的所述GPS坐标(26)中的每一个，并由此提供符合所述主车辆(12)的多个调整后的GPS坐标(40)；
当调整后的GPS坐标(40)与所述主车辆(12)的接收器坐标(16)相差大于误差阈值(48)时，拒绝来自所述多个调整后的GPS坐标(40)的所述调整后的GPS坐标(40)；
广播其中调整后的GPS坐标(40)被拒绝的其他车辆(22)的身份；以及
将所述多个调整后的GPS坐标(40)与所述接收器坐标(16)组合以确定由小于接收器误差(20)的位置误差(44)表征的主坐标(42)，其中所述接收器误差(20)用于表征所述接收器坐标(16)。
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