EP3491409A1 - Method for determining a reception direction for a radio signal - Google Patents
Method for determining a reception direction for a radio signalInfo
- Publication number
- EP3491409A1 EP3491409A1 EP17811192.8A EP17811192A EP3491409A1 EP 3491409 A1 EP3491409 A1 EP 3491409A1 EP 17811192 A EP17811192 A EP 17811192A EP 3491409 A1 EP3491409 A1 EP 3491409A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- receiving
- characteristic
- antenna
- radio signal
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000008859 change Effects 0.000 claims description 9
- 230000009466 transformation Effects 0.000 claims description 3
- 238000000844 transformation Methods 0.000 claims description 3
- 230000005855 radiation Effects 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 16
- 230000001419 dependent effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001404 mediated effect Effects 0.000 description 1
- 230000005404 monopole Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/28—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics
- G01S3/32—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived from different combinations of signals from separate antennas, e.g. comparing sum with difference
- G01S3/34—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived from different combinations of signals from separate antennas, e.g. comparing sum with difference the separate antennas comprising one directional antenna and one non-directional antenna, e.g. combination of loop and open antennas producing a reversed cardioid directivity characteristic
-
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/04—Details
- G01S3/06—Means for increasing effective directivity, e.g. by combining signals having differently oriented directivity characteristics or by sharpening the envelope waveform of the signal derived from a rotating or oscillating beam antenna
-
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/04—Details
- G01S3/12—Means for determining sense of direction, e.g. by combining signals from directional antenna or goniometer search coil with those from non-directional antenna
-
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/28—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics
- G01S3/32—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived from different combinations of signals from separate antennas, e.g. comparing sum with difference
- G01S3/36—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived from different combinations of signals from separate antennas, e.g. comparing sum with difference the separate antennas having differently-oriented directivity characteristics
Definitions
- the invention relates to a method for determining a reception direction of a radio signal.
- the determination of a position of a vehicle is essential for automatic navigation.
- the determination of the position using satellite navigation systems such as GPS is typically only capable of positioning a vehicle at about seven meters without any additional aids. For modern applications such as lane departure, this is typically not sufficient.
- An improvement of the position determination can be achieved by using different aids such as differential GPS.
- This approach uses fixed GPS receivers whose position is known. This calculates correction values that are based on a difference between the measured and the actual position and are forwarded to mobile GPS subscribers.
- the invention relates to a method for determining a reception direction of a radio signal, comprising the following steps:
- a reception direction which can be determined independently of positions contained in messages or otherwise determined via satellite navigation or other navigation techniques. This allows a vehicle or other vehicle-to-X subscriber performing the method to independently determine the direction of another vehicle. generating X-to-subscriber to make, which can be more accurate especially at short distances between the subscribers as a direction which is based on rather imprecise Satellitennavigati ⁇ onschal.
- the method is not limited to use in the context of vehicle-to-X communication, but may be generally used to determine a receive direction of a radio signal.
- a received signal is typically the signal which is in an electrical conductor or other connection after being received by the respective antenna, and which can be evaluated by suitable electrical or electronic circuits.
- the reception direction can in particular be determined two-dimensionally on the earth's surface. In this case, for example, a longitudinal axis of a vehicle or a direction of travel serve as a reference. Other references are also possible.
- the first antenna has an omnidirectional characteristic as the receiving characteristic. This allows a direction-independent determination of the strength of a radio signal.
- the second antenna has a directional characteristic as a received signal. This is particularly advantageous in conjunction with an omnidirectional characteristic as the receiving characteristic of the first antenna. In particular, if two different reception characteristics of the two Tennen be used, a suitable calculation of a determination of the receive direction is possible.
- the receive direction is determined based on respective powers of the first receive signal and the second receive signal. Examples of such a calculation will be given below.
- the direction of arrival is determined with an uncertainty with regard to a limited number of transformations, in particular reflections and / or rotations.
- This may in particular mean that, for example, an angle relative to a reference axis is determined, but that it can not be determined whether the angle has a positive or negative sign in a two-dimensional coordinate system on the earth's surface.
- it can be determined that a signal comes from the front, but not from the left or right. This may be the case in particular when using only two antennas.
- the determination of a direction of arrival is spoken, even if it is subject to such an uncertainty.
