法国专利FR3018941A1 PILOTAGE OF VEHICLES IN CONVOI

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The invention relates to a method implemented by computer for managing a convoy comprising at least two vehicles, each of the at least two vehicles comprising satellite positioning means and vehicle-to-vehicle communication means, the method comprising the determination of the relative positioning of said vehicles, said determination comprising measuring the propagation time of a signal between vehicles by the communication means, the clocks associated with the communication means being synchronized via the satellite positioning means into one reference clock time. Developments include communication between vehicles of different data (eg measurement uncertainties, signal-to-noise ratios, residuals), determination of absolute locations, use of an SBAS type system, use of differential GPS, use of Doppler measurements for turns or the exclusion of a failed satellite. A computer program product and associated systems are described. 150 words
公开号:FR3018941A1
申请号:FR1400684
申请日:2014-03-21
公开日:2015-09-25
发明作者:Thibaud Calmettes；Michel Monnerat；Damien Serant
申请人:Thales SA；
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专利说明:

[0001] FIELD OF THE INVENTION The invention relates to the field of signal processing and in particular that of driving vehicles in convoys. State of the art The technical problem posed is that of monitoring the positions of vehicles traveling in convoys. The lead vehicle can be driven by a driver. One or more vehicles of the convoy can be controlled automatically. The distances observed between vehicles are typically of the order of ten meters. The reaction time of one vehicle on the next being related to the measurement time and the communication time between the vehicles, reaction times of 0.1 seconds are accessible. At 40m / s (145 km / h), this corresponds to a minimum distance of 4 meters between pairs of vehicles (the distance must be reduced to the maximum to avoid the appearance of obstacles or undetectable events between two vehicles, for example an animal crossing the road). This technical problem arises mainly in a context of routine monitoring. In critical conditions (emergency braking for example), the detection of the actions of the first driver and the reactions of the first vehicle can be done by means of sensors adapted to these critical phases (odometers in particular), conservative strategies can then be considered . However, these dedicated sensors do not have sufficient resolution and stability for routine measurements. The state of the art discloses very few methods of solving this technical problem and the results are generally unsatisfactory. For example, some techniques use artificial vision systems and / or ground mark monitoring (eg RFID chips inserted into the pavement). These methods require cumbersome, expensive or not flexible insertions. One solution is to synchronize the clocks of the various vehicles, for example at their departure (and / or to compensate for the drifts of these different clocks as and when the passage of time). The measurement of the communication time between vehicles divided by the speed of light would then theoretically make it possible to deduce the intermediate distances between vehicles. This approach in reality does not work, given the clock drifts commonly observed (the distance error is then about 10 meters). There is an industrial need for methods and methods for the safe movement of vehicle convoys, especially off major traffic arteries.
[0002] SUMMARY OF THE INVENTION In one embodiment, the invention combines the use of a positioning system (GPS or Galileo or other) and an inter-vehicle communication system (which may be generally any type).
[0003] In a development, the clock synchronization can be effected by means of GPS access, which, if necessary, confers a reference clock time and, moreover, is shared between the vehicles. This approach eliminates the problems caused by possible clock drifts. The invention makes it possible to set up robust strategies for automatic piloting (for example without a driver) of truck convoys or any other type of land vehicles (cars and / or trucks and / or motorcycles and / or buses, etc.). . The invention will also advantageously be applicable for certain situations relating to air traffic, for example for convoys of miniaturized UAVs intended for logistics operations and traveling in convoy in certain air corridors.
[0004] Certain embodiments of the invention can allow significant gains in logistics and / or transportation (eg for heavy industries of the mining industry type). Fleet management can be optimized and transport safety enhanced.
[0005] Vehicles (e.g. trucks) can be positioned or located by GPS (or more generically by G.N.S.S. system, a term which refers to all satellite positioning systems such as GPS, Galileo and others). In the remainder of the description, the terms GPS, Galileo, or G.N.S.S. are used interchangeably.
[0006] In one embodiment, the GPS operates in standard or "absolute" mode (i.e. each vehicle of the convoy independently determines its own positioning). In another embodiment, the GPS operates in differential mode (DG.N.S.S.). This differential mode is also referred to as "relative mode" (via the DGPS-type data communication channel broadcast), i.e., the positioning of a vehicle is improved because of the knowledge of the positioning. other vehicles, which serve to improve positioning accuracy. Alternatively, it is also possible to instrument the vehicles 20 (ie all or part of the vehicles of the convoy) by means of inertial systems (odometers for example), useful during the passage of the convoy in physical tunnels and / or zones. in which the GPS reception is momentarily interrupted (in urban traffic situation the reception of the GPS signal being prevented by the buildings and or the vegetation, bad weather conditions, etc.) In a subsidiary way, it is possible to complete the instrumentation. embarked for all or part of the convoy. For example, one or more vehicles can carry one or more radars, or even optical systems (computer vision for collision detection, detection of pedestrians or obstacles, tracking of white marks on the roadway, etc.). 4 3018941 The communication channel itself can be used as an additional means of measures to make the use of GNSS more robust, in order to eliminate the risks of integrity (global or local) and unavailability (tunnels by example). In addition, inertial measurements can be used.
[0007] Among other advantages, the invention makes it possible to remedy the long delay (6 seconds) required for the alert and the associated corrections of S.B.A.S. augmentation systems. Egnos type, which is usually too long for vehicles traveling on high speed road. The described embodiments allow robust and fast detections of relative movements and thus allow to maintain conforming situations (at least during this alert period). Certain embodiments of the invention allow an improvement of the localization performances (via additional differential measurements), integrity (via GNSS-independent measurement means to highlight local or global non-integrities on GNSS), availability (when tunnels, for example, by maintaining accurate distance measurements, particularly in the context of coupling with inertial sensors). These advantages are achieved without a significant increase in embedded hardware complexity, the G.N.S.S. and communication being already present in a commercial manner. There is disclosed a method, possibly implemented by computer, for managing a convoy comprising at least two vehicles, each of the at least two vehicles comprising satellite positioning means and vehicle-to-vehicle communication means, the method comprising determining the relative positioning of said vehicles, said determination comprising measuring the propagation time of a signal between vehicles by the communication means, the clocks associated with the communication means being synchronized via the positioning means satellite in a reference clock time.
[0008] 5 3018941 The convoy comprises at least two vehicles of any type (car, motorcycle, bus, truck, etc.). The convoy is a dynamic entity: a vehicle can leave the convoy, a vehicle can join a convoy, two convoys can merge (several vehicles can be considered as being a single vehicle from a systemic perspective, etc.). The measurement of the propagation time corresponds to TOA (Time of Arrival). The measurement itself is performed by the receiving vehicle, by means of the time value declared by the transmitting vehicle. The measurement of the propagation time (of a signal for example) between two vehicles gives access to inter-vehicle distance information (the relative velocities of the vehicles between them being negligible with respect to the speed of light). It should be noted that in the case where the convoy comprises more than two vehicles, several propagation times can be measured (between any two vehicles of a convoy, for example between the 2nd and 7th vehicles). As a result, these times can be subject to statistical processing (e.g., associated with confidence intervals, etc.). Optimizations or combinatorial checks can also be performed (eg the propagation times of a given vehicle to all other vehicles of the convoy can be measured respectively, the measurement of a vehicle A to a vehicle B compared to the measurement of a vehicle 20 B to a vehicle A, etc.). The signal may be an electromagnetic or light signal (for example one or more lasers). In some economic cases, the signal may be a sound signal (where appropriate the speed of propagation of the sound is known as a function of atmospheric pressure / altitude and the speed of the vehicles is not negligible compared to the speed of propagation of the signal. ). The specificities and limitations of the sound embodiment make this particular mode, but not devoid of interest (inexpensive, it can further complement other embodiments). In general, a wave-type signal can be exploited (microwave beam, visible light, IR, etc.). The means of communication between vehicles may therefore be radio and / or light e.g. laser and / or sound, etc. Signal redundancy gives robustness to the overall system.
