EP0715291A1 - Method and device for determining the position of a vehicle - Google Patents
Method and device for determining the position of a vehicle Download PDFInfo
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- EP0715291A1 EP0715291A1 EP95250284A EP95250284A EP0715291A1 EP 0715291 A1 EP0715291 A1 EP 0715291A1 EP 95250284 A EP95250284 A EP 95250284A EP 95250284 A EP95250284 A EP 95250284A EP 0715291 A1 EP0715291 A1 EP 0715291A1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
Definitions
- the invention relates to a method and a device for determining the position of a vehicle on a street, in which the position data of the vehicle are determined by a position-determining device which operates on the basis of a satellite navigation system and is arranged in the vehicle, and the street is determined using the position data and a digitized one Road map is determined, the satellite signals emitted for determining the position can be distorted to deliberately limit the positional accuracy during the operation of the satellites.
- Satellite navigation systems which were originally only installed for military use (e.g. Global Positioning Systems GPS), can only be used under civil conditions of use with a deliberately built-in deterioration in measurement accuracy.
- the location accuracy is 95% with a probability of about 100 m.
- the accuracy of satellite navigation is significantly influenced not only by the deliberate distortion of the transmitted satellite signals, but also by the conditions of reception by the vehicle.
- reflections and shadowing of the signals from structures eg buildings, tunnels, bridges
- the negative influence is particularly evident when driving slowly in typical position jumps of up to 100 m.
- DE 40 33 527 A1 describes devices with which the current vehicle position can be determined. Such systems are used, for example, to continuously provide the driver of a vehicle with information about the route to be taken in the sense of automated route guidance.
- the signals of a satellite navigation system are received, the current vehicle position is calculated on the basis of the received satellite signals, and a digitized road map is used to assign the position of the vehicle to one of the roads on the road map.
- the position is determined by using measurement signals from an auxiliary sensor system that is completely independent of the actual satellite navigation.
- an auxiliary sensor system that is completely independent of the actual satellite navigation.
- the use of wheel sensors (for distance and / or speed), of rotation angle sensors and of acceleration sensors is known.
- a disadvantage of this method for determining the position of a vehicle is that an additional independent route determination system has to be installed in the vehicle, which is technically complex and involves high costs.
- the vehicle position is determined twice, and then the position determination result of one system is corrected by the position determination result of the other, for example if the street on which the vehicle is located cannot be clearly assigned on the basis of the satellite signals received.
- a device for performing the method is to be specified.
- the invention provides that certain vehicle data are recorded in the vehicle and, based on this vehicle data, the road type of the road being traveled in each case is additionally determined and used to uniquely assign the determined position to one of the roads of the digitized road map.
- the vehicle data, the speed and direction of movement of the vehicle which can be determined relatively easily with the aid of the GPS system that is present anyway, are used in their time course within a certain period of time to assign a road type.
- the method is particularly simple if the road type is determined from the vehicle data by an on-board computer using fuzzy logic.
- the fuzzy logic offers the possibility of assigning the corresponding road type to the vehicle data with almost no computational effort.
- the road type-dependent vehicle behavior patterns forming classes of vehicle and position data which correspond to typical vehicle behavior on a specific road type and serve as a comparison pattern. This is based on the knowledge that the driving behavior of the vehicle changes significantly from road type to road type, since the vehicle behavior pattern is closely correlated with the road type. For example, the speed profile and the sequence of overtaking maneuvers on a motorway differ significantly from the corresponding vehicle behavior patterns on a federal highway (amount of speed, duration and distance traveled during overtaking maneuvers).
- the road-type-dependent vehicle behavior patterns by classifying the resulting vehicle data directly from the on-board computer arranged in the vehicle by means of a computing algorithm.
- Another advantageous embodiment of the invention provides that the road behavior-dependent vehicle behavior patterns are specified by an external specification device. This eliminates the need to define any vehicle behavior pattern in the vehicle itself, which means that the outlay for equipping the vehicles with equipment is kept to a minimum.
- the technical expenditure on equipment is particularly low if the external specification is made via a radio telephone, which is connected to a traffic computer in terms of data technology, since fully installed radio telephone networks are already present.
- the road on which the vehicle is located can also be uniquely assigned by the position data and the road type being transmitted to a traffic computer and the traffic computer determining and searching for the road the vehicle is reported back.
- an on-board computer uses the position data and the type of road to determine the road on which the vehicle is located.
- Road behavior-dependent vehicle behavior patterns can be defined by classifying the vehicle data from the on-board computer using a computing algorithm, expediently by manually specifying the road type.
- the vehicle behavior patterns also include the driver's driving behavior, which is particularly important for the error-free, clear road type assignment if the driver's driving behavior e.g. has disturbing idiosyncrasies.
- the comparison pattern can be defined by classifying the vehicle data from the on-board computer by adding the signals from a camera, in particular a video camera, which e.g. is directed towards the road surface.
- the starting point of the method for determining the position of a vehicle is the determination of the location coordinates by a position determining device known per se on the basis of a satellite navigation system which is permanently installed in the vehicle.
- the satellite navigation system outputs the current position data record at regular time intervals, for example every second, ie it is made available to the on-board computer arranged in the vehicle.
- the on-board computer is connected to the position determining device output unit via a data bus, takes over the determined current position data sets and stores them in a memory area provided for further use.
- the memory area is expediently organized as a ring memory, ie the data records are successively stored in the memory, so that the oldest data record is always overwritten by the newest. This ensures that the time profile of all positions of the vehicle is available within a certain time period, the time period resulting from the number of data records in the ring memory and the time interval between the position determination.
- Special vehicle data is recorded in parallel to the position data. These include, for example, the very precisely determinable speed and the direction of movement of the vehicle. Both are preferably also provided by the position determining device. Furthermore, it has proven useful to determine the acceleration (e.g. the vertical acceleration) of the vehicle for determining the type of road, which is done by a measuring device installed in the vehicle. In addition, the vehicle data of special systems installed in the vehicle, in particular switch positions of the hazard warning system, the windshield wiper, the rear fog lamp, etc. and operating states of the anti-lock braking system, the traction control system, the accident data recorder, etc. are recorded; this makes it possible to make a correct assignment even in cases of doubt.
- the acceleration e.g. the vertical acceleration
- the on-board computer also checks whether the windshield wiper is switched on. If the windshield wiper is switched on and the current vehicle behavior pattern otherwise corresponds to the vehicle behavior pattern "Autobahn”, then the on-board computer correctly assigns the road type "Autobahn” to the road traveled by the on-board computer on the basis of the additional information "Windshield wiper activated". Like the position data, all vehicle data are stored in a memory (organized as a ring memory).
- a road type is assigned to the temporal progression of the vehicle data at regular time intervals, ie it is determined on the basis of the temporal progression of the vehicle data whether the vehicle is on a freeway, an expressway, a Country road, a side street, etc.
