Method and device for determining the speed and/or position of a vehicle

1. A method for determining the speed of a vehicle ( 1 ) equipped with at least one surround sensor that determines environment data of the vehicle ( 1 ) relative to at least one motionless object ( 4 , 7 , 8 ), the method comprising:

receiving, by the vehicle ( 1 ), through wireless vehicle-to-environment communication with the at least one motionless object ( 4 , 7 , 8 ), a transmitted piece of information about the motionlessness of the motionless object ( 4 , 7 , 8 );

determining the relative motion of the vehicle ( 1 ) with respect to the motionless object ( 4 , 7 , 8 ) from the environment data of the vehicle ( 1 ) relative to the motionless object ( 4 , 7 , 8 ); and

determining the speed of the vehicle ( 1 ) and/or the relative position of the vehicle ( 1 ) with respect to the motionless object ( 4 , 7 , 8 ) from the determined relative motion.

2. The method as claimed in claim 1 , further comprising:

receiving, by the vehicle ( 1 ), from the motionless object ( 4 , 7 , 8 ), a transmitted piece of information about the position of the motionless object ( 4 , 7 , 8 ); and

determining the position of the vehicle ( 1 ) from the environment data of the vehicle ( 1 ) relating to the motionless object ( 4 , 7 , 8 ) and from the information about the position of the motionless object ( 4 , 7 , 8 ).

3. The method as claimed in claim 2 , further comprising:

determining a velocity of the vehicle ( 1 ) from the positions of the vehicle ( 1 ) and of the motionless object ( 4 , 7 , 8 ) and from the relative motion of the vehicle ( 1 ) with respect to the motionless object ( 4 , 7 , 8 ).

4. The method as claimed in claim 1 , further comprising:

determining the environment data of the vehicle ( 1 ) with respect to a plurality of motionless objects ( 4 , 7 , 8 ) by:

the vehicle ( 1 ) receiving, from the motionless objects ( 4 , 7 , 8 ), a transmitted piece of information about the motionlessness of the motionless objects ( 4 , 7 , 8 ),

determining the relative motion of the vehicle ( 1 ) with respect to the motionless objects ( 4 , 7 , 8 ) from the various environment data of the vehicle ( 1 ) relating to the motionless objects, and

determining the speed of the vehicle ( 1 ) from the determined relative motion.

5. The method as claimed in claim 4 , further comprising:

the vehicle ( 1 ) receiving, from the motionless objects ( 4 , 7 , 8 ), a transmitted piece of information about the position of the motionless objects ( 4 , 7 , 8 ); and

determining the position of the vehicle from the environment data of the vehicle relating to the motionless objects ( 4 , 7 , 8 ) and from the information on the position of the motionless objects.

6. The method as claimed in claim 5 , wherein

the speed and/or position of the vehicle ( 1 ) is determined using statistical methods.

7. The method as claimed in claim 5 , further comprising:

fusing the determined position and/or speed of the vehicle ( 1 ) with position and speed values from in-vehicle sensors.

8. The method as claimed in claim 1 , wherein

the surround sensor comprises at least one of a radar sensor, a camera sensor, a laser scanner, a lidar and/or ultrasound sensors.

9. A device in a vehicle ( 1 ) for determining the speed and/or position of the vehicle ( 1 ), wherein the device comprises:

a communications unit configured to participate in a wireless vehicle-to-environment communication;

at least one surround sensor configured to determine environment data of the vehicle ( 1 ) relating to at least one motionless object ( 4 , 7 , 8 ); and

a processing unit configured to execute the method as claimed in claim 1 .