[0009] 6 3018941 Clock synchronization is achieved via the satellite signal. Each vehicle has a clock time of its own. According to some embodiments, the invention aims at harmonizing or adjusting or synchronizing the different clocks of the different vehicles forming the convoy. The method 5 is therefore fully a combination of means, acting synergistically (a result of one being reused by the other in a "cybernetic" loop). The "reference clock time" refers to the time after the comparison and the synchronization (real or virtual) of the different clocks of the different vehicles. This reference clock time ("common clock time" or even "synchronized clock time") serves as a reference for the calculation of the signal propagation time (s) between the vehicles, and thus serves for the determination of the relative positioning of the vehicles (positions in the space of the vehicles relative to each other). Different variants of clock synchronization are possible. The satellite positioning means can calibrate the synchronization for example. They can in particular initialize a clock time and / or make adjustments or synchronizations at regular or irregular intervals (periodic or intermittent or opportunistic or depending on particular driving events for example).
[0010] The "reference clock time" may therefore be readjusted from time to time (the reference may change). The reference clock time in particular can be used for the timestamp of the signal transmitted between the vehicles (for example by the transmitting vehicle). One possible method of synchronization may be to reset the clock of the communication means of one or more vehicles according to the satellite navigation clock ("clock calibration"), to construct a single clock (synchronization). "real"). Another method may be to keep separate clocks (the different communication boxes each keep their clock for example), but to measure the difference between the different clocks and to transmit this difference via the communication channel between the two clocks. vehicles (the difference being taken into account later in the relative positioning calculations, "virtual" synchronization). In fact, these methods and their numerous variants have in common that an independent and external temporal reference is injected into the relative positioning calculation of the vehicles, which is reflected by the use of the expression "the means of communication [are] synchronized via the satellite positioning means ".
[0011] In practice, because of the programmability (or not) of a clock embedded in a vehicle, the clock in question can be, in fact, advanced or retracted (the delay or advance can be memorized). Alternatively, if a clock can not be changed, its inclusion in a larger system will compensate for its advance or delay in subsequent calculations.
[0012] The method described is suitable for managing a convoy generally. A vehicle may have a steering (automatic steering, remote control, driving by a driver, assisted driving, etc.) or not have a proper piloting (if necessary, the vehicle mimics, imitates or reacts to the steering of one or more other vehicles of the convoy).
[0013] In a development, the method further comprises communicating between the vehicles the uncertainty associated with the reference clock time. The uncertainty of the clock time associated with a vehicle can be determined or calculated or estimated or quantified. This uncertainty (of measuring the clock time specific to each vehicle) refers to the reference clock time, common to the vehicles forming the convoy (or at least a majority of them). A drift can be determined by means of independent sources for example (relative mode). A drift probability can also be estimated without the use of a third-party source (absolute mode). A drift or a deviation can result from comparisons combining absolute and relative estimates. In one development, the vehicles (e.g., communication means and / or G.N.S.S. means) exchange this information regarding the measurement uncertainty associated with their clock. For example, at least two vehicles can share information as to the estimated quality of their synchronization calibration. In other words, a vehicle can cooperate with at least part of the other vehicles of the convoy by sharing or communicating or transmitting or broadcasting the time-specific measurement uncertainty information (knowing the reference time as collectively defined). In one development, the method further comprises communicating between the information vehicles relating to the signal-to-noise ratios of the measurements from the satellite positioning means. In one development, the method further comprises communicating between the information vehicles relating to the signal-to-noise ratio of the communication signal between the vehicles forming the convoy. The measurement error on the communication signal will be equivalent to an error on the clock. In one development, the method further comprises communicating between the information vehicles relating to the measurement residues on the signals received from the satellite positioning means. For a vehicle, a "satellite residue" or a measurement residual on the signals received from the satellite positioning means (eg measured for a vehicle / satellite pair) - corresponds to the difference between the pseudo-distance measured (ie in the reality) between this vehicle (eg its GNSS receiver) and the satellite in question and between the calculated or expected pseudo-distance between the finally estimated position of this vehicle and the satellite in question.
[0014] The concepts of "signal-to-noise ratio" and "residues" are distinct. It is possible to note significant residues due for example to a specular multitrajet without real attenuation of the signal-to-noise ratio. In one development, the method further comprises determining an absolute location of one or more vehicles forming the convoy.
[0015] In addition to the relative positioning of the vehicles relative to one another, the method can provide for the absolute location of one or more vehicles forming the convoy. By absolute location, it is understood the precise geographical location of the vehicle or vehicles considered.
[0016] The absolute localization can be obtained by means of the different coordinates G.N.S.S. received by the GPS vehicles, as well as by means of the different relative positions of the vehicles relative to each other. In other words, it is possible to corroborate between them the various pieces of information, whether received or computed (G.N.S.S. information, relative position, S.B.A.S information, etc.). The different values can be the subject of statistical processing (such as calculations of mean, standard deviation, weighting, equalization, interpolation, etc.). In a development, the determination of the absolute location advantageously uses the satellite residues as previously described. . In a development, the relative positioning of the vehicles is corrected by the data received by a regional augmentation system of the satellite positioning means. G.N.S.S. may be subject to improvement or increase or so-called regional optimization. For example, the S.B.A.S. corresponds to a regional increase of a G.N.S.S. Usually used for aircraft (during landings), the application to land transport is new, especially in combination. The system in question for example a) warns of scheduled service interruptions and b) communicates certain corrective terms to improve the position in case of faults or malfunctions noted (six seconds delay) In a development, the satellite positioning means are satellite positioning means operating in differential or relative mode.
[0017] The satellite positioning means can operate in two main modes. In a "standard" operation, the location information is deduced from the reception of the satellite signals: in other words, the location depends only on the reception of the satellite signals and nothing else. In so-called "relative mode" operation, the location is deduced from several receivers, which may or may not be in motion. According to some embodiments of the invention, the location is effected by means of receivers which are all in motion. According to other embodiments of the invention, the location is performed by means of receivers for fixed parts (fixed receivers associated with the infrastructure for example) and partly moving. The fixed references can therefore be non-vehicle references (pedestrian, infrastructure reference such as bridge, mast, building, differential GPS station, etc.) The differential or relative mode operation of the satellite positioning means is still entirely optional. If such a mode can be advantageous in terms of accuracy, it may have contrario contraindications in certain situations. For example, when passing through physical tunnels, or jamming areas, the satellite signals may be interrupted. As a result, the relative positioning can be performed only on the sole basis of the measurement of the propagation time between the on-board communication means.