- the assignment of the road type is determined by the on-board computer in the vehicle using the fuzzy logic known per se. For this purpose, the data combinations corresponding to the respective road type are stored in tabular form in the memory of the on-board computer.
- the street type can also be assigned using any other calculation algorithm.
- the on-board computer assigns the determined position to one of the roads of the digitized road map.
- the street type is always taken into account, for example, if, due to the inaccuracy of the position data, more than one street of the digitized street map comes into question and the assignment is therefore not clear.
- the road type is expediently determined from the typical behavior of the vehicle, that is to say via road behavior-dependent vehicle behavior patterns in the sense of comparison patterns. It has been shown that the vehicle behavior changes significantly when the type of road changes.
- the typical vehicle behavior can, however, be derived very well from the temporal course of certain vehicle data, so that it is expedient to carry out the assignment of the road type by determining the vehicle behavior pattern.
- the road-type-dependent vehicle behavior patterns form classes of vehicle and position data that correspond to typical vehicle behavior on a specific road type.
- the position data and the type of road can be transmitted to a traffic computer which uses a digitized road map to determine the road on which the vehicle is located.
- the traffic computer can have a very large number of very detailed street maps, so that a street assignment can be made for any city or area. No stored road maps need to be carried in the vehicle itself. This is particularly advantageous because it eliminates the otherwise necessary, time-consuming updating of the road maps stored in the vehicles, since the latter would always have to be kept up to date.
- the figure shows an embodiment of a device for determining the position of a vehicle on a road, in which the road type and the position data are transmitted to a traffic computer.
- the device has a transmitting and receiving unit 1 for data transmission.
- the device comprises a central processor unit (CPU) 2, which is connected to a data bus 3.
- a memory area 4 organized as a ring memory for storing the acquired data and a working memory area 5 are connected to the data bus 3
- a computing program for determining the type of road on which the road is traveled is stored in the working memory area 5 on the basis of the vehicle data and predetermined comparison pattern.
- sensors / actuators 6 are arranged in the vehicle, which are also connected to the data bus 3.
- the device has a GPS receiver 7 for determining the position data and special vehicle data (speed, direction of movement).
- the GPS receiver 7 is electrically connected to the central processor unit (CPU) 2 via the data bus 3.
- CPU central processor unit
- the device can be connected wirelessly to a traffic computer 8, which is equipped with a transmitting and receiving unit 9.
Abstract
Description
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Positionsbestimmung eines Fahrzeugs auf einer Straße, bei dem die Positionsdaten des Fahrzeugs von einem auf der Basis eines Satelliten-Navigations-Systems arbeitenden und im Fahrzeug angeordneten Positionsbestimmungsgeräts ermittelt werden und die Straße anhand der Positionsdaten und eines digitalisierten Straßenplans bestimmt wird, wobei die zur Positionsbestimmung ausgesendeten Satelliten-Signale zur bewußten Begrenzung der Ortsgenauigkeit beim Betrieb der Satelliten verzerrt sein können.The invention relates to a method and a device for determining the position of a vehicle on a street, in which the position data of the vehicle are determined by a position-determining device which operates on the basis of a satellite navigation system and is arranged in the vehicle, and the street is determined using the position data and a digitized one Road map is determined, the satellite signals emitted for determining the position can be distorted to deliberately limit the positional accuracy during the operation of the satellites.
Systeme auf der Basis der Satelliten-Navigation werden in zunehmenden Maße im Straßenverkehr als elektronische Wegweiser und insbesondere auch für das Flottenmanagement größerer Fuhrparks eingesetzt. Satelliten-Navigations-Systeme, die ursprünglich nur für den millitärischen Einsatz installiert wurden (z.B. Global Positioning Systems GPS), können unter zivilen Nutzungsbedingungen nur mit einer bewußt eingebauten Verschlechterung der Meßgenauigkeit angewendet werden. Die Ortsgenauigkeit liegt mit einer Wahrscheinlichkeit von 95 % bei etwa 100 m.Systems based on satellite navigation are increasingly used in road traffic as electronic signposts and in particular for the fleet management of larger fleets. Satellite navigation systems, which were originally only installed for military use (e.g. Global Positioning Systems GPS), can only be used under civil conditions of use with a deliberately built-in deterioration in measurement accuracy. The location accuracy is 95% with a probability of about 100 m.
Die Genauigkeit der Satelliten-Navigation beispielsweise zur Positionsbestimmung eines Fahrzeugs in einer Stadt wird nicht nur durch die absichtliche Verzerrung der ausgesendeten Satellitensignale, sondern auch durch die Bedingungen beim Empfang durch das Fahrzeug wesentlich beeinflußt. In diesem Zusammenhang spielen Reflexionen und Abschattungen der Signale durch Bauwerke (z.B. Gebäude, Tunnel, Brücken) eine negative Rolle; insbesondere gilt dies für Innenstädte mit vergleichsweise engen Straßenschluchten, wo es andererseits gerade auf eine hohe Ortsgenauigkeit ankommt, um dem Fahrzeug beispielsweise durch ein Zielführungssystem die richtige von mehreren dicht hintereinander liegenden Abzweigmöglichkeiten anzuzeigen. Der negative Einfluß zeigt sich besonders bei langsamer Fahrt in typischen Positionssprüngen von bis zu 100 m.The accuracy of satellite navigation, for example for determining the position of a vehicle in a city, is significantly influenced not only by the deliberate distortion of the transmitted satellite signals, but also by the conditions of reception by the vehicle. In this context, reflections and shadowing of the signals from structures (eg buildings, tunnels, bridges) play a negative role; This applies in particular to inner cities with comparatively narrow street canyons, where on the other hand a high degree of location accuracy is important, in order for the vehicle to find the correct one from several, for example through a route guidance system Show branch options. The negative influence is particularly evident when driving slowly in typical position jumps of up to 100 m.