- the method further comprises the following step:
- the receiving direction is also determined based on the third received signal.
- the third reception characteristic preferably corresponds to the second reception characteristic rotated about a vertical axis.
- the method further comprises the following step:
- the receiving direction is also determined based on the fourth received signal.
- This receiving characteristic preferably corresponds to the second receiving characteristic rotated about a vertical axis.
- the second, third and fourth reception ⁇ characteristic can correspond to each other such that they emanate from a common point and each rotated by 120 ° to each other. This can improve accuracy and optimize the reduction of uncertainty to all sides.
- the receive direction is determined unambiguously and / or without uncertainty. This is typically possible from the use of three antennas, more preferably when using four or even five antennas. The above-mentioned uncertainty regarding rotations, reflections or other transformations can thus advantageously avoided so that it can be determined exactly from which direction a radio signal comes.
- the respective reception characteristics can be implemented, for example, in each case formulaically and / or numerically. This allows a simple calculation of the receive direction.
- a distance of a source emitting the radio signal is determined based on a power of at least one of the received signals, in particular of the first received signal.
- a power for calculating the distance can be determined, in particular, by means of an antenna which has an omnidirectional characteristic, since in the pure determination of the power it is precisely not the direction that counts.
- a distance of the transmitting unit can be determined, so that, for example, a collision risk can be determined in a further processing in the context of vehicle-to-X communication or other driving safety techniques.
- the method is carried out by means of at least a first radio signal and a second radio signal, wherein a change in a distance of the radio signals emitting source based on associated received signals, in particular first received signals is determined, in particular based on a free space attenuation.
- a relative speed of the receiving station and the transmitting station to each other can be determined, which can give, for example, indications of a possible imminent collision.
- the receiving direction can also be determined based on a position information contained in the radio signal.
- a position information contained in the radio signal may for example be based on Satellitenna ⁇ vigation.
- a distance or range change is determined at least partially based on a phase angle of at least a first radio signal and a second radio signal. Therefore the phases of radio ⁇ signals can be exploited, which is also a significant increase in the accuracy of distance measurement of distance or can change measurement mean, because the wavelengths used are typically relatively short.
- the antennas can be particularly vertically superimposed ⁇ arranged. This can typically be dispensed with the taking out of effects, which result solely from the different distance of the antennas.
- an omnidirectional antenna and one or more directional antennas are used to receive radio signals for carrying out a method according to Invention ⁇ .
- a radio signal may in particular be a vehicle-to-X message or a vehicle-to-X signal.
- An omnidirectional alone can already detect a change in the signal level and thus indicate a possible change in the distance of the transmitter.
- This information can be used, for example 0
- Such distance change information together with the positioning data can lead via time averaging to obtain exact knowledge of the radio channel, so that the absolute distance on the received power can be determined.
- CAM Cooperative Awareness Message
- Directional antennas are also used to determine the direction of the transmitter in conjunction with the received power of a round radiator.
- the directional characteristic of one or more directional antennas it is thus possible to determine a distance vector from the receiving antenna of the own vehicle.
- the difference in the reception power typically related to the omnidirectional antenna, is set in relation to the known reception characteristics. With only one directional antenna, however, there is typically no uniqueness.
- a change in the total power level which is a measure of the range change, can be calculated using free space damping. This can be done by the formula
- the accuracy of the positioning of other objects can be improved.
- a system for distance detection for example, the radar, which can measure very accurate distances.
- this is a separate system, which also allows no evaluation of the communication data, since it is not necessarily clear whether one of the objects detected by the radar belongs to a vehicle-to-X message. Nevertheless, information obtained by radar may be combined or fused with the information obtained by the method described herein.
- the invention further relates to a system which is configured to carry out a method according to the invention.
- a system may in particular have a corresponding plurality of antennas and an electronic control device which is configured to carry out the method according to the invention.
- the electronic control ⁇ device can for this purpose have, for example, processor means and storage means, wherein in the storage means program code is stored, wherein the execution of the process- sorstoff perform an inventive method.
- Hin ⁇ clearly the method of the invention can thereby be made of all the described embodiments and variations.
- the invention further relates to a non-volatile com ⁇ computer readable storage medium on which program code is stored ge ⁇ upon whose execution a processor to execute a method of the invention.
- program code is stored ge ⁇ upon whose execution a processor to execute a method of the invention.
