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DE-102024210827-A1 - Methods for determining the actual speed and/or position of a vehicle

DE102024210827A1DE 102024210827 A1DE102024210827 A1DE 102024210827A1DE-102024210827-A1

Abstract

Method for determining an actual speed and/or position (P tat ) of a vehicle (100) in the case of shadowed satellites (106); the method comprising at least the following steps: a) If shadow-free satellites (102) are available, a calculation is performed to determine the actual speed and/or position (P tat ) of the vehicle (100) based on several received satellite signals from the shadow-free satellites (102); b) Repeating the calculation carried out in step a) taking into account received satellite signals from only a part (104a, 104b) of the shadow-free satellites (102) to determine one or more theoretical speeds and/or positions (P theo_1 , P _theo_2 ) of the vehicle (100); c) Determining a correction factor for the determination of the actual speed and/or position (P tat ) of the vehicle (100) based on the determined one or more theoretical speeds and/or positions (P theo_1 , P _theo_2 ) of the vehicle (100); d) Using the determined correction factor to determine the actual speed and/or position (P tat ) of the vehicle (100), in the case of shadowed satellites (106).

Inventors

  • Marcus Wagner

Assignees

  • Robert Bosch Gesellschaft mit beschränkter Haftung

Dates

Publication Date
20260513
Application Date
20241112

Claims (9)

  1. Method for determining an actual speed and/or position (P tat ) of a vehicle (100) in the case of shadowed satellites (106); the method comprising at least the following steps: a) In the presence of unshadowed satellites (102), performing a calculation to determine the actual speed and/or position (P tat ) of the vehicle (100) based on several received satellite signals from the unshadowed satellites (102); b) Repeating the calculation performed in step a) taking into account received satellite signals from only a part (104a, 104b) of the unshadowed satellites (102) to determine one or more theoretical speeds and/or positions (P theo_1 , P _theo_2 ) of the vehicle (100); c) Determining a correction factor for the determination of the actual speed and/or position (P tat ) of the vehicle (100) based on the determined one or more theoretical speeds and/or positions (P theo_1 , P _theo_2 ) of the vehicle (100); d) Applying the determined correction factor to the determination of the actual speed and/or position (P tat ) of the vehicle (100), in the case of shadowed satellites (106).
  2. Procedure according to Claim 1 , wherein the part (104a, 104b) of the shadow-free satellites (102) considered in step b) includes one or more shadow-free satellites (102) less than were considered in step a).
  3. Procedure according to Claim 2 , wherein in a first repetition of the calculation according to step b) a first part (104a) of the shadow-free satellites (102) is taken into account and in a second repetition of the calculation according to step b) a second part (104b) of the shadow-free satellites (102) is taken into account, wherein the first part (104a) of the shadow-free satellites (102) and the second part (104b) of the shadow-free satellites (102) are different.
  4. Method according to one of the preceding claims, wherein the correction factor is a computational distance between the actual speed and/or position (P tat ) and one or more theoretical speeds and/or positions (P theo_1 , P _theo_2 ).
  5. Method according to one of the preceding claims, wherein in step a) at least 2 to 5, preferably at least 6 to 12, in particular at least 15 to 20 and specifically at least 25 to 30 shadow-free satellites (102) are used.
  6. Method according to any of the preceding claims, wherein step b) is repeated at least 2-5 times, preferably at least 5-10 times, in particular at least 10-15 times and specifically at least 15-20 times.
  7. Control unit, comprising a processor that is adapted/configured to execute the procedure according to one of the Claims 1 until 6 executes.
  8. Computer program product, comprising instructions which, when executed by a computer, cause the computer to execute the procedure according to one of the Claims 1 until 6 to execute.
  9. Computer-readable storage medium comprising instructions which, when executed by a computer, cause it to perform the steps of the procedure according to one of the Claims 1 until 6 to execute.

Description

State of the art The invention relates to a method for determining the actual speed and/or position of a vehicle, a control unit, a computer program product and a computer-readable storage medium. The invention relates to the technical field of determining the actual speeds and/or positions of vehicles using signals from GNSS satellites. When positions and position determinations are mentioned below, this always includes speeds and speed determinations. Position determination using such signals works by determining the distances from the GNSS satellites to the vehicle by measuring the travel time of the signals from the GNSS satellites to the vehicle. However, the orbits of GNSS satellites, and therefore their current positions, are not exact. In simplified terms, reports and/or differences in the distances to various satellites are used to determine positions so that the uncertainties in the positions of the GNSS satellites cancel each other out or are eliminated, thus preventing them from affecting the accuracy of determining the actual position of a vehicle using signals from GNSS satellites. The more signals are available from different GNSS satellites, the better the position determination will be. For this reason, positioning using GNSS satellites reaches its limits when only a few GNSS satellites are available, especially when the majority of the satellites (theoretically) visible on the horizon are obscured or blocked. Signal reception from these satellites is then impossible. This can occur, for example, because the signal transmission path from GNSS satellites to the vehicle is disrupted by a large building or other obstacles. Disclosure of the invention The invention is therefore based on the objective of providing a method for determining the actual speed and/or position of a vehicle, with the help of which the speed determination and/or position determination of a vehicle is improved, particularly in the case of shadowed satellites. Specifically, the problem is solved by a method for determining the actual speed and/or position of a vehicle in the case of shadowed satellites; the method comprising at least the following steps: a) If unobstructed satellites are available, a calculation is performed to determine the actual speed and/or position of the vehicle, based on several received satellite signals from the unobstructed satellites; b) Repeating the calculation performed in step a), taking into account received satellite signals from only a portion of the unobstructed satellites, to determine one or more theoretical speeds and/or positions of the vehicle; c) Determining a correction factor for the determination of the actual speed and/or position of the vehicle based on the determined one or more theoretical speeds and/or positions of the vehicle; d) Using the determined correction factor to determine the actual speed and/or position of the vehicle in the case of shadowed satellites. For the purposes of this application, the term "unobstructed satellites" can be understood to mean satellites whose signals can be received by the vehicle without interference. A situation in which at least predominantly unobstructed satellites are present is also referred to as an "open sky situation". When positions and position determinations are mentioned below, this always includes speeds and speed determinations. The terms position and speed are therefore used synonymously. In step a), such an "open sky situation" is therefore preferably present. In some implementation variants, it is also possible that only a partially obstruction-free situation (partially "open sky situation") exists. The essential point is that a situation exists in which the vehicle's position can be precisely determined and output based on the available obstruction-free satellites. The position determined according to step a) is also referred to here as the "actual position." Of course, this position is also normally subject to error. However, the accuracy of the position is higher compared to the positions determined according to step b). For the procedure described here... The position determined according to step a) is considered, in a sense, the "actual position". In other words, the "actual position" in the procedure described here is always precisely the position that a system for determining position in a vehicle also outputs as the result for further processing. In contrast to the unshadowed satellites, the term "shadowed satellites" within the meaning of this application can be understood to mean satellites whose signal cannot be received by the vehicle or can only be received with severe interference, because these satellites are shadowed, i.e., obscured. Step b) requires repeating the calculation performed in step a). However, this calculation considers received satellite signals from only a portion of the unobstructed satellites to determine one or more theoretical positions of the vehicle. In other words, the calculation f