In der DE 40 33 527 A1 werden Einrichtungen beschrieben, mit denen die aktuelle Fahrzeugposition ermittelbar ist. Derartige Systeme werden beispielsweise dazu eingesetzt, den Führer eines Fahrzeugs im Sinne einer automatisierten Zielführung fortlaufend mit Informationen über den einzuschlagenden Fahrweg zu versorgen. Bei den bekannten Einrichtungen werden die Signale eines Satelliten-Navigations-Systems empfangen, die aktuelle Fahrzeugposition anhand der empfangenen Satellitensignale berechnet und eine digitalisierte Straßenkarte zur Zuordnung der Position des Fahrzeugs zu einer der Straßen der Straßenkarte herangezogen. Zur Erhöhung der Genauigkeit der Ergebnisse der Satelliten-Navigation ist es vorgesehen, die Positionsbestimmung durch Verwendung von Meßsignalen aus einer Hilfssensorik, die von der eigentlichen Satellitennavigation völlig unabhängig ist, vorzunehmen. Für eine solche Dead-Reckoning-Sensorik ist die Verwendung von Radsensoren (für Weg und/oder Geschwindigkeit), von Drehwinkelgebern und von Beschleunigungssensoren bekannt.DE 40 33 527 A1 describes devices with which the current vehicle position can be determined. Such systems are used, for example, to continuously provide the driver of a vehicle with information about the route to be taken in the sense of automated route guidance. In the known devices, the signals of a satellite navigation system are received, the current vehicle position is calculated on the basis of the received satellite signals, and a digitized road map is used to assign the position of the vehicle to one of the roads on the road map. In order to increase the accuracy of the results of the satellite navigation, it is provided that the position is determined by using measurement signals from an auxiliary sensor system that is completely independent of the actual satellite navigation. For such a dead-reckoning sensor system, the use of wheel sensors (for distance and / or speed), of rotation angle sensors and of acceleration sensors is known.
Nachteilig ist bei diesem Verfahren zur Positionsbestimmung eines Fahrzeugs, daß ein zusätzliches unabhängiges Wegstreckenbestimmungssystem im Fahrzeug installiert werden muß, was technisch aufwendig und mit hohen Kosten verbunden ist. Die Fahrzeugposition wird zweimal bestimmt, und anschließend wird das Positionsbestimmungsergebnis des einen Systems durch das Positionsbestimmungsergebnis des anderen korrigiert, beispielsweise wenn die Straße, auf der sich das Fahrzeug befindet, anhand der empfangenen Satellitensignale nicht eindeutig zugeordnet werden kann.A disadvantage of this method for determining the position of a vehicle is that an additional independent route determination system has to be installed in the vehicle, which is technically complex and involves high costs. The vehicle position is determined twice, and then the position determination result of one system is corrected by the position determination result of the other, for example if the street on which the vehicle is located cannot be clearly assigned on the basis of the satellite signals received.
Es ist Aufgabe der vorliegenden Erfindung, ein Verfahren zur Positionsbestimmung eines Fahrzeugs anzugeben, welches mit geringem technischen Aufwand die eindeutige Zuordnung zu einer der Straßen des digitalisierten Straßenplans ermöglicht, auch wenn mehrere Straßen in geringem Abstand nebeneinander verlaufen. Außerdem soll eine Vorrichtung zur Durchführung des Verfahrens angegeben werden.It is an object of the present invention to provide a method for determining the position of a vehicle which, with little technical effort, enables unambiguous assignment to one of the streets of the digitized street map, even if several streets run close to one another. In addition, a device for performing the method is to be specified.
Die Lösung dieser Aufgabe hinsichtlich des Verfahrens ist erfindungsgemäß gekennzeichnet durch die im Patentanspruch 1 angegebenen Merkmalen. Durch die kennzeichnenden Merkmale der Unteransprüche 2 bis 13 ist dieses Verfahren in vorteilhafter Weise weiter ausgestaltbar. Eine Vorrichtung zur Durchführung des erfindungsgemäßen Verfahrens weist die Merkmale des Patentanspruchs 14 oder 15 auf.The solution to this problem with regard to the method is characterized according to the invention by the features specified in
Die Erfindung sieht vor, daß bestimmte Fahrzeugdaten im Fahrzeug erfaßt werden und anhand dieser Fahrzeugdaten zusätzlich der Straßentyp der jeweils befahrenen Straße bestimmt und zur eindeutigen Zuordnung der ermittelten Position zu einer der Straßen des digitalisierten Straßenplans herangezogen wird. Zweckmäßigerweise werden zur Zuordnung eines Straßentyps die mit Hilfe des ohnehin vorhandenen GPS-Systems relativ einfach bestimmbaren Fahrzeugdaten Geschwindigkeit und Bewegungsrichtung des Fahrzeugs jeweils in ihrem zeitlichen Verlauf innerhalb einer gewissen Zeitspanne verwendet. Weiterhin ist es zweckmäßig, die Beschleunigung (z.B. die Vertikalbeschleunigung)des Fahrzeugs und die Fahrzeugdaten spezieller im Fahrzeug installierter Systeme, insbesondere Schalterstellungen der Warnblinkanlage, des Scheibenwischers, der Nebelschlußleuchte usw. und Betriebszustände des Anti-Blockier-Systems, der Antriebsschlupfregelung, des Unfalldatenschreibers usw. zur Zuordnung des richtigen Straßentyps heranzuziehen, beispielsweise um auch in Zweifelsfällen eine richtige Zuordnung zu treffen. So wird auf einer Autobahn bei strömendem Regen etwas langsamer gefahren; um trotzdem den richtigen Straßentyp, nämlich "Autobahn", zuzuordnen, wird also zusätzlich überprüft, ob der Scheibenwischer eingeschaltet ist.The invention provides that certain vehicle data are recorded in the vehicle and, based on this vehicle data, the road type of the road being traveled in each case is additionally determined and used to uniquely assign the determined position to one of the roads of the digitized road map. Expediently, the vehicle data, the speed and direction of movement of the vehicle, which can be determined relatively easily with the aid of the GPS system that is present anyway, are used in their time course within a certain period of time to assign a road type. Furthermore, it is useful to check the acceleration (e.g. vertical acceleration) of the vehicle and the vehicle data of special systems installed in the vehicle, in particular switch positions of the hazard warning lights, the windscreen wipers, the rear fog lamp, etc. and the operating states of the anti-lock braking system, the traction control system, the accident data recorder, etc to use to assign the correct type of road, for example to make a correct assignment in cases of doubt. For example, driving on a freeway is a little slower when the rain is pouring; in order to nevertheless assign the correct road type, namely "Autobahn", it is additionally checked whether the windshield wiper is switched on.
Hierdurch wird erreicht, daß von mehreren sich in unmittelbarer Nachbarschaft zueinander befindenden Straßen, trotz der Ungenauigkeit der ermittelten Position des Fahrzeugs, eindeutig die Straße anhand des digitalisierten Straßenplans zugeordnet werden kann, auf der sich das entsprechende Fahrzeug gerade befindet. Der dazu erforderliche gerätetechnische Aufwand ist relativ gering, zumal die meisten der erforderlichen Daten im Fahrzeug bereits zur Verfügung stehen und nur noch aufbereitet werden müssen.This ensures that, despite the inaccuracy of the determined position of the vehicle, the road on which the corresponding vehicle is currently located can be unambiguously assigned from a plurality of roads located in the immediate vicinity of one another. The required technical equipment is relatively low, especially since most of the required data is already available in the vehicle and only needs to be processed.
