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WO2018176377A1 - Procédé, dispositif et terminal de mesure de distance - Google Patents

Procédé, dispositif et terminal de mesure de distance Download PDF

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Publication number
WO2018176377A1
WO2018176377A1 PCT/CN2017/078977 CN2017078977W WO2018176377A1 WO 2018176377 A1 WO2018176377 A1 WO 2018176377A1 CN 2017078977 W CN2017078977 W CN 2017078977W WO 2018176377 A1 WO2018176377 A1 WO 2018176377A1
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WO
WIPO (PCT)
Prior art keywords
message
time
delay
delay information
distance
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
Application number
PCT/CN2017/078977
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English (en)
Chinese (zh)
Inventor
朱杰作
袁书田
高峰
赵振山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to PCT/CN2017/078977 priority Critical patent/WO2018176377A1/fr
Publication of WO2018176377A1 publication Critical patent/WO2018176377A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only

Definitions

  • the embodiments of the present invention relate to the field of communications, and in particular, to a method, a device, and a terminal for ranging between a vehicle to a vehicle (V2V).
  • V2V vehicle to a vehicle
  • V2V communication or the communication between the vehicle and the Road Side Unit (RSU)
  • RSU Road Side Unit
  • the United States' car networking system is also known as the Wireless Access in the Vehicular Environment (WAVE), and its physical layer uses the Institute of Electrical and Electronics Engineers (IEEE) 802.11p protocol.
  • IEEE 802.11p A communication protocol that is extended by the IEEE 802.11 standard.
  • IEEE 802.11p is mainly used for in-vehicle electronic wireless communication. It is essentially an extension of IEEE802.11 and is compatible with the related applications of Intelligent Transportation Systems (ITS).
  • the WAVE system has the following advantages: easy to deploy, low cost, mature technology, suitable for transmission between V2V, but it also has corresponding disadvantages: when the number of vehicles in the WAVE system is large, resource conflicts are easy to occur, and system performance is poor. The delay is uncontrollable, the quality of service (QoS) is not guaranteed, the transmission distance is limited, and the WAVE system needs to deploy a large number of RSUs, which is too costly.
  • QoS quality of service
  • V2V communication in a cellular network can fully utilize a central scheduler (such as an eNB) for dynamic scheduling of transmission resources, thereby reducing the probability of communication collisions and solving uncontrolled delay problems.
  • a central scheduler such as an eNB
  • V1 and V2 are in the IC, V3, V4 and V5.
  • the user equipment (User Equipment, UE) in the cell first detects the synchronization signal transmitted by the eNB, obtains time frequency synchronization, and the ID of the cell, and then detects the PBCH, and obtains the bandwidth, the number of antennas, and the radio frame number of the system. According to the information, the UE can perform control channel detection, and periodically receive other broadcast messages (such as SIB messages) of the system and normal communication transmission.
  • UE User Equipment
  • the existing Orthogonal Frequency Division Multiplexing (OFDM)-based vehicle networking technology includes LTE-V technology and 802.11p technology. Although V2V can communicate with each other, communication cannot be achieved at the same time. Ranging and speed measurement. Need to rely on third-party equipment, such as vehicle radar, or roadside traffic radar to achieve ranging and speed measurement.
  • third-party equipment such as vehicle radar, or roadside traffic radar to achieve ranging and speed measurement.
  • the invention solves the problems existing in the prior art, and realizes the distance measurement while performing V2V communication.
  • the present invention provides a ranging method, the method comprising: a first UE in a first time direction
  • the second UE sends a first message, where the first message is used to start the radar ranging; the first UE receives the second message sent by the second UE, and the second message carries the second message.
  • Delay information of the UE; the first UE determines a distance between the first UE and the second UE according to the first time, the second time, and delay information of the second UE.
  • the indication function of indicating the radar ranging with a certain communication data packet is realized, and the communication and the radar function are integrated, and the distance measurement is performed at the same time of communication.
  • the first UE determines the distance between the first UE and the second UE according to the first time, the second time, and delay information of the second UE.
  • the first UE determines a total delay of the radio wave according to the first time and the second time, and the first UE is configured according to the total delay of the radio wave and the delay information of the second UE. Determining a delay of the unidirectional radio wave; the first UE determining a distance between the first UE and the second UE according to the delay and the speed of the unidirectional radio wave.
  • the first UE sends the first message to the second UE at the first time, including: after the first UE receives the indication message of the base station, to the second time at the first time The UE sends the first message; or the first UE periodically sends the first message to the second UE.
  • the present invention provides a ranging method, where the method includes: receiving, by a second UE, a first message sent by a first UE at a first time, where the first message is used to indicate that starting radar ranging is started;
  • the second UE sends a second message to the first UE, where the second message carries delay information of the second UE, and the second message is used to make the first UE according to the first
  • the time, the second time of receiving the second message, and the delay information of the second UE determine a distance between the first UE and the second UE.
  • the second UE sends a second message to the first UE, including:
  • the second UE After receiving the first message, the second UE delays the k frame, and when k is less than N, sends the second message to the first UE, where the N is a preset timeout threshold.
  • a ranging device comprising a transmitting unit, a receiving unit, and a processing unit to perform the method of the first aspect or any possible implementation of the first aspect.
  • a ranging device comprising a receiving unit, a transmitting unit, to perform the method in any of the possible implementations of the second aspect or the second aspect.
  • a ranging terminal comprising a processor, a memory, a receiver and a transmitter to perform the method of the first aspect or any possible implementation of the first aspect.
  • a ranging terminal comprising a processor, a memory, a receiver, and a transmitter to perform the method of any of the second aspect or the second aspect.