[0018] As a first approach, in a simplified, theoretical and reductive manner, it can be considered that the different combinations of means are associated with staggered performance / cost ratios. The measurement of the propagation time between the communication boxes requires inexpensive apparatus and provides a quick first approximation of the relative positions. The addition of a G.N.S.S. satellite positioning system. allows the synchronization of clocks to improve the accuracy of relative positioning. Cumulatively, the sharing and processing of satellite residues continues to improve accuracy. Still cumulatively, relative mode operation of satellite positioning continues to increase gains in accuracy. Finally, the combination of all the means (DGPS, residue processing, measurement of propagation times between communication boxes) results in the best possible accuracy (all while preserving reasonable hardware costs). The method advantageously takes advantage of the use of redundancy of the positioning systems. In particular, the treatment of the residues makes it possible to significantly increase the confidence in the determination of the configuration of the convoy.
[0019] 11 3018941 The redundancy of positioning systems provides an additional advantage in that it contributes to the robustness of the overall system. For example, if the on-board systems of a vehicle (eg a truck) begin to drift or become partially or progressively out of service, the remainder of the convoy remains able to overcome these particular deficiencies. Among other advantages, said redundancy allows increased reliability (minimizing the impact of jammers, adaptation to GPS blind areas as tunnels). There is redundancy of information between the communication means and the differential positioning means: the two means provide a relative positioning. In a development, the method further comprises measuring the frequency of the communication means, the frequency measurement for detecting turns of one or more vehicles.
[0020] A Doppler measurement corresponds to the derivative of the signal reception frequency. In other words, the measurements associated with the propagation of the signal by the communication means makes it possible to perform Doppler type measurements. This type of measurement is suitable for driving events such as changing lanes, straight-line exits or turns (road curve 20 or highways, urban intersections, etc.). Concretely, because of the relative movement between the vehicles forming the convoy (for example when a truck is running), the frequency changes between the vehicles. These frequency variation measurements with the communication means make it possible to refine the tracking of the relative positioning of the vehicles during the turns.
[0021] In a development, the method further comprises calibrating the transmission frequency of the communication means by the satellite positioning means. The satellite positioning means may also serve to calibrate or serve as a reference for the transmission frequency of the communication channel.
[0022] This advantageous calibration remains entirely optional. The calibration of the emission frequency by G.N.S.S. is not essential. Indeed, a relative stabilization of the transmission frequency is generally required to know precisely an instantaneous turn, but it is also possible to consider the variation of the reception frequency, in other words the derivative of the reception frequency, either the Doppler derivative, as a turn detection metric and curvature measurement thereof. This may mean assuming that the initial measurement of the received frequency was made in a straight line, without having an absolute means of checking it on the measurement itself (but it is possible to verify that the displacement is effected in a straight line by tracking the GPS position, or better yet by the inertial sensors on the vehicle (s)). The data G.N.S.S. are advantageously combined to complement the measurements of the communication channel. The clock synchronization makes it possible to obtain reliable measurements of inter-vehicle spacing variations, even if the speed of the vehicles changes. Turn management may also benefit from the data inputs of the NSG, albeit to a lesser degree compared to the management of straight line spreads. It should be noted that a resetting of the radii of rotational curvature can be performed by a maneuver consisting of putting pairs of vehicles to the touch key (or almost, modulo a minimum safety distance) for some 20 seconds and this for example all tens of kilometers. In a development, the method further comprises measuring the power received by one or more of the communication means. The received power measurement may in some cases usefully support distance estimates for determining the relative positioning of the vehicles forming the convoy. The received power decreases in 11r2, where r is the distance between the vehicles considered. If the transmission power is known and the received power is measured, it is possible to deduce the distance. In an urban-type environment with electromagnetic reflections and scatter, the effects of moisture and other parameters make the decay approximately 11r2 modulo some corrective factors. This optional embodiment is therefore advantageous in some cases.
[0023] In a development, one or more vehicles forming the convoy share the same communication means and / or the same positioning means. It is possible to accept in the convoy vehicles which do not possess or partially possess the apparatus required by the method. In particular, it is possible to envisage different configurations allowing the implementation of one or more steps of the method. For example one or more vehicles can share the same means of communication. Bridges or "bridges" may for example allow an instrumented vehicle to join the convoy. For example, by means of a connection provided by a mobile phone, GPS information, possibly degraded, can be shared with the other vehicles of the convoy. Similarly, a vehicle devoid of positioning means may be allowed within a convoy when complementary means are used (for example a reversing radar equipping the predecessor vehicle can overcome a lack of means positioning). In general, a convoy according to the invention comprises at least two instrumented vehicles according to the invention, that is to say each comprising communication means and satellite positioning means operating in combination (eg synergistically ). Ideally, all the vehicles of the convoy are instrumented according to the invention. In a "degraded" embodiment, a majority of vehicles is instrumented according to the invention and a minority of non-instrumented vehicles is incorporated in the convoy. A convoy can indeed incorporate non-instrumented vehicles according to the invention or partially instrumented or instrumented differently. For example, a vehicle driven by a human driver can join the convoy. In this case, even in the complete absence of instrumentation, the driver or pilot (including remote control) can maintain the safety distances with his neighbors (successor and predecessor). One or more vehicles may comprise (for example only) physical guidance means (e.g. "poles" of a few meters spacing the vehicles, with appropriate drift and servo measurements for maintaining a substantially constant distance). Electronic guiding means (for example by laser measurement and with similar servocontrols with the driving system) may also allow third-party vehicles to join the convoy. Inertial means (for example, odometer) can be used. A vehicle may also include only one or the other between means of communication and GPS means.
[0024] In a development, a vehicle is allowed to join or leave the convoy of vehicles. Authorization to join or leave the convoy may include different substeps. For example, as a first step, the requesting vehicle can - for example and optionally - authenticate itself (exchange of security certificates 10 for example) with one or more vehicles of the convoy, which can vote the acceptance or rejection the requesting vehicle. The criteria used may include taking into account the instrumentation available in the requesting vehicle (in itself or according to a vision of the overall system, that is to say according to the contribution of the requesting vehicle in terms of instrumentation).
[0025] In certain configurations, a vehicle may designate several vehicles considered jointly and severally. A vehicle can therefore be a mobile entity, whose scope can evolve. A vehicle may comprise a plurality of mobile entities. In other words convoys can merge or split up. Coalescence phenomena of convoys can be observed, in relation with the technical characteristics and / or the performances (of the onboard instrumentation for example making it possible to carry out one or more steps of the method In a development, an absolute location information is received from a fixed and authenticated source.
[0026] During the movement of the convoy, third information can enrich the determination of the absolute positioning of the convoy. In order to avoid scenarios of computer attacks (for example compromised tag sending false information or erroneous information to the different vehicles, or attempting to saturate the means of communication), an embodiment of the invention digit (optionally) the communication of information, and cumulatively organizes the exchange of security certificates to prove the authenticity of 15 3018941 third-party sources. For example, a beacon associated with a road bridge, whose location is very precisely known, can authenticate with one or more vehicles forming the convoy, then encrypted exchange location information. In particular, the individual propagation times 5 of the different vehicles to said beacon can be measured, and therefore corroborate or refine the location and / or the relative positioning of the vehicles forming the convoy. The communication can be unilateral (for example, the fixed beacon only emits its location) but it can also be bilateral (the beacon can be requested, can exchange security keys, can issue information with different levels of accuracy according to the authorization levels of the vehicles issuing the requests, etc.). In one development, the method includes excluding a failed satellite for determining the positioning of a vehicle and / or for estimating the reference clock time.