Besonders einfach gestaltet sich das Verfahren, wenn der Straßentyp aus den Fahrzeugdaten durch einen Bordcomputer mittels Fuzzy-Logik bestimmt wird. Die Fuzzy-Logik bietet die Möglichkeit, den Fahrzeugdaten nahezu ohne wesentlichen Rechenaufwand den entsprechenden Straßentyp zuzuordnen.The method is particularly simple if the road type is determined from the vehicle data by an on-board computer using fuzzy logic. The fuzzy logic offers the possibility of assigning the corresponding road type to the vehicle data with almost no computational effort.
Besonders zweckmäßig ist es, den Straßentyp aus den Fahrzeugdaten anhand von vorgegebenen straßentypabhängigen Fahrzeugverhaltensmustern zu bestimmen, wobei die straßentypabhängigen Fahrzeugverhaltensmuster Klassen von Fahrzeug- und Positionsdaten bilden, die einem typischen Fahrzeugverhalten auf einem bestimmten Straßentyp entsprechen und als Vergleichsmuster dienen. Dem liegt die Erkenntnis zugrunde, daß sich das Fahrverhalten des Fahrzeugs von Straßentyp zu Straßentyp signifikant ändert, da das Fahrzeugverhaltensmuster eng mit dem Straßentyp korreliert ist. Beispielsweise unterscheiden sich das Geschwindigkeitsprofil und der Ablauf von Überholvorgängen auf einer Autobahn erheblich von den entsprechenden Fahrzeugverhaltensmustern auf einer Bundesstraße (Höhe der Geschwindigkeiten, Dauer und zurückgelegter Weg bei Überholvorgängen).It is particularly expedient to determine the road type from the vehicle data on the basis of predetermined road type-dependent vehicle behavior patterns, the road type-dependent vehicle behavior patterns forming classes of vehicle and position data which correspond to typical vehicle behavior on a specific road type and serve as a comparison pattern. This is based on the knowledge that the driving behavior of the vehicle changes significantly from road type to road type, since the vehicle behavior pattern is closely correlated with the road type. For example, the speed profile and the sequence of overtaking maneuvers on a motorway differ significantly from the corresponding vehicle behavior patterns on a federal highway (amount of speed, duration and distance traveled during overtaking maneuvers).
Zur fehlerfreien Bestimmung des Straßentyps ist es zweckmäßig, die straßentypabhängigen Fahrzeugverhaltensmuster durch Klassifizierung der anfallenden Fahrzeugdaten direkt vom im Fahrzeug angeordneten Bordcomputer mittels eines Rechenalgorithmus zu definieren. Dadurch werden individuelle Besonderheiten des Fahrzeugs als auch des Fahrers ohne zusätzlichen Aufwand bereits in den Fahrzeugverhaltensmustern berücksichtigt und eine fehlerhafte Straßentypzuordnung nahezu verhindert. Die Definition der straßentypabhängigen Fahrzeugverhaltensmuster, also die Erfassung der für das Verfahren benötigten Vergleichsmuster, vereinfacht sich oder kann mit einem einfacheren Rechenalgorithmus ausgeführt werden, wenn die Zuordnung des Straßentyps in der Definitionsphase manuell, unter Zugrundelegung der individuell vom Bordcomputer erfaßten Fahrzeugdaten erfolgt.To determine the type of road without errors, it is expedient to define the road-type-dependent vehicle behavior patterns by classifying the resulting vehicle data directly from the on-board computer arranged in the vehicle by means of a computing algorithm. As a result, individual peculiarities of the vehicle and the driver are already taken into account in the vehicle behavior patterns without additional effort and an incorrect assignment of road types is almost prevented. The definition of the vehicle behavior patterns depending on the road type, i.e. the acquisition of the comparison patterns required for the method, is simplified or can be carried out with a simpler computing algorithm if the assignment of the road type in the definition phase is done manually, based on the vehicle data recorded individually by the on-board computer.
Eine andere vorteilhafte Ausführungsform der Erfindung sieht vor, daß die straßentypabhängigen Fahrzeugverhaltensmuster von einer externen Vorgabeeinrichtung vorgegeben werden. Damit erübrigt sich jede Fahrzeugverhaltensmuster-Definition im Fahrzeug selbst, wodurch der Aufwand für die gerätechnische Ausstattung der Fahrzeuge gering gehalten werden kann.Another advantageous embodiment of the invention provides that the road behavior-dependent vehicle behavior patterns are specified by an external specification device. This eliminates the need to define any vehicle behavior pattern in the vehicle itself, which means that the outlay for equipping the vehicles with equipment is kept to a minimum.
Besonders gering ist der gerätetechnische Aufwand, wenn die externe Vorgabe über ein Funktelefon erfolgt, das datentechnisch mit einem Verkehrsrechner verbunden ist, da bereits vollinstallierte Funktelefonnetze vorhanden sind.The technical expenditure on equipment is particularly low if the external specification is made via a radio telephone, which is connected to a traffic computer in terms of data technology, since fully installed radio telephone networks are already present.
Ohne einen sehr großen Straßenplan-Speicher im Fahrzeug mitführen zu müssen, kann die Straße, auf der sich das Fahrzeug befindet, auch dadurch eindeutig zugeordnet werden, daß die Positionsdaten und der Straßentyp an einen Verkehrsrechner übermittelt werden und vom Verkehrsrechner die gesuchte Straße bestimmt und an das Fahrzeug zurückgemeldet wird.Without having to carry a very large road map memory in the vehicle, the road on which the vehicle is located can also be uniquely assigned by the position data and the road type being transmitted to a traffic computer and the traffic computer determining and searching for the road the vehicle is reported back.
Bei einem autonomen System ist es vorteilhafterweise vorgesehen, daß ein Bordcomputer anhand der Positionsdaten und des Straßentyps die Straße ermittelt, auf der sich das Fahrzeug befindet.In an autonomous system, it is advantageously provided that an on-board computer uses the position data and the type of road to determine the road on which the vehicle is located.
Zweckmäßigerweise umfaßt eine Vorrichtung zur Durchführung des Verfahrens:
- Einrichtungen (6) zum Erfassen der anfallenden Fahrzeugdaten und
- eine Positionsbestimmungsvorrichtung (7) zur Ermittlung der Positionsdaten sowie spezieller Fahrzeugdaten (Geschwindigkeit, Bewegungsrichtung) in bestimmten Abständen, welche einer vorgegebenen Zeitspanne oder einer vorgegebenen Wegstrecke entsprechen,
- mindestens einen Speicherbereich (4) zum Ablegen der erfaßten Daten
- mindestens einen Arbeitsspeicherbereich (5) mit einem Rechenprogramm zur Bestimmung des Straßentyps der befahrenen Straße anhand der Fahrzeugdaten und vorgegebener Vergleichsmuster,
- eine Einrichtung (1) zur Übermittlung des Straßentyps und der Positionsdaten an den Verkehrsrechner (8) zur eindeutigen Zuordnung der ermittelten Position zu einer der Straßen des digitalisierten Straßenplans
- eine zentrale Prozessoreinheit (2) und
- einen Datenbus (3), der mit den Einrichtungen (1,2,4,5,6,7) verbunden ist.