  • a computer storage medium comprising instructions that, when run on a computer, cause the computer to perform the ranging method performed by the first UE in the first aspect above.
  • a computer storage medium comprising instructions that, when run on a computer, cause The computer performs the ranging method performed by the second UE in the second aspect described above.
  • FIG. 1 is a schematic diagram of an LTE-V vehicle networking application scenario in the prior art
  • FIG. 2 is a schematic diagram of a ranging scenario according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of an M_RECE_INFO area according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a method for ranging according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of still another method for ranging according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a distance measuring device according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of still another ranging device according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a terminal according to an embodiment of the present invention.
  • the UE is involved, and the UE specifically refers to a V2V-enabled vehicle in the present application, and the V2V function is a wireless-based data transmission function between motor vehicles, and the V2V-capable UE can communicate with the base station or with other UEs.
  • Direct communication calculating the distance between UEs by transmitting and receiving data packets between UEs, and reminding users to avoid traffic accidents when the distance between UEs exceeds a safe distance.
  • FIG. 2 is a schematic diagram of a ranging scenario according to an embodiment of the present invention.
  • the system includes a first UE 21 and a second UE 22.
  • the first UE 21 and the second UE 22 can perform connection and resource allocation under the control of the base station, and can also perform information interaction when there is no network infrastructure.
  • the first UE 21 and the second UE 22 communicate directly by sharing the cell resources under the control of the cellular system), in the present application, in the scenario where the first UE 21 and the second UE 22 are in a network-free infrastructure.
  • V2V communication is taken as an example for description.
  • the first UE 21 includes a timing unit 211, a transceiver 212, a modulator 213, a demodulator 214, and a processor 215.
  • the second UE 22 includes a timing unit 221, a transceiver 222, a modulator 223, a demodulator 224, and a processor 225.
  • the timing unit 211 and the timing unit 221 may be timers.
  • the first UE 21 periodically transmits a first message, such as M_SEND, through the transceiver 212, and records a first time, such as Ta, for transmitting the M_SEND message through a timer.
  • the M_SEND message is a packet type, which is used to indicate that the data packet is used for radar speed measurement ranging, and any SA (Control Channel) or DATA (Data Channel) data packet can indicate that the data packet is an M_SEND data packet.
  • the indication may be to reserve one or several bits in the data packet, or to pass different scrambling codes, or to add parity bits and the like.
  • the channel delay for the second UE is a preset threshold.
  • the M_RECE message is a data packet type, and is a return message sent by the second UE after receiving the M_SEND message.
  • the SA or DATA packet indicates itself as an M_RECE packet by some indication, which may be reserved by one or several bits in the data packet, or by a different scrambling code, or by adding a parity bit or the like.
  • the contents of the M_RECE packet and the M_SEND packet are the same except for M_RECE_INFO.
  • M_RECE_INFO is in a certain area of the M_RECE data packet (see FIG. 3), and the specific time-frequency location is jointly agreed by the first UE and the second UE.
  • the first UE records, by using a timer, a second time, such as Tb, of receiving the M_RECE message sent by the second UE.
  • the processor 215 of the first UE determines the distance between the first UE and the second UE according to the time Ta at which the first UE sends the M_SEND message, the time Tb at which the M_RECE message is received, and the delay information T_AUX of the second UE.
  • the first UE may have a display screen to display the calculated distance to alert the user if there is a traffic hazard.
  • the first UE may have a display screen and a memory, and the “distance-risk level table” may be preset in the memory, and the display screen may display the risk level corresponding to the calculated distance to the user to remind the user. Is there a traffic hazard?
  • the carrier deviation Fd of the received waveform and the transmitted waveform is demodulated, that is, the unidirectional Doppler frequency, and the first directional Doppler frequency and the carrier frequency are determined.
  • the relative speed of a UE and a second UE is determined.
  • the number of the second UEs may be one or multiple, and the first UE and the second UE may also perform direct communication under the control of the base station, and the ranging method is the same as the foregoing method, where No longer.
  • FIG. 4 is a flowchart of a method for ranging according to an embodiment of the present invention.
  • the execution body of the method is a first UE. As shown in FIG. 4, the method may include:
  • Step 410 The first UE sends a first message to the second UE at the first time, where the first message is used to indicate that the radar ranging is started.
  • the first UE and the second UE may be under the control of the cellular system, and perform direct communication by sharing the cell resource.
  • the first UE may periodically send a first message M_SEND to the second UE, where the first message is a communication data packet, and the first message may indicate that the radar ranging is started, and the first message sending the first message M_SEND is recorded by using a timer. Time Ta, in order to achieve communication, while performing radar ranging.
  • Step 420 The first UE receives the second message sent by the second UE at the second time, where the second message carries the delay information of the second UE.
  • the second UE may use a timer, or may use the clock signal generated by the local crystal oscillator to record the time T1 when the first message M_SEND is received, and receive the first message M_SEND. Afterwards, the second UE processes the first message M_SEND, that is, parses the first message M_SEND and then encapsulates the delay information T_AUX of the second UE into the first message M_SEND to generate a second message M_RECE, at the K After the frame (k is the time when the second UE processes the first message M_SEND), k is smaller than N (N is a preset timeout threshold), and the second message M_RECE is sent to the first UE.
  • N is a preset timeout threshold
  • T_AUX T2-T1+CONST_D
  • T1 is the time when the second UE receives the first message M_SEND
  • T2 is the time when the second UE sends the second message M_RECE
  • CONST_D is the preset threshold, that is, the second UE. Analog channel delay.
