EP0715291B1 - Procédé et dispositif de localisation d'un véhicule - Google Patents

Procédé et dispositif de localisation d'un véhicule Download PDF

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Publication number
EP0715291B1
EP0715291B1 EP95250284A EP95250284A EP0715291B1 EP 0715291 B1 EP0715291 B1 EP 0715291B1 EP 95250284 A EP95250284 A EP 95250284A EP 95250284 A EP95250284 A EP 95250284A EP 0715291 B1 EP0715291 B1 EP 0715291B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
road
data
type
road type
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.)
Expired - Lifetime
Application number
EP95250284A
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German (de)
English (en)
Other versions
EP0715291A1 (fr
Inventor
Christian Dipl.-Ing. Hort
Werner Dr.Rer.Nat. Schulz
Josef Dipl.-Ing. Heimann
Andreas Dipl.-Phys. Widl
Karlheinz Dipl.-Math. Schlottbom
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.)
Vodafone GmbH
Original Assignee
Mannesmann AG
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
Priority claimed from DE19521917A external-priority patent/DE19521917C2/de
Application filed by Mannesmann AG filed Critical Mannesmann AG
Publication of EP0715291A1 publication Critical patent/EP0715291A1/fr
Application granted granted Critical
Publication of EP0715291B1 publication Critical patent/EP0715291B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • 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 road, in which the position data of the vehicle from one working on the basis of a satellite navigation system and in Vehicle arranged positioning device can be determined and the road is determined based on the position data and a digitized street map, wherein the satellite signals sent for position determination to the conscious Limiting the location accuracy when operating the satellites can be distorted.
  • Satellite navigation systems which were originally only installed for military use (e.g. Global Positioning Systems GPS), can only be used with a civil service deliberately built-in deterioration of the measurement accuracy can be applied.
  • the Location accuracy is 95% with a probability of around 100 m.
  • the accuracy of satellite navigation for example, for determining position