- Devices (6) for recording the vehicle data and
- a position determining device (7) for determining the position data as well as special vehicle data (speed, direction of movement) at certain intervals which correspond to a predetermined time span or a predetermined distance,
- at least one memory area (4) for storing the acquired data
- at least one working memory area (5) with a computer program for determining the type of road on which the road is driven on the basis of the vehicle data and predetermined comparison patterns,
- A device (1) for transmitting the street type and the position data to the traffic computer (8) for unambiguously assigning the determined position to one of the streets of the digitized street map
- a central processor unit (2) and
- a data bus (3) which is connected to the devices (1, 2, 4, 5, 6, 7).
Eine alternative Vorrichtung zur Durchführung des Verfahrens umfaßt zweckmäßigerweise:
- Einrichtungen (6) zum Erfassen der anfallenden Fahrzeugdaten und
- eine Positionsbestimmungsvorrichtung (7) zur Ermittlung der Positionsdaten sowie spezieller Fahrzeugdaten (Geschwindigkeit, Bewegungsrichtung) in bestimmten Abständen, welche einer vorgegebenen Zeitspanne oder einer vorgegebenen Wegstrecke entsprechen,
- mindestens einen Speicherbereich (4) zum Ablegen der erfaßten Daten
- mindestens einen Arbeitsspeicherbereich (5) mit einem Rechenprogramm zur Bestimmung des Straßentyps der befahrenen Straße anhand der Fahrzeugdaten und vorgegebener Vergleichsmuster,
- einen eine zentrale Prozessoreinheit (2) aufweisenden Bordcomputer, durch den eine eindeutige Zuordnung der ermittelten Position zu einer der Straßen des digitalisierten Straßenplans erfolgt und
- einen Datenbus (3), der mit den Einrichtungen (1,2,4,5,6,7) verbunden ist.
- Devices (6) for recording the vehicle data and
- a position determining device (7) for determining the position data as well as special vehicle data (speed, direction of movement) at certain intervals which correspond to a predetermined time span or a predetermined distance,
- at least one memory area (4) for storing the acquired data
- at least one working memory area (5) with a computer program for determining the type of road on which the road is driven on the basis of the vehicle data and predetermined comparison patterns,
- an on-board computer having a central processor unit (2), by means of which the determined position is uniquely assigned to one of the streets of the digitized street map and
- a data bus (3) which is connected to the devices (1, 2, 4, 5, 6, 7).
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbeispiels und der in der einzigen Figur dargestellten Vorrichtung.Further features and advantages of the invention result from the following description of an exemplary embodiment and the device shown in the single figure.
Straßentypabhängige Fahrzeugverhaltensmuster (Vergleichsmuster) können durch Klassifizierung der anfallenden Fahrzeugdaten vom Bordcomputer mittels eines Rechenalgorithmus definiert werden, zweckmäßigerweise unter manueller Vorgabe des Straßentyps. In diesem Fall enthalten die Fahrzeugverhaltensmuster auch das Fahrverhalten des Fahrers, was für die fehlerfreie eindeutige Straßentypzuordnung dann besonders wichtig ist, wenn das Fahrverhalten des Fahrers z.B. störende Eigenarten aufweist. Es ist aber auch möglich, die straßentypabhängigen Fahrzeugverhaltensmuster von einer externen Vorgabeeinrichtung vorgeben zu lassen, insbesondere über Funktelefon, an das ein Verkehrsrechner datentechnisch angeschlossen ist. In diesem Fall entfällt die Bestimmung der typischen Fahrzeugverhaltensmuster durch den Bordcomputer.Road behavior-dependent vehicle behavior patterns (comparison patterns) can be defined by classifying the vehicle data from the on-board computer using a computing algorithm, expediently by manually specifying the road type. In this case, the vehicle behavior patterns also include the driver's driving behavior, which is particularly important for the error-free, clear road type assignment if the driver's driving behavior e.g. has disturbing idiosyncrasies. However, it is also possible to have the street-type-dependent vehicle behavior patterns specified by an external specification device, in particular via radio telephone to which a traffic computer is connected for data purposes. In this case, the on-board computer does not determine the typical vehicle behavior patterns.
Alternativ dazu können die Vergleichsmuster durch Klassifizierung der anfallenden Fahrzeugdaten vom Bordcomputer definiert werden, indem diese den Signalen einer Kamera, insbesondere einer Videokamera, die z.B. auf die Straßenoberfläche gerichtet ist, zugeordnet werden.Alternatively, the comparison pattern can be defined by classifying the vehicle data from the on-board computer by adding the signals from a camera, in particular a video camera, which e.g. is directed towards the road surface.
Ausgangspunkt des Verfahrens zur Positionsbestimmung eines Fahrzeugs ist die Bestimmung der Ortskoordinaten durch ein an sich bekanntes Positionsbestimmungsgerät auf der Basis eines Satelliten-Navigations-Systems, das im Fahrzeug fest installiert ist. Durch das Satelliten-Navigations-System wird in regelmäßigen zeitlichen Abständen z.B. im Sekundenrythmus der momentane Positionsdatensatz ausgegeben, d.h. dem im Fahrzeug angeordneten Bordcomputer zur Verfügung gestellt. Der Bordcomputer ist über einen Datenbus mit der Ausgabeeinheit Positionsbestimmungsgeräts verbunden, übernimmt die ermittelten momentanen Positionsdatensätze und legt sie zur Weiterverwendung in einem dafür vorgesehenen Speicherbereich ab. Der Speicherbereich ist zweckmäßigerweise als Ringspeicher organisert, d.h. die Datensätze werden aufeinanderfolgend im Speicher abgelegt, so daß immer der älteste Datensatz von dem neuesten überschrieben wird. Dadurch ist sichergestellt, daß der zeitlichen Verlauf aller Positionen des Fahrzeugs innerhalb einer gewissen Zeitspanne zur Verfügung steht, wobei sich die Zeitspanne aus der Zahl der Datensätze im Ringspeicher und dem zeitlichen Abstand der Positionsbestimmung ergibt.The starting point of the method for determining the position of a vehicle is the determination of the location coordinates by a position determining device known per se on the basis of a satellite navigation system which is permanently installed in the vehicle. The satellite navigation system outputs the current position data record at regular time intervals, for example every second, ie it is made available to the on-board computer arranged in the vehicle. Of the The on-board computer is connected to the position determining device output unit via a data bus, takes over the determined current position data sets and stores them in a memory area provided for further use. The memory area is expediently organized as a ring memory, ie the data records are successively stored in the memory, so that the oldest data record is always overwritten by the newest. This ensures that the time profile of all positions of the vehicle is available within a certain time period, the time period resulting from the number of data records in the ring memory and the time interval between the position determination.