[0027] In a development, a satellite may be faulty or defective (constantly or permanently, or for example over a given time interval). This failure can be declared (by an external system, and thus received by one or more vehicles forming the convoy) or determined by one or more vehicles (for example, after a vote or according to 20 thresholds). trust or quantitative criteria, etc.). As a result, the on-board positioning means can ignore the failed satellite. The positioning means can be programmable or non-programmable: the exclusion of a satellite from the constellation can be performed at different levels. The satellite can be excluded by all or part of the receivers G.N.S.S. Embedded.
[0028] If a receiver is not programmable, the defective satellite will be taken into account for determining the location of the vehicle on board the receiver, but this vehicle may not participate in the estimation of the synchronized clock time. The convoy may decide "collectively" (majority vote or other schemes), depending on the data received (raw GNSS data and / or residuals and / or signal-to-noise ratio) and propagation times that a satellite has a problem and to exclude it for a time from any clock estimate throughout the convoy. This exclusion process, for example, may be based on the observation that a particular satellite gives a strong residual with respect to the solution obtained with all other satellites and communication signals, and on all receivers of the convoy. Compared with a S.B.A.S.-type regional augmentation system, this rapid removal of a disturbed satellite adds consideration of the communication measurement, is processed at substantially shorter detection times than the 6 seconds of the S.B.A.S. (i.e. compatible with the control of the convoy), and also allows to take into account the possibility that the disturbed satellite is not a satellite but makes it a decoy on the ground. At regular intervals, the signal from said satellite can be tested by one or more vehicles so as to continue to ignore the satellite 10 or to take it into account again. There is disclosed a system comprising means for carrying out any of the steps of the method. In particular, the system may use satellite positioning means, communication means, calculation means, information storage, information display. The communication means advantageously use a UWB modulation. The UWB modulation has the advantage of allowing a good quality of measurement of propagation time. The means of communication in particular can be GSM (2G), UMTS (3G), LTE (4G), CDMA2000, Tetra, UWB, Zigbee, Bluetooth, DSRC, Wifi, Wimax.
[0029] One, more or all of the steps of the method can be implemented by computer. A computer program product including code instructions performs any of the steps of the method when the program is run on a computer.
[0030] DESCRIPTION OF THE FIGURES Various aspects and advantages of the invention will appear in support of the description of a preferred embodiment of the invention, but without limitation, with reference to the figures below: FIG. convoy according to the invention; FIG. 2 illustrates an example of equipment on board a vehicle of the convoy and instrumented according to the invention; FIG. 3 shows a general and schematic view of the inputs / outputs of the onboard navigator function in a vehicle of the convoy according to the invention.
[0031] Figure 4 outlines an aspect of the invention relating to the correction or weighting provided by the residue analysis. DETAILED DESCRIPTION OF THE INVENTION A "vehicle" according to the invention may be a truck (of any type, eg a van or a heavy truck, etc.), a mobile robot (including an aircraft), a motorcycle, a car . A "convoy" can be composed of heterogeneous vehicles or composed of vehicles being substantially of the same model. A preferred application of the invention relates to truck convoys (heavy goods train). A convoy can evolve over time: vehicles can join or leave a trained convoy. A "convoy" is therefore a dynamic object whose composition is not fixed. Several convoys can merge together. A convoy can split into several new convoys. The invention is advantageously applicable in these situations of "coalescence" logistics. G.N.S.S. (Global Navigation Satellite System) covers all 20 satellite positioning systems, for example Glonass (Russian), GPS (American), Galileo (European), etc. The expressions "GPS" or "Galileo" or "GPS and Galileo" are used interchangeably and refer to all or part of the system generically called G.N.S.S. The use of a G.N.S.S. is problematic for the control of 25 convoys, or more generally for automatic driving applications. G.N.S.S. is typically affected by limitations related to the number of satellites in the constellation in view or in proper operation. The technical problem is indeed partly that of the integrity of the signal. This integrity can be diminished due to various causes: clock-jump, 30 satellites not available, local natural interference of the road tunnel type 18 3018941 for example, presence of jammer ("tomme" in English) which although generally forbidden could disrupt a location, etc.). A GPS or Galileo receiver performs various operations, including a correlation operation of time coinciding the code received from the satellite and the code produced internally by the receiver. The GPS or Galileo signal also makes it possible to measure a difference between the ripples of the carrier of the signal received (the phase of the signal received) and the ripples of the carrier of the signal generated internally by the receiver (the face of the signal generated internally ). The phase difference measurement provides high accuracy, less than 20 cm (by code and phase measurement accumulation). Some receivers may use a regional or local augmentation, for example for approach and landing phases in air navigation applications. These receivers additionally use Galileo GPS signals as an independent source of information to ensure service performance.
[0032] Communication measures are not used in the few available state of the art documents. GPS is not used in urban areas. On highways, the sky is generally open. In urban areas, vegetation or buildings can interfere with GPS or Galileo reception, and this is all the more true as accuracy must be important.
[0033] GPS building systems of type S.B.A.S. (Satellite Based Augmentation System) are - among other aspects - systems that can alert users or systems preventively of planned interruptions or system failures G.N.S.S. These alerts may include correction information to be applied to the signals. The delay of this type of system is about six seconds ("time to alert"), which in a situation of convoy traffic is a delay (much) too long. In fact, the land transport means do not use the S.B.A.S. In one embodiment, a GPS in a standard mode is used. In another embodiment, the GPS is used in differential mode ("D.G.N.S.S."). The comparison of the travel times makes it possible to position the receivers together. In general the differential mode is used with at least one fixed receiver (whose position is very precisely known, for example mounted on a mast for agricultural applications). The instrumentation of the road axes with a multitude of such fixed GPS receivers is expensive. Considerable for highways, this instrumentation is unrealistic for the secondary network. The differential mode 5 according to the invention is mainly carried out between receivers which are mobile, embedded in the vehicles. The use of fixed receivers is nevertheless not excluded. Figure 1 illustrates a convoy portion according to the invention. Figure 1 shows two trucks 101 head and successor 102 separated by a distance 130.
[0034] 10 A vehicle communicates with others (all others, or with any part of them, or with one or more of its successors and / or predecessors or with any other of the convoy). The propagation times between the vehicles are measured and compared (in fact between the antennas, the geometry of the vehicles, i.e. front and rear being known). To do this, a common clock time is required. Atomic clocks can not realistically be loaded into each vehicle for cost reasons. The clocks of each vehicle must be and remain (relatively) synchronized: it is therefore necessary to have a reference clock.
