Method for ascertaining at least one piece of integrity information relating to a location result of a GNSS-based location device of a vehicle in the event of an abruptly and significantly changing GNSS reception situation

Abstract

The disclosure concerns a method for ascertaining at least one piece of integrity information relating to a location result of a GNSS-based location device of a vehicle in the event of an abruptly and significantly changing GNSS reception situation, comprising at least the following steps: (a) ascertaining the current ego position of the vehicle by means of the GNSS-based location device; (b) ascertaining at least one piece of integrity information relating to the ego position ascertained in step (a), by means of the GNSS-based location device; (c) detecting an abruptly and significantly changing or significantly altered GNSS reception situation; and (d) adapting the ascertainment of the at least one piece of integrity information for the changing or altered GNSS reception situation.

Claims

1. A method for ascertaining at least one piece of integrity information relating to a location result of a GNSS-based location device of a vehicle in an event of an abruptly and significantly changing GNSS reception situation, the method comprising: a) ascertaining a current ego position of the vehicle using the GNSS-based location device; b) ascertaining at least one piece of integrity information relating to the ego position ascertained in step a), using the GNSS-based location device; c) detecting a first GNSS reception situation that is at least one of (i) abruptly and significantly changing and (ii) significantly altered; and d) adapting the ascertainment of the at least one piece of integrity information for the first GNSS reception situation.

2. The method according to claim 1, the d) adapting further comprising: adapting the ascertainment of the at least one piece of integrity information such that changes to the at least one piece of integrity information that occur as a result of the first GNSS reception situation are at least one of damped and at least in some cases corrected.

3. The method according to claim 1, the d) adapting further comprising: adapting the ascertainment of the at least one piece of integrity information such that, during the first GNSS reception situation, at least one of (i) the at least one piece of integrity information is scaled using a scaling factor and (ii) an ascertained first supplement value is applied to the at least one piece of integrity information.

4. The method according to claim 3, wherein at least one of (i) the scaling using the scaling factor and (ii) the applying of the ascertained first supplement value is carried out for a predefined first length of time.

5. The method according to claim 1, the d) adapting further comprising: adapting the ascertainment of the at least one piece of integrity information such that during a significantly diminished GNSS reception situation, an ascertained second supplement value is applied to the at least one piece of integrity information.

6. The method according to claim 1, the d) adapting further comprising: adapting the ascertainment of the at least one piece of integrity information such that during an abruptly and significantly intensifying GNSS reception situation, an ascertained third supplement value is applied to the at least one piece of integrity information.

7. The method according to claim 6, wherein the applying of the ascertained third supplement value is carried out for a predefined third length of time.

8. The method according to claim 1, wherein the method is carried out by executing a computer program.

9. A non-transitory machine-readable storage medium that stores a computer program for ascertaining at least one piece of integrity information relating to a location result of a GNSS-based location device of a vehicle in an event of an abruptly and significantly changing GNSS reception situation, the computer program being configured to, when executed: a) ascertain a current ego position of the vehicle using the GNSS-based location device; b) ascertain at least one piece of integrity information relating to the ego position ascertained in step a), using the GNSS-based location device; c) detect a first GNSS reception situation that is at least one of (i) abruptly and significantly changing and (ii) significantly altered; and d) adapt the ascertainment of the at least one piece of integrity information for the first GNSS reception situation.

10. A GNSS-based location device for a vehicle for ascertaining at least one piece of integrity information relating to a location result in an event of an abruptly and significantly changing GNSS reception situation, the GNSS-based location device being configured to: a) ascertain a current ego position of the vehicle; b) ascertain at least one piece of integrity information relating to the ego position ascertained in step a); c) detect a first GNSS reception situation that is at least one of (i) abruptly and significantly changing and (ii) significantly altered; and d) adapt the ascertainment of the at least one piece of integrity information for the first GNSS reception situation.

Description

[0029] The solution presented here and the technical context for said solution are explained in more detail below with reference to the figures. It should be pointed out that the invention is not intended to be restricted by the exemplary embodiments shown. In particular, unless explicitly shown otherwise, it is also possible to extract partial aspects of the substantive matter explained in the figures and to combine said partial aspects with other parts and/or insights from other figures and/or the present description. In the figures:

[0030] FIG. 1: schematically shows an illustrative cycle for the method presented here, and

[0031] FIG. 2: schematically shows an illustrative location device, which is described here, in a vehicle.

[0032] FIG. 1 schematically shows an illustrative cycle for the method presented here. The method is used to ascertain at least one piece of integrity information relating to a location result of a GNSS-based location device 2 of a vehicle 1 in the event of an abruptly and significantly changing GNSS reception situation. The order of steps a), b), c) and d) that is depicted by the blocks 110, 120, 130 and 140 is illustrative and can be taken for example at least once in the depicted order for the purpose of carrying out the method.