Parallel zu den Positionsdaten werden spezielle Fahrzeugdaten erfaßt. Dazu gehören beispielweise die sehr genau bestimmbare Geschwindigkeit und die Bewegungsrichtung des Fahrzeugs. Beide werden vorzugsweise ebenfalls vom Positionsbestimmungsgerät zur Verfügung gestellt. Weiterhin hat es sich als nützlich erwiesen, zur Straßentypbestimmung die Beschleunigung (z.B. die Vertikalbeschleunigung)des Fahrzeugs zu erfassen, was durch eine im Fahrzeug installierte Meßvorrichtung erfolgt. Außerdem werden die Fahrzeugdaten spezieller im Fahrzeug installierter Systeme, insbesondere Schalterstellungen der Warnblinkanlage, des Scheibenwischers, der Nebelschlußleuchte usw. und Betriebszustände des Anti-Blockier-Systems, der Antriebsschlupfregelung, des Unfalldatenschreibers usw. erfaßt; dadurch ist es möglich, auch in Zweifelsfällen eine richtige Zuordnung zu treffen. So wird auf einer Autobahn bei starkem Regen z.B. etwas langsamer gefahren; um trotzdem den richtigen Straßentyp, nämlich "Autobahn", zuzuordnen, wird durch den Bordcomputer zusätzlich überprüft, ob der Scheibenwischer eingeschaltet ist. Ist der Scheibenwischer eingeschaltet und stimmt das aktuelle Fahrzeugverhaltensmuster ansonsten mit dem Fahrzeugverhaltensmuster "Autobahn" überein, so wird der befahrenen Straße vom Bordcomputer aufgrund der Zusatzinformation "Scheibenwischer eingeschaltet" der Straßentyp "Autobahn" korrekt zugeordnet. Alle Fahrzeugdaten werden wie die Positionsdaten in einem Speicher (als Ringspeicher organisiert) abgelegt.Special vehicle data is recorded in parallel to the position data. These include, for example, the very precisely determinable speed and the direction of movement of the vehicle. Both are preferably also provided by the position determining device. Furthermore, it has proven useful to determine the acceleration (e.g. the vertical acceleration) of the vehicle for determining the type of road, which is done by a measuring device installed in the vehicle. In addition, the vehicle data of special systems installed in the vehicle, in particular switch positions of the hazard warning system, the windshield wiper, the rear fog lamp, etc. and operating states of the anti-lock braking system, the traction control system, the accident data recorder, etc. are recorded; this makes it possible to make a correct assignment even in cases of doubt. For example, on a highway in heavy rain drove a little slower; to assign the correct road type, namely "Autobahn", the on-board computer also checks whether the windshield wiper is switched on. If the windshield wiper is switched on and the current vehicle behavior pattern otherwise corresponds to the vehicle behavior pattern "Autobahn", then the on-board computer correctly assigns the road type "Autobahn" to the road traveled by the on-board computer on the basis of the additional information "Windshield wiper activated". Like the position data, all vehicle data are stored in a memory (organized as a ring memory).
In regelmäßigen zeitlichen Abständen wird dem zeitlichen Verlauf der Fahrzeugdaten ein Straßentyp zugeordnet, d.h. aufgrund des zeitlichen Verlaufs der Fahrzeugdaten wird festgestellt, ob sich das Fahrzeug auf einer Autobahn, einer Schnellstraße, einer Landstraße, einer Nebenstraße usw. befindet. Die Zuordnung des Straßentyps wird durch den im Fahrzeug vorhandenen Bordcomputer mittels der an sich bekannten Fuzzy-Logik bestimmt. Dazu sind die dem jeweiligen Straßentyp entsprechenden Datenkombinationen in tabellarischer Form im Speicher des Bordcomputers abgelegt. Natürlich kann die Straßentypzuordnung auch nach einem beliebigen anderen Rechenalgorithmus erfolgen.A road type is assigned to the temporal progression of the vehicle data at regular time intervals, ie it is determined on the basis of the temporal progression of the vehicle data whether the vehicle is on a freeway, an expressway, a Country road, a side street, etc. The assignment of the road type is determined by the on-board computer in the vehicle using the fuzzy logic known per se. For this purpose, the data combinations corresponding to the respective road type are stored in tabular form in the memory of the on-board computer. Of course, the street type can also be assigned using any other calculation algorithm.
Anhand des ermittelten Straßentyps ordnet der Bordcomputer dann der ermittelten Position eine der Straßen des digitalisierten Straßenplans zu. Die Berücksichtigung des Straßentyps erfolgt beispielsweise immer dann, wenn aufgrund der Ungenauigkeit der Positionsdaten mehr als eine Straße des digitalisierten Straßenplans in Frage kommt, die Zuordnung also nicht eindeutig ist.On the basis of the determined road type, the on-board computer then assigns the determined position to one of the roads of the digitized road map. The street type is always taken into account, for example, if, due to the inaccuracy of the position data, more than one street of the digitized street map comes into question and the assignment is therefore not clear.
Zur eindeutigen Straßentypbestimmung wird der Straßentyp zweckmäßigerweise aus dem typischen Verhalten des Fahrzeugs bestimmt, also über im Sinne von Vergleichsmustern straßentypabhängige Fahrzeugverhaltensmuster. Es hat sich nämlich gezeigt, daß sich das Fahrzeugverhalten bei Wechsel des Straßentyps signifikant ändert. Das typische Fahrzeugverhalten läßt sich aber sehr gut aus dem zeitlichen Verlauf bestimmter Fahrzeugdaten ableiten, so daß es zweckmäßig ist, die Straßentypzuordnung über die Ermittlung des Fahrzeugverhaltensmusters vorzunehmen. Dabei bilden die straßentypabhängigen Fahrzeugverhaltensmuster Klassen von Fahrzeug- und Positionsdaten, die einem typischen Fahrzeugverhalten auf einem bestimmten Straßentyp entsprechen.For unambiguous determination of the road type, the road type is expediently determined from the typical behavior of the vehicle, that is to say via road behavior-dependent vehicle behavior patterns in the sense of comparison patterns. It has been shown that the vehicle behavior changes significantly when the type of road changes. The typical vehicle behavior can, however, be derived very well from the temporal course of certain vehicle data, so that it is expedient to carry out the assignment of the road type by determining the vehicle behavior pattern. The road-type-dependent vehicle behavior patterns form classes of vehicle and position data that correspond to typical vehicle behavior on a specific road type.