[0035] Synchronization at the departure of the vehicles would be insufficient in most cases (because of the drifts of the clocks, besides that it would also prevent a new vehicle from joining an already formed convoy). It is therefore necessary a reference clock and this clock is defined via the positioning system, which provides a common clock time. In addition, according to the invention, a method is disclosed for maintaining and improving the accuracy of this common clock time (the notions of time and location are related, modulo the displacement information accessible via measuring means, by example inertial). The vehicle geometry (front, rear, side dimensions, height) is known for each vehicle (it is predefined), as well as the geometry between the communication antenna and the GPS antenna. This implicit information is incorporated into the calculations. This information is not essential (to the extent that patches can be made, for example by means of external or independent modules). In one embodiment, the convoy comprising several vehicles does not include any driver (ie all vehicles are self-driving, in another embodiment one or more vehicles are driven by a human driver, for example, only the vehicle The first truck with a driver can be in charge of the actual driving, 10 with the choice of directions at the intersections. selection of the queue on a multi-lane road, and the detection of unforeseen obstacles (possibly assisted by automatic means of radar type) according to this embodiment, the first truck can transmit via a dedicated communication channel the route information to the following trucks, and so on, the following trucks taking care of automatically reproducing the actions of the first and maintaining a posi predetermined relative FIG. 2 illustrates an example of equipment on board by at least one vehicle of the convoy. The communication system between the trucks is used as an additional means of measurement, in addition to G.N.S.S. (and possibly, inertial units). These measures have the advantage of being completely independent of G.N.S.S. (thus not subject to the same events), to be instantaneous, to be between successive vehicles, and not to ask for additional equipment (the inter-vehicle communication channel being anyway necessary for the 25 critical situations (braking emergency). For this, two measurement elements are considered: TOA (Time Of Arrival) measurement for maintaining distance, and FOA (Frequency Of Arrival) measurement for curve tracking. The invention favors for this communication channel the use of a mobile type 4G OFDM modulation for its good quality of TOA / FOA measurements on short direct line-of-sight communications, and with a standardized definition of a carrier. synchronization.
[0036] 21 3018941 TOA is the distance (inter-vehicle). In the case of turns, visual means (image recognition or other) are possible but it is advantageous to operate the communication channel, that is to say without complicating the operation of the channel / GPS signals. In the case of a turn, the Doppler changes 5 (FOA) since the relative position of the vehicles changes (if the vehicles are in relative immobility, the Doppler is zero). TOA and / or FOA measurements are received / transmitted by one or more vehicles. Statistical treatments can be carried out (means, standard deviations, by vehicle torque, or according to any other scheme, for example between vehicles numbered 3 and 17 and 18, etc.). Apart from the head vehicle 101 which may optionally contain other equipment, a vehicle according to the invention (for example 102) comprises a receiver G.N.S.S. 201 (optionally with the ability to provide position measurements to one or more other vehicles, that these may perform differential locations), interacting with a communication receiver / transmitter 202 (eg of the OFDM 4G mobile type or UVVB) capable of accurately dating and measuring the frequency of the received signals. Optionally, one or more vehicles also have one or more inertial sensors and / or odometers (cycle counters or other) 20 to facilitate tracking trajectory in the short and medium term. Always optionally, radar and / or optical means (robotic vision, infrared, etc.) complement the on-board instrumentation. In one embodiment, one or more receivers G.N.S.S. may be compatible with the reception of integrity data by ground network or by 25 S.B.A.S. to limit the operation in degraded mode over a communication channel. It is for example conceivable to consider that if the communication channel 202 has detected a problem on a satellite G.N.S.S. and that this problem has not been reported by the S.B.A.S. (if it is in visibility) after 30 seconds (5 times the nominal Time To Alert, and 30 noticeably more than the duration of a multi-trip in non-urban environment), there is an inconsistency and it is better to set up steering strategies (stopping, slowing down, relative distance of the trucks ...) while waiting for a consolidation of the knowledge of the situation. The trucks usually communicate between successive (other communication schemes will be disclosed below), the position of the communication antennas on each truck to be known precisely. The communication between the trucks can be done by any known means (e.g. C.B., Wifi, Bluetooth, 3G, 4G, LTE, Wimax, UWB). Communications are preferably local, i.e. from point to point, but communications with higher latency times are not necessarily excluded (eg DVB). Sources of positioning information - other than the GPS or Galileo positioning system - can advantageously be used. This information can be used in combination (e.g., to enrich the algorithms) or in a complementary or additional or juxtaposed manner (to reduce uncertainties, correlatively improve positional determinations, etc.). This information may be optional in some cases (navigation may be dispensed with such information) or may be required when integrated more deeply into the algorithmic determination of the position. In some cases, this information may also substitute (i.e. replace) the GPS information, in whole or in part. These sources may for example be information from the GSM base stations accessed as the convoy moves, other satellite systems, data from Bluetooth, 2G, Edge, 3G, 4G, LTE or 5G networks, UWB, data from Wi-Fi networks traversed by the convoy, data extracted from the roadway (for example RFID chips or according to other non-contact technologies, inserted into sensors or sensors present in the roadway), information or confirmations provided by aircraft or drones, data sent by vehicles traveling on the opposite or adjacent tracks, derived from other methods of triangulation, etc. Different levels of confidence (e.g. statistical uncertainty interval or quantified levels of credibility of the sources, etc.) can be associated with different sources of information. Different methods (e.g. equalization and / or weighting and / or interpolation, optionally and for example taking into account the inertia control units, etc.) can then be implemented to determine a resultant location. On the received communication signals, the communication box in each truck performs a measurement of TOA / FOA. The measurement of TOA will mainly serve to maintain the distance, the FOA measurement to the evaluation of a turning speed in the case of a curve or a change of lane. These measurements are then compared with G.N.S.S. absolute and differential to remove a possible inconsistency, then these measurements are combined with the measurements G.N.S.S. validated to obtain a hybridized localization solution. The residue information collected at the conclusion of the integrity check and combination steps is stored in messages to other trucks, the idea being that if a truck has detected an inconsistency locally on a satellite, it may be interesting to advise the other vehicles of the convoy to check more particularly this satellite and 15 as far as possible avoid using it. The contributions of the channel or communication module 202 to the location are therefore multiple. The channel or module or communication box 202 transmits between the vehicles (or part of the vehicles) D.G.N.S.S. (differential), G.N.S.S. integrity data. evaluated by each vehicle, (possibly recombinable in overall integrity in the case where the observations of each vehicle agree to a source of global error for example GNSS failure type), and differential location residual data (which can be used in particular in the case where the GNSS integrity is consolidated, to reset the synchronizations of the time references of the communication boxes). Location, availability and integrity are improved (partly because of contributions from additional TOA / FOA differential measurements). All the information from browsers 111 to 299 (as well as other parameters possibly received from outside navigation system) 30 is taken into account so as to provide a decision aid for steering the convoy. The driving 210 itself may correspond to rules concerning one or more vehicles and selected from the list comprising an emergency tape stop and / or a reduction in speed and / or acceleration and / or audible alert and / or warning light. and / or restitution of the pilot controls to the human driver, etc. The flight control system 210 is in interaction with a set of actuators, that is to say mechanical means of action for driving. Actuators can provide feedback and change steering decisions (if, for example, a steering of a vehicle fails, steering decisions may be modified). Figure 3 shows a general and schematic view of the inputs / outputs of the onboard navigator function in a vehicle of the convoy. Reception and signal processing for a vehicle are presented. Synchronization of the clocks on the communication channel corresponds to one aspect of the invention. This synchronization is required to perform the TOA / FOA measurements, and yet is nominally performed through the calibration by a G.N.S.S. receiver, which creates a dependence of the TOA / FOA measurements on the G.N.S.S. location. and harms integrity. According to an implementation of the invention, the synchronization of the clocks of the communication channel is advantageously controlled by the browser block and not directly by the GNSS receiver This approach makes it possible to integrate in the synchronization control all the integrity information. which could be lifted elsewhere (transmitted by communication or evaluated locally), the elements brought by the inertial sensors, and to implement the smoothing and circumvents necessary to the errors of measurement (for example by not implementing resynchronization that to the periods with sufficient 25 quality GNSS satellites are visible, and adjusting the overall velocity and separation strategies between vehicles in the event of a long period without resynchronization Figure 4 outlines an aspect of the invention