[0033] In block 110, step a) involves ascertaining the current ego position of the vehicle 1 by means of the GNSS-based location device 2. In block 120, step b) involves ascertaining at least one piece of integrity information relating to the ego position ascertained in step a), by means of the GNSS-based location device 2. In block 130, step c) involves detecting an abruptly and significantly changing or significantly altered GNSS reception situation. In block 140, step d) involves adapting the ascertainment of the at least one piece of integrity information for the changing or altered GNSS reception situation.

[0034] The adapting in step d) can be effected such that changes to the integrity information that occur as a result of the abruptly and significantly changing or significantly altered GNSS reception situation are damped and/or at least in some cases corrected.

[0035] The adapting in step d) can be effected such that during abruptly and significantly diminishing GNSS reception the integrity information is scaled using a scaling factor and/or has an ascertained first supplement value applied to it. In this regard, the scaling using the and/or the applying of the ascertained first supplement value can be carried out for a predefinable first length of time.

[0036] By way of example, upon or immediately after entering a dead reckoning area it is possible for a (current) protection level (PL), which is used by way of illustration as integrity information, to be calculated for the first length of time according to the following formula:

PL(t)=s.Math.sigma+b

[0037] Here, t is the (current) time, s is the first scaling factor, b is the first supplement value and sigma is the (current) standard deviation (or root of the variance) of the estimation of the ego position.

[0038] The first length of time can be determined experimentally. By way of illustration, 10 seconds can be used here. The first scaling factor can likewise be ascertained experimentally. Sigma is the estimated (current) standard deviation from for example a location filter of the location device.

[0039] The first supplement value can be used to compensate for a systematic error (bias) and can be ascertained as follows:

PL_last−PL_DR [0040] if PL_last−PL_DR>0, otherwise 0 (zero)

[0041] Here, PL_last is the last protection level value before the dead reckoning area is entered and PL_DR is the first protection level value after the dead reckoning area is entered.

[0042] The start and end of a dead reckoning area, or of a dead reckoning mode, can be detected by (superordinate) systems of the vehicle and/or the location device, for example, in particular by detecting that the location method is switched over and/or GNSS reception significantly decreases or increases.

[0043] Additionally, there can be provision for the adapting in step d) to be effected such that during significantly diminished GNSS reception the integrity information has an ascertained second supplement value applied to it.

[0044] By way of example, after entering a dead reckoning area and after the first length of time has elapsed it is possible for a protection level (PL), which is used by way of illustration as integrity information, to be calculated according to the following formula:

PL(t)=sigma+delta

[0045] Here, delta is the second supplement value and can be ascertained as follows:

delta=PL_DR,a−sigma(a)

[0046] Here, PL_DR,a is the protection level value when the first length of time elapses and sigma (a) is the standard deviation of the estimation of the position when the first length of time elapses.

[0047] Additionally, there can be provision for the adapting in step d) to be effected such that during abruptly and significantly intensifying GNSS reception the integrity information has an ascertained third supplement value applied to it. In this regard, the applying of the ascertained third supplement value can be carried out for a predefinable third length of time.

[0048] By way of example, upon or immediately after exiting a dead reckoning area it is possible for a (current) protection level (PL), which is used by way of illustration as integrity information, to be calculated for the third length of time according to the following formula:

PL(t)=sigma+D

[0049] Here, D is the third supplement value and can be ascertained as follows:

D=PL_DR,last−sigma(t_lastDR)

[0050] Here, PL_DR,last is the last protection level value in the dead reckoning area and t_lastDR is the last time in the dead reckoning area, and so sigma (t_lastDR) is the last standard deviation in the dead reckoning area.

[0051] FIG. 2 schematically shows an illustrative location device 2, which is described here, in a vehicle 1. The location device 2 is designed to carry out the method described here. The location device 2 here is a GNSS-INS location device by way of illustration.

[0052] For location using a GNSS-INS location device, it is frequently the case that the number of available GNSS signals is reduced or lost on account of obstacles in the surroundings or travel in a tunnel. This situation is usually referred to as dead reckoning (DR) mode. It is therefore advantageous when calculating the integrity information, for example the protection level (PL), to have a hybrid approach in order to achieve a correct PL transition upon entering the DR mode, to obtain a reliable PL during the DR mode and to achieve a correct transition upon leaving the DR mode.

[0053] The proposed method can advantageously contribute to an applicable hybrid approach in order to maintain the integrity of a GNSS/INS-based location sensor even in the DR module and/or if sudden changes in the GNSS reception from the normal state occur. In particular, the method can advantageously contribute to a protection level not experiencing pointless and sudden changes even in the event of a sudden change between the DR state and the normal state.