Alternativ ist es aber auch möglich, daß die Positionsdaten und der Straßentyp an einen Verkehrsrechner übermittelt werden, der anhand einer digitalisierten Straßenkarte die Straße ermittelt, auf der sich das Fahrzeug befindet. Der Verkehrsrechner kann über eine sehr große Zahl sehr detailierter Straßenkarten verfügen, so daß eine Straßenzuordnung für beliebige Städte oder Gebiete erfolgen kann. Im Fahrzeug selbst müssen dann keine gespeicherten Straßenkarten mitgeführt werden. Dies ist besonders deswegen vorteilhaft, weil damit die sonst notwendige, aufwendige Aktualisierung der in den Fahrzeugen gespeicherten Straßenkarten entfällt, da letztere immer auf dem neuesten Stand gehalten werden müßten.Alternatively, however, it is also possible for the position data and the type of road to be transmitted to a traffic computer which uses a digitized road map to determine the road on which the vehicle is located. The traffic computer can have a very large number of very detailed street maps, so that a street assignment can be made for any city or area. No stored road maps need to be carried in the vehicle itself. This is particularly advantageous because it eliminates the otherwise necessary, time-consuming updating of the road maps stored in the vehicles, since the latter would always have to be kept up to date.
Die Figur zeigt eine Ausführungsform einer Vorrichtung zur Positionsbestimmung eines Fahrzeugs auf einer Straße, bei der der Straßentyp und die Positionsdaten an einen Verkehrsrechner übermittelt werden. Die Vorrichtung weist eine Sende- und Empfangseinheit 1 zur Datenübertragung auf. Wie die Figur erkennen läßt, umfaßt die Vorrichtung eine zentrale Prozessoreinheit (CPU) 2, die mit einem Datenbus 3 verbunden ist. Weiterhin sind mit dem Datenbus 3 ein als Ringspeicher organisierter Speicherbereich 4 zum Ablegen der erfaßten Daten und ein Arbeitsspeicherbereich 5 verbunden, wobei in dem Arbeitsspeicherbereich 5 ein Rechenprogramm zur Bestimmung des Straßentyps der befahrenen Straße anhand der Fahrzeugdaten und vorgegebener Vergleichsmuster abgelegt ist. Zur Erfassung der Fahrzeugdaten sind im Fahrzeug Sensoren/Aktoren 6 angeordnet, die ebenfalls an dem Datenbus 3 angeschlossen sind. Die Vorrichtung weist zur Bestimmung der Positionsdaten und spezieller Fahrzeugdaten (Geschwindigkeit, Bewegungsrichtung) einen GPS-Empfänger 7 auf. Der GPS-Empfänger 7 ist über den Datenbus 3 mit der zentralen Prozessoreinheit (CPU) 2 elektrisch verbunden. Datentechnisch ist die Vorrichtung drahtlos mit einem Verkehrsrechner 8 verbindbar, der mit einer Sende- und Empfangseinheit 9 ausgerüstet ist.The figure shows an embodiment of a device for determining the position of a vehicle on a road, in which the road type and the position data are transmitted to a traffic computer. The device has a transmitting and receiving
Claims (15)
dadurch gekennzeichnet,
daß bestimmte Fahrzeugdaten im Fahrzeug erfaßt werden und anhand dieser Fahrzeugdaten und vorgegebener Vergleichsmuster zusätzlich der Straßentyp der befahrenen Straße bestimmt und zur eindeutigen Zuordnung der ermittelten Position zu einer der Straßen des digitalisierten Straßenplans herangezogen wird.Method for determining the position of a vehicle on a road, in which the position data of the vehicle are determined by a position-determining device which operates on the basis of a satellite navigation system and is arranged in the vehicle, and the road is determined on the basis of the position data and a digitized road map, the for Position determination transmitted satellite signals are distorted to deliberately limit the location accuracy when operating the satellites,
characterized,
that certain vehicle data are recorded in the vehicle and, based on this vehicle data and predetermined comparison pattern, the road type of the road traveled is also determined and used to uniquely assign the determined position to one of the roads of the digitized road map.
dadurch gekennzeichnet,
daß die Fahrzeugdaten die Geschwindigkeit und die Bewegungsrichtung des Fahrzeugs jeweils in ihrem zeitlichen Verlauf innerhalb einer gewissen Zeitspanne umfassen.Method according to claim 1,
characterized,
that the vehicle data include the speed and the direction of movement of the vehicle in their time course within a certain period of time.
dadurch gekennzeichnet,
daß die Fahrzeugdaten die Beschleunigung des Fahrzeugs jeweils in ihrem zeitlichen Verlauf innerhalb einer gewissen Zeitspanne umfassen.The method of claim 1 or 2,
characterized,
that the vehicle data each include the acceleration of the vehicle in its time course within a certain period of time.
dadurch gekennzeichnet,
daß die Fahrzeugdaten Betriebszustände spezieller im Fahrzeug installierter Systeme, insbesondere Schalterstellungen der Warnblinkanlage, des Scheibenwischers, der Nebelschlußleuchte usw. und Zustände des Anti-Blockier-Systems, der Antriebsschlupfregelung, des Unfalldatenschreibers usw. in ihrem zeitlichen Verlauf innerhalb einer gewissen Zeitspanne umfassen.Method according to one of claims 1 to 3,
characterized,
that the vehicle data includes operating states of special systems installed in the vehicle, in particular switch positions of the hazard warning lights, the windshield wipers, the rear fog lamp, etc., and states of the anti-lock braking system, the traction control system, the accident data recorder, etc. over a period of time.
dadurch gekennzeichnet,
daß der Straßentyp aus den Fahrzeugdaten durch einen Bordcomputer mittels Fuzzy-Logik bestimmt wird.Method according to one of claims 1 to 4,
characterized,
that the road type is determined from the vehicle data by an on-board computer using fuzzy logic.
dadurch gekennzeichnet,
daß der Straßentyp aus den Fahrzeugdaten anhand von Vergleichsmustern bestimmt wird, die straßentypabhängige Fahrzeugverhaltensmuster sind.Method according to one of claims 1 to 5,
characterized,
that the road type is determined from the vehicle data on the basis of comparison patterns which are road type-dependent vehicle behavior patterns.
dadurch gekennzeichnet,
daß die straßentypabhängigen Fahrzeugverhaltensmuster Klassen von Fahrzeug- und Positionsdaten bilden, die einem typischen Fahrzeugverhalten auf einem bestimmten Straßentyp entsprechen.Method according to claim 6,
characterized,
that the road type-dependent vehicle behavior patterns form classes of vehicle and position data that correspond to a typical vehicle behavior on a particular road type.
dadurch gekennzeichnet,
daß die straßentypabhängigen Fahrzeugverhaltensmuster durch Klassifizierung der anfallenden Fahrzeugdaten mittels eines Rechenalgorithmus vom Bordcomputer bestimmt werden.Method according to one of claims 6 or 7,
characterized,
that the road-type-dependent vehicle behavior patterns are determined by the on-board computer by classifying the resulting vehicle data using a computing algorithm.