  • the second UE delays the K frame after receiving the first message M_SEND, k is greater than or equal to N, the first UE and the second UE are considered to be at a safe distance, and the second UE does not have to send the second message M_RECE.
  • Step 430 The first UE determines, according to the first time, the second time, and the delay information of the second UE, the first UE and the first The distance between the two UEs.
  • the first UE first determines the total delay T_DlyRaw of the radio wave according to the first time Ta and the second time Tb; and determines the delay T_Pure of the one-way radio wave according to the total delay time T_DlyRaw of the radio wave and the delay information T_AUX of the second UE;
  • the distance D between the first UE and the second UE is determined according to the delay T_Pure and the speed of light c of the one-way electric wave.
  • the first UE determines the delay of the one-way radio wave by using the following formula.
  • T_Pure 0.5*(T_DlyRaw-T_AUX)
  • the first UE determines the distance between the first UE and the second UE by using the following formula,
  • the first UE has an automatic calibration function, that is, the local signal is retracted to obtain a local analog channel delay. Therefore, the analog channel delay of the first UE is automatically calibrated when the ranging function is started. Off, therefore, the analog channel delay of the first UE is negligible.
  • the first UE receives the M_RECE message waveform to demodulate the carrier waveform Fd of the received waveform and the transmitted waveform, and the deviation is a unidirectional Doppler frequency, according to the unidirectional Doppler frequency and the carrier frequency.
  • FIG. 5 is a flowchart of still another method for ranging according to an embodiment of the present invention.
  • the execution body of the method is a second UE. As shown in FIG. 5, the method may include:
  • Step 510 The second UE receives a first message sent by the first UE at the first time, where the first message is used to indicate that the radar ranging is started.
  • Step 520 The second UE sends a second message to the first UE, where the second message carries delay information of the second UE, and the second message is used to make the first UE according to the Determining, by the first time, the second time of receiving the second message, and the delay information of the second UE, determining a distance between the first UE and the second UE.
  • the second UE After receiving the first message, the second UE delays the k frame. When k is less than N, the second message is sent, where the N is a preset timeout threshold.
  • FIG. 6 is a schematic structural diagram of a distance measuring device according to an embodiment of the present invention.
  • the ranging device includes: a transmitting unit 610, a receiving unit 620, and a processing unit 630.
  • the sending unit 610 is configured to send a first message to the second UE at the first time, where the first message is used to indicate that the radar ranging is started.
  • the receiving unit 620 is configured to receive the second message sent by the second UE at a second time, where the second message carries delay information of the second UE.
  • the processing unit 630 is configured to determine a distance between the first UE and the second UE according to the first time, the second time, and delay information of the second UE.
  • the processing unit 630 is specifically configured to: determine, according to the first time and the second time, a total delay of the radio wave; and determine, according to the total delay of the radio wave and the delay information of the second UE, a delay of the unidirectional radio wave; determining a distance between the first UE and the second UE according to the delay and the speed of the unidirectional radio wave.
  • the total delay of the radio wave is determined according to a difference between the first time and the second time; T_AUX is a second UE
  • CONST_D is a preset threshold.
  • the sending unit 610 is specifically configured to: after the receiving unit receives the indication message of the base station, send the first message to the second UE at the first time; or send the timing to the second UE. The first message.
  • FIG. 7 is a schematic structural diagram of still another distance measuring device according to an embodiment of the present invention.
  • the ranging device includes: a receiving unit 710, and a transmitting unit 720.
  • the receiving unit 710 is configured to receive a first message that is sent by the first UE at the first time, where the first message is used to indicate that the radar ranging is started.
  • the sending unit 720 is configured to send, to the first UE, a second message, where the second message carries delay information of the second UE, where the second message is used to enable the first UE according to the The distance between the first UE and the second UE is determined at a time, the second time of receiving the second message, and the delay information of the second UE.
  • the sending unit 720 is specifically configured to: after the receiving unit receives the first message, delay a k frame, where k is less than N, send the second message to the first UE, where the N is Preset timeout threshold.
  • FIG. 8 is a schematic structural diagram of a terminal according to an embodiment of the present invention.
  • the terminal 800 includes a transmitter 810, a receiver 820, a memory 830, a processor 840, and a communication bus 850.
  • the structure of the terminal 800 shown in FIG. 8 does not constitute a limitation of the ranging terminal, and may include more or less components than those illustrated, or combine some components or different components. The embodiment of the present application does not limit this.
  • the transmitter 810 can be used to send data and/or signaling to the UE.
  • the receiver 820 can be configured to receive 800 for receiving data and/or signaling sent by the UE.
  • the memory 830 can be used to store data and/or signaling sent by the UE, and the memory 830 can also be used to store one or more running programs and/or modules for performing a service switching method. In a particular implementation, the memory 830 can also be used to invoke multiple running programs and/or modules in an external software system.
  • the memory 830 is a computer storage medium that includes instructions that, when executed on a computer, cause the computer to perform the services performed by the first UE.
  • the processor 840 is a control center of the UE.
  • the processor 840 can be a general purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more programs for controlling the execution of the program of the present application. integrated circuit.
  • the processor 840 can implement the ranging method provided by the embodiment of FIG. 4 or FIG. 5 above by running or executing software programs and/or modules stored in the memory 830, as well as invoking data stored in the memory 830.
  • the communication bus 850 can include a path for transferring information between the processor 840 and the memory 830.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