relating to the correction or 30 weighting provided by the residue analysis. On the GPS time, not only does it make this correction, but each vehicle declares the planned correction and communicates it to all the other vehicles. It is therefore possible to detect faulty channels, or systematic bias. Vehicles can take into account residues. Figure 4 outlines an aspect of the invention relating to correction or weighting by R.A.I.M. (Ranging or Receiver Autonomous Integrity Monitoring). In the same way that the relative positioning of the vehicles of the convoy can be determined more precisely by means of residue calculations, a function commonly available on the GPS receivers can be advantageously put to use. There are different types of GPS receivers or 10 Galileo. These receivers can be instrumented with an integrity check function. The technique called Ranging Autonomous Integrity Monitoring (RAIM) allows receivers to autonomously detect the occurrence of malfunction or performance degradation of a defective satellite. The simplest receivers are designed to receive a single frequency from the GPS satellites (Li C / A signal) or Galileo (E5a or L1 signal). They are usually equipped with a dozen reception channels to acquire all GPS or Galileo satellites in visibility. More complex receivers can receive two (dual-frequency) frequencies from each satellite of the two constellations (GPS / Galileo combined receivers). Since the combined use of independent GPS and Galileo constellations enhances positioning reliability, such combined receivers using the RAIM technique enable precise locations. The determinations of the relative positions of the vehicles in the convoy can be improved by the use of this RAIM function available in the receivers, or more generally by the implementation of R.A.I.M type algorithms. This type of algorithm makes it possible to check the state of the signals received from satellite constellations. It signals the possibility of an unacceptable position error when an inconsistency in the set of distance measurements transmitted by the satellites is detected. This function is unavailable when the number of received satellites is insufficient or their geometry is unfavorable. According to the function R.A.I.M. a receiver can therefore autonomously determine the occurrence of a malfunction or degradation of performance of a satellite for example. The RAIM is a technique or function or method used by some receivers to determine if the information received by the satellite is erroneous, by observing six other satellites. Doubtful information may be rejected by the receiver and is generally not used for calculating a position. The RAIM is a calculation technique, which can be implemented in the receiver computer for example, to detect the occurrence of a degradation of the accuracy of the measurement of distance from a satellite among all the visible satellites. It relies on the availability of excess measurement from the satellites because GPS constellations Galileo almost permanently offers a number of satellites in visibility greater than 4. The receiver can establish several positioning solutions, according to several combinations of satellites comprising four or more satellites. Due to the comparison of the results provided (notably by comparison of the signals between the different satellites and by dispersion analysis), the RAIM algorithms can identify the presence of faulty distance measurement from a satellite. It is thus possible to detect errors from a satellite as well as atmospheric effects or other local interference affecting the reception of satellite signals. In a simplified manner, five satellites makes it possible to detect an anomaly and six satellites make it possible to isolate a faulty satellite (in order to exclude it from the positioning calculation). In fact, each input parameter in the browser can be monitored. Generically, it is determined the difference between the measurement (eg the position) actually observed (ie as determined by all other vehicles) and the simulated measurement (ie determined by the vehicle according to its own systems such as odometers, inertial systems, etc.). In one embodiment, the R.A.I.M. is shared between the vehicles. The residues are broadcast to other vehicles. The residue and integrity information of the other trucks can be used as a weighting of the 30 GPS or Galileo measurements, in the same way as the R.A.I.M. can correct them. FIG. 4 also underlines another aspect of the invention relating to the redundancy of this information, providing advantageous robustness to the overall control system of the convoy. According to one aspect of the invention, redundancy, navigators embedded in each of the vehicles, or at least in part of them, makes it possible to improve the robustness of the overall system. For example, if a vehicle encounters problems with its positioning system and / or its communication system with the other vehicles, said other vehicles have the copy of the last state of the navigator of the defective vehicle and can consequently take appropriate measures to the situation. For example, by extrapolating the trajectory and speed of the defective vehicle, the convoy head may for example accelerate while the end of convoys may slow down to increase the inter-row distance. Other examples of reaction are possible (stopping on the emergency stop band, establishing communication by means of other spare channels, sound and / or light transmission, etc.). The methods and systems described are intended to correct clock times. In a particular embodiment, this correction can be achieved by redundancy. In this mode, each truck constantly recalculates the time and positions of all other vehicles. If a vehicle fails, other vehicles will see that said vehicle does not respond and a predefined logic can be implemented (slowdowns, accelerations, tc), possibly by operating other means (visual or proximity sensors, radar, etc.). Systematic redundancy has the advantage of standardization, i.e. economies of scale. The same equipment is deployed in all vehicles. In another embodiment, the redundancy is partial. In other words, some vehicles in the convoy have identical (redundant) copies of the overall system image while others do not hold it, or only partially. These particular vehicles can for example accompany the convoy by other means (for example only radar detection means or by proximity sensors). Authentication or authorization mechanisms of vehicles 30 "within" the convoy can be implemented. For example, version information on embedded systems may provide information on the compatibility (or incompatibility) with the methods or systems presently described.
[0037] In addition, measurements can also be made on a communication channel between non-successive trucks. Typically, the signals transmitted by the truck 1 can not only serve as a measurement support for the truck 2, but also for the trucks 3, 4, 5, etc. ; and likewise those transmitted by the truck 2 can be used for trucks 1, 3, 4, 5, etc. Given the effects of propagation, it is expected that these measures lose precision with distance, but they can however be a useful complement to avoid drifts error accumulation from one truck to another, especially in curves or turns.
[0038] Initially, the problem can be solved with the use of a differential GPS system coupled to a communication channel. However, this solution may still have residual integrity defects (disruption of the GNSS signal at the global level (satellite fault for example) or at the local level (multipath for example) For an application as critical in terms of security it is therefore advantageous to hybridize the described method with the use of other sensors (or sensors, as opposed to actuators) A class of possible sensors corresponds to that of the inertial sensors An inertial sensor makes it possible to overcome certain limitations GNSS (passage under a bridge for example) but it has the defect of a medium and long-term drift relatively strong and above all unpredictable (typically, the drifts of the inertial sensors of each of the trucks of the convoy may be different, which means that in case of differential location based on these sensors each will drift differently, which can lead to distance final between the first and the last truck, for example, the length of the total queue). This type of sensor does not allow a tracking of the relative positions of the vehicles between them. Used in addition to the methods and systems described, one or more inertial sensors make it possible to improve the robustness and the precision of the positioning of the vehicles. In the case where inertial measurements are available, they add a third source of information which contributes to the coherence analyzes and the location of the vehicles. These measurements can be particularly useful in the case of unavailability G.N.S.S. long-lasting (tunnels for example).
[0039] Other types of sensors can also be used in combination, for example radar or optical sensors. The sensitivity of these sensors to the weather (rain in particular) makes them difficult to use as a solution in all conditions. They also have a fairly long reaction time (compared with DGPS for example) and a high equipment cost. Finally, they generally require a relative control of the attitude, which is quite difficult to implement in a concrete way. Radar-based techniques therefore allow for complementary improvements, but which are generally limited and are currently associated with high costs.
[0040] The present invention may be implemented from hardware and / or software elements. It may be available as a computer program product on a computer readable medium. The support can be electronic, magnetic, optical or electromagnetic. 30