- Fig. 1 shows directivity characteristics of an omnidirectional antenna and a directional antenna. It is easy to see that the omnidirectional antenna has a uniform reception characteristic on all sides. The directional antenna, however, has a receiving characteristic, which has three bumps. The difference between the two reception ⁇ characteristics can be used to determine the direction of reception of a signal, even if they receive direction may still be a degree of uncertainty.
- Fig. 2 shows an arrangement with a total of four directional antennas and an omnidirectional, in turn, the respective reception characteristics are plotted. The directional antennas each have the same receiving characteristic as the directional antenna already shown in Fig. 1. By superposing the reception characteristics of the directional antennas, it is possible to determine the reception direction of a radio signal without uncertainty and with high accuracy.
- FIG. 1 shows directivity characteristics of an omnidirectional antenna and a directional antenna. It is easy to see that the omnidirectional antenna has a uniform reception characteristic on all sides. The directional antenna, however, has a receiving characteristic, which has three bumps.
- FIG. 3 shows reception characteristics of an omnidirectional antenna and a directional antenna, which are different from those whose reception characteristics are shown in FIGS. 1 and 2.
- directional antenna 1 In the receiving characteristic shown in Fig. 3, which is denoted there by "directional antenna 1", it is not a receiving characteristic with three bumps, but with a one-sided continuous expression of the receiving characteristic.
- Fig. 4 reception characteristics shows an omnidirectional antenna and three directional antennas, labeled "Directional Antenna 1", “directional ⁇ antenna 2" and “directional antenna 3" are referred to, wherein the receiving characteristics of the directional antennas are identical to that which is shown in Fig. 4 This also makes it possible to make an accurate determination of a reception direction of a radio signal without uncertainty or ambiguity.
- Fig. 5 shows schematically an arrangement for carrying out an embodiment of the method according to the invention.
- a vehicle 10 is shown only schematically, which has a total of four antennas, namely a first antenna 21, a second antenna 22, a third antenna 23 and a fourth antenna 24th
- the first antenna 21 is formed as a vertical dipole, so that it has an omnidirectional radiation pattern as the reception saddle ⁇ rakterizing in the horizontal plane.
- the second, third and fourth antennas 22, 23, 24 are formed as horizontal dipoles which are respectively rotated by 120 ° with each other so as to have reception characteristics similar to those shown in FIG. This can be done in principle an accurate determination of a receive direction of a radio signal.
- a transmitter 30, which may be, for example, a mobile phone.
- the transmitter 30 transmits a radio signal 40, which is received by the antennas 21, 22, 23, 24 of the vehicle 10.
- a radio signal 40 which is received by the antennas 21, 22, 23, 24 of the vehicle 10.
- the following is an example calculation with a directional antenna and an omnidirectional antenna for determining the direction of reception, which is based on the arrangement shown in FIG. 5 and the diagram of reception characteristics shown in FIG.
- the directional characteristic of such a directional antenna corresponds approximately to that of a patch antenna.
- the assumed Richtcharakte ⁇ rizing of the omnidirectional antenna is similar to the Richtcharak ⁇ terumbling a dipole or monopole.
- the radio signal 40 may also come from left or right with respect to a center axis of the directional antenna without being distinguishable. By appropriate calculations using the other antennas, this uncertainty can be resolved, so that a clear determinability of the receive direction is given.
- steps of the method according to the invention can be carried out in the order given. However, they can also be executed in a different order. In one of its embodiments, for example with a specific set of steps, the method according to the invention can be carried out in such a way that no further steps are carried out. However, in principle also further steps can be carried out, even those which are not mentioned.
- vehicle-to-X communication in particular means direct communication between vehicles and / or between vehicles and infrastructure facilities.
- vehicle-to-vehicle communication or vehicle-to-infrastructure communication.
- vehicle-to-X communication may be performed using the IEEE 802.11p or IEEE 1609.4 standards.
- a vehicle-to-X communication can also be referred to as C2X communication.
- the subareas can be referred to as C2C (Car-to-Car) or C2I (Car-to-Infrastructure).
- C2C Car-to-Car
- C2I Car-to-Infrastructure
- he ⁇ invention includes vehicle-to-X communication with accommodation for example, via a mobile network explicitly not.
- the claims belonging to the application do not constitute a waiver of the achievement of further protection.