La présente invention concerne un procédé, un dispositif et un terminal de mesure de distance. Le procédé comprend les étapes suivantes : envoi par une première unité d'UE, à un premier instant et vers une deuxième unité d'UE, un premier message conçu pour ordonner le démarrage d'une opération de mesure de distance par radar ; réception, à un deuxième instant, d'un deuxième message envoyé depuis la deuxième unité d'UE, le deuxième message transportant des informations de retard de la deuxième unité d'UE ; et détermination, en fonction du premier instant, du deuxième instant et des informations de retard de la deuxième unité d'UE, d'une distance entre la première unité d'UE et la deuxième unité d'UE. La présente invention intègre une fonction de communication et une fonction radar en mesurant une distance tout en réalisant des communications.
PCT/CN2017/078977 2017-03-31 2017-03-31 Procédé, dispositif et terminal de mesure de distance Ceased WO2018176377A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2017/078977 WO2018176377A1 (fr) 2017-03-31 2017-03-31 Procédé, dispositif et terminal de mesure de distance

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PCT/CN2017/078977 WO2018176377A1 (fr) 2017-03-31 2017-03-31 Procédé, dispositif et terminal de mesure de distance

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102012506A (zh) * 2009-09-04 2011-04-13 通用汽车环球科技运作公司 确定车辆距离便携式信息终端的位置的方法
CN102196353A (zh) * 2010-03-12 2011-09-21 索尼公司 发送设备和发送方法
US8996293B2 (en) * 2013-05-17 2015-03-31 General Electric Company System and method for determining a slack condition of a vehicle system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102012506A (zh) * 2009-09-04 2011-04-13 通用汽车环球科技运作公司 确定车辆距离便携式信息终端的位置的方法
CN102196353A (zh) * 2010-03-12 2011-09-21 索尼公司 发送设备和发送方法
US8996293B2 (en) * 2013-05-17 2015-03-31 General Electric Company System and method for determining a slack condition of a vehicle system

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