权利要求:
Claims (18)
[0001]
REVENDICATIONS1. A computer-implemented method for managing a convoy comprising at least two vehicles, each of the at least two vehicles comprising satellite positioning means and vehicle-to-vehicle communication means, the method comprising determining the positioning relative of said vehicles, said determination comprising measuring the propagation time of a signal between vehicles by the communication means, the clocks associated with the communication means being synchronized via the satellite positioning means in a time of 10 d reference clock.
[0002]
The method of claim 1, further comprising communicating between the vehicles the uncertainty associated with the reference clock time.
[0003]
3. The method of claims 1 or 2, further comprising communicating between the information vehicles relating to the signal-to-noise ratios of the measurements from the satellite positioning means.
[0004]
4. Method according to claims 1 to 3, further comprising the communication between the information vehicles relating to the signal-to-noise ratio of the communication signal between the vehicles forming the convoy.
[0005]
The method of claims 1 to 4, further comprising communicating between the measurement residue information vehicles on the received signals of the satellite positioning means.
[0006]
6. Method according to any one of the preceding claims, further comprising determining an absolute location of one or more vehicles forming the convoy. 25
[0007]
7. Method according to any one of the preceding claims, the relative positioning of the vehicles being corrected data received by a regional augmentation system of the satellite positioning means.
[0008]
8. Method according to any one of the preceding claims, the satellite positioning means being satellite positioning means 30 operating in differential mode. 31 3018941
[0009]
9. A method according to any one of the preceding claims, further comprising measuring the frequency of the communication means, the frequency measurement for detecting turns of one or more vehicles.
[0010]
10. Method according to the preceding claim, further comprising calibrating the transmission frequency of the communication means by the satellite positioning means.
[0011]
The method of any of the preceding claims, further comprising measuring the power received by one or more of the communication means. 10
[0012]
12. Method according to any one of the preceding claims, one or more vehicles forming the convoy sharing the same communication means and / or the same positioning means.
[0013]
13. A method according to any one of the preceding claims, a vehicle being allowed to join or leave the convoy of vehicles. 15
[0014]
The method of any of the preceding claims, wherein absolute location information is received from a fixed and authenticated source.
[0015]
15. A method as claimed in any one of the preceding claims comprising excluding a failed satellite for determining the positioning of a vehicle and / or for estimating the reference clock time.
[0016]
16. Computer program product for carrying out one or more of the steps of the method according to any one of claims 1 to 15.
[0017]
17. System comprising means for implementing the steps of the method according to any one of claims 1 to 15. 25
[0018]
18. System according to claim 17, the communication means using a UWB modulation.