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016214142.2A DE102016214142A1 (en) | 2016-08-01 | 2016-08-01 | Method for determining a reception direction of a radio signal |
PCT/DE2017/200074 WO2018024299A1 (en) | 2016-08-01 | 2017-07-26 | Method for determining a reception direction for a radio signal |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3491409A1 true EP3491409A1 (en) | 2019-06-05 |
Family
ID=60627370
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17811192.8A Ceased EP3491409A1 (en) | 2016-08-01 | 2017-07-26 | Method for determining a reception direction for a radio signal |
Country Status (5)
Country | Link |
---|---|
US (1) | US20190154790A1 (en) |
EP (1) | EP3491409A1 (en) |
CN (1) | CN109690340A (en) |
DE (2) | DE102016214142A1 (en) |
WO (1) | WO2018024299A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10757485B2 (en) | 2017-08-25 | 2020-08-25 | Honda Motor Co., Ltd. | System and method for synchronized vehicle sensor data acquisition processing using vehicular communication |
US11163317B2 (en) | 2018-07-31 | 2021-11-02 | Honda Motor Co., Ltd. | System and method for shared autonomy through cooperative sensing |
US11181929B2 (en) | 2018-07-31 | 2021-11-23 | Honda Motor Co., Ltd. | System and method for shared autonomy through cooperative sensing |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1277948B (en) * | 1966-02-25 | 1968-09-19 | Boelkow Gmbh | Arrangement for determining the location of an object |
US4121216A (en) * | 1972-02-18 | 1978-10-17 | E-Systems, Inc. | Direction finder antenna and system |
US4724442A (en) * | 1986-05-29 | 1988-02-09 | E-Systems, Inc. | Method and apparatus for loop direction finding with no ambiguity |
DE3811879A1 (en) * | 1988-04-09 | 1989-10-19 | Licentia Gmbh | Direction-finding arrangement |
FR2738347B1 (en) * | 1988-07-08 | 1998-07-10 | Dassault Electronique | RADAR DEVICE WITH FALSE ALARM REGULATION ON DIFFUS |
FR2825158B1 (en) * | 2001-05-23 | 2003-08-15 | Dominique Marquis | ASSISTANCE EQUIPMENT FOR LOCATING A MOBILE OBJECT SUCH AS A MISSING OR MISSING ANIMAL |
JP4712305B2 (en) * | 2004-02-17 | 2011-06-29 | 三菱電機株式会社 | Radio wave direction detector |
JP4712410B2 (en) * | 2005-02-28 | 2011-06-29 | 三菱電機株式会社 | Radio wave direction detecting device and radio wave direction detecting method |
CN101652942A (en) * | 2007-03-15 | 2010-02-17 | 罗盘自动***有限责任公司 | The equipment and the method that are used for direction finder |
US20160056525A1 (en) * | 2013-04-02 | 2016-02-25 | Telefonaktiebolaget L M Ericsson (Publ) | A Radio Antenna Alignment Tool |
DE102013217869A1 (en) * | 2013-09-06 | 2015-03-12 | Continental Teves Ag & Co. Ohg | Method and communication device for validating a data content of a wirelessly received communication signal and use of the communication device |
DE102014212505A1 (en) * | 2014-06-27 | 2015-12-31 | Continental Automotive Gmbh | Diversified antenna system for vehicle-to-vehicle or vehicle-to-infrastructure communication |
-
2016
- 2016-08-01 DE DE102016214142.2A patent/DE102016214142A1/en not_active Withdrawn
-
2017
- 2017-07-26 DE DE112017003167.2T patent/DE112017003167A5/en active Pending
- 2017-07-26 US US16/320,624 patent/US20190154790A1/en not_active Abandoned
- 2017-07-26 CN CN201780046363.0A patent/CN109690340A/en active Pending
- 2017-07-26 EP EP17811192.8A patent/EP3491409A1/en not_active Ceased
- 2017-07-26 WO PCT/DE2017/200074 patent/WO2018024299A1/en unknown
Also Published As
Publication number | Publication date |
---|---|
WO2018024299A1 (en) | 2018-02-08 |
CN109690340A (en) | 2019-04-26 |
DE102016214142A1 (en) | 2018-02-01 |
DE112017003167A5 (en) | 2019-03-07 |
US20190154790A1 (en) | 2019-05-23 |
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