Veoneer Sweden Ab

Arriver Software Ab

Terranet Ab

Meifang Zhu

Olof Eriksson

Junshi Chen

Tobias Aderum

Fredrik Tufvesson

Driouichi Chafik

Oliver Brunnegard

A method for estimating a position of a vehicle () relative to one or more radio transceivers (). The method including the steps of; obtaining propagation delay data associated with radio transmission between a vehicle transceiver () included in the vehicle () and the one or more radio transceivers (); obtaining vehicle motion data related to a trajectory of the vehicle (); identifying one or more multipath components, MPC, in the propagation delay data, the MPC relates to a radio transmission propagation path between a fixed radio transceiver () and the vehicle transceiver (); determining an MPC track for each identified MPC based on the vehicle motion data and on the propagation delay data, MPC track representing evolution of an MPC over time; and estimating the position of the vehicle () relative to the one or more radio transceivers () based on the MPC tracks.

Vehicle positioning based on wireless signal transmission

A method for vehicular self-positioning is executed by a positioning device in a vehicle. The positioning device computes a current estimated position of the vehicle as a function of local motion data obtained from a motion sensor in the vehicle, and operates an RF module in the vehicle to receive a reference signal from one or more base stations in an environment of the vehicle, the respective base station being configured for telecommunication and being part of a 3GPP infrastructure. The positioning device further processes the reference signal to determine measured values of at least one path parameter for a selected set of multipath components, and operates a positioning algorithm, e.g. SLAM, on at least the current estimated position and the measured values to calculate a current output position of the vehicle and position information for an origin of each of the multipath components.

Vehicular self-positioning

A position estimation unit () comprising a first transceiver device () and a processing unit () that is arranged to repeatedly calculate time-of-flight (TOF) for radio signals (x, x, x, x, x, x) sent pair-wise between two transceivers among the first transceiver device () and at least two other transceiver devices (); calculate possible positions for the transceiver devices (), which results in possible positions for each transceiver device (); and perform Multidimensional scaling (MDS) calculation in order to obtain relative positions of the transceiver devices () in a present coordinate system. After two initial MDS calculations, between every two consecutive MDS calculations, the processing unit () is arranged to repeatedly perform a processing procedure comprising translation, scaling and rotation of present coordinate system such that a corrected present coordinate system is acquired. The processing procedure is arranged to determine the corrected present coordinate system such that a smallest change for the relative positions of the transceiver devices () between the consecutive MDS calculations is obtained.

Enhanced object position detection

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Lund, Sweden

Meifang Zhu