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同族专利:

公开号 | 公开日

ES2673851T3|2018-06-26|

FR3018941B1|2017-07-07|

AU2015201462B2|2019-05-02|

EP2922040B1|2018-04-25|

EP2922040A1|2015-09-23|

AU2015201462A1|2015-10-08|

US20150269845A1|2015-09-24|

US9786182B2|2017-10-10|

AU2015201462C1|2019-12-05|

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2016-02-23| PLFP| Fee payment|Year of fee payment: 3 |

2017-02-27| PLFP| Fee payment|Year of fee payment: 4 |

2018-02-27| PLFP| Fee payment|Year of fee payment: 5 |

2019-03-05| PLFP| Fee payment|Year of fee payment: 6 |

2020-12-18| ST| Notification of lapse|Effective date: 20201110 |

优先权:

申请号 | 申请日 | 专利标题

FR1400684A|FR3018941B1|2014-03-21|2014-03-21|PILOTAGE OF VEHICLES IN CONVOI|FR1400684A| FR3018941B1|2014-03-21|2014-03-21|PILOTAGE OF VEHICLES IN CONVOI|

EP15159567.5A| EP2922040B1|2014-03-21|2015-03-18|Driving of vehicles in a convoy|

ES15159567.5T| ES2673851T3|2014-03-21|2015-03-18|Driving vehicles in convoy|

US14/664,427| US9786182B2|2014-03-21|2015-03-20|Driving vehicles in convoy|

AU2015201462A| AU2015201462C1|2014-03-21|2015-03-20|Driving vehicles in convoy|

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