dadurch gekennzeichnet,
daß die straßentypabhängigen Fahrzeugverhaltensmuster unter manueller Vorgabe des Straßentyps unter Zugrundelegung individuell vom Bordcomputer erfaßter Fahrzeugdaten definiert werden.A method according to claim 8,
characterized,
that the road-type-dependent vehicle behavior patterns are defined by manually specifying the road type on the basis of vehicle data recorded individually by the on-board computer.
dadurch gekennzeichnet,
daß die straßentypabhängigen Fahrzeugverhaltensmuster von einer externen Vorgabeeinrichtung vorgegeben werden.Method according to one of claims 6 to 9,
characterized,
that the road type-dependent vehicle behavior patterns are specified by an external specification device.
dadurch gekennzeichnet,
daß die externe Vorgabeeinrichtung ein über Funktelefon angeschlossener Verkehrsrechner ist.A method according to claim 10,
characterized,
that the external default device is a traffic computer connected via radio telephone.
dadurch gekennzeichnet,
daß die Positionsdaten und der Straßentyp an einen Verkehrsrechner übermittelt werden, der daraus die Straße ermittelt, auf der sich das Fahrzeug befindet.Method according to one of claims 1 to 11,
characterized,
that the position data and the type of road are transmitted to a traffic computer, which determines the road on which the vehicle is located.
dadurch gekennzeichnet,
daß ein Bordcomputer anhand der Positionsdaten und des Straßentyps die Straße ermittelt, auf der sich das Fahrzeug befindet.Method according to one of claims 1 to 12,
characterized,
that an on-board computer determines the street on which the vehicle is based on the position data and the street type.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4444390 | 1994-11-28 | ||
| DE4444390 | 1994-11-28 | ||
| DE19521917 | 1995-06-09 | ||
| DE19521917A DE19521917C2 (en) | 1994-11-28 | 1995-06-09 | Method and device for determining the position of a vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0715291A1 true EP0715291A1 (en) | 1996-06-05 |
| EP0715291B1 EP0715291B1 (en) | 2000-02-23 |
Family
ID=25942820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP95250284A Expired - Lifetime EP0715291B1 (en) | 1994-11-28 | 1995-11-20 | Method and device for determining the position of a vehicle |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP0715291B1 (en) |
| AT (1) | ATE189935T1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0817134A2 (en) * | 1996-07-05 | 1998-01-07 | Robert Bosch Gmbh | Apparatus for determining the distance travelled by a motor vehicle |
| WO1998035331A1 (en) * | 1997-02-06 | 1998-08-13 | Mannesmann Ag | Transmission of localized traffic information |
| WO2001057552A1 (en) * | 2000-02-05 | 2001-08-09 | Jaguar Cars Limited | Motor vehicle trajectory measurement |
| WO2005015785A1 (en) * | 2003-08-12 | 2005-02-17 | Yury Alexeevich Gromakov | Cellular communication method |
| US7228135B2 (en) | 2003-08-12 | 2007-06-05 | Yury Alexeevich Gromakov | Method for cellular communications |
| US8818380B2 (en) | 2004-07-09 | 2014-08-26 | Israel Feldman | System and method for geographically locating a cellular phone |
| US8918278B2 (en) | 2000-08-28 | 2014-12-23 | Inrix Global Services Limited | Method and system for modeling and processing vehicular traffic data and information and applying thereof |
| US9418545B2 (en) | 2011-06-29 | 2016-08-16 | Inrix Holding Limited | Method and system for collecting traffic data |
| US9798985B2 (en) | 2009-02-02 | 2017-10-24 | Inrix Holdings Limited | Apparatus and methods for providing journey information |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4033527A1 (en) | 1989-10-24 | 1991-04-25 | Mitsubishi Electric Corp | VEHICLE POSITION DETECTOR |
-
1995
- 1995-11-20 EP EP95250284A patent/EP0715291B1/en not_active Expired - Lifetime
- 1995-11-20 AT AT95250284T patent/ATE189935T1/en not_active IP Right Cessation
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4033527A1 (en) | 1989-10-24 | 1991-04-25 | Mitsubishi Electric Corp | VEHICLE POSITION DETECTOR |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0817134A3 (en) * | 1996-07-05 | 1999-10-27 | Robert Bosch Gmbh | Apparatus for determining the distance travelled by a motor vehicle |
| EP0817134A2 (en) * | 1996-07-05 | 1998-01-07 | Robert Bosch Gmbh | Apparatus for determining the distance travelled by a motor vehicle |
| WO1998035331A1 (en) * | 1997-02-06 | 1998-08-13 | Mannesmann Ag | Transmission of localized traffic information |
| WO2001057552A1 (en) * | 2000-02-05 | 2001-08-09 | Jaguar Cars Limited | Motor vehicle trajectory measurement |
| US6745110B2 (en) | 2000-02-05 | 2004-06-01 | Jaguar Cars Limited | Motor vehicle trajectory measurement |
| US8918278B2 (en) | 2000-08-28 | 2014-12-23 | Inrix Global Services Limited | Method and system for modeling and processing vehicular traffic data and information and applying thereof |
| US9552725B2 (en) | 2000-08-28 | 2017-01-24 | Inrix Global Services Limited | Method and system for modeling and processing vehicular traffic data and information and applying thereof |
| US9324232B2 (en) | 2000-08-28 | 2016-04-26 | INRX Gloabal Services Limited | Method and system for modeling and processing vehicular traffic data and information and applying thereof |
| US7228135B2 (en) | 2003-08-12 | 2007-06-05 | Yury Alexeevich Gromakov | Method for cellular communications |
| WO2005015785A1 (en) * | 2003-08-12 | 2005-02-17 | Yury Alexeevich Gromakov | Cellular communication method |
| US9026114B2 (en) | 2004-07-09 | 2015-05-05 | INRX Global Services Limited | System and method for geographically locating a cellular phone |
| US9155060B2 (en) | 2004-07-09 | 2015-10-06 | INRX Global Services Limited | System and method for geographically locating a cellular phone |
| US8818380B2 (en) | 2004-07-09 | 2014-08-26 | Israel Feldman | System and method for geographically locating a cellular phone |
| US9798985B2 (en) | 2009-02-02 | 2017-10-24 | Inrix Holdings Limited | Apparatus and methods for providing journey information |
| US9418545B2 (en) | 2011-06-29 | 2016-08-16 | Inrix Holding Limited | Method and system for collecting traffic data |
Also Published As
| Publication number | Publication date |
|---|---|
| EP0715291B1 (en) | 2000-02-23 |
| ATE189935T1 (en) | 2000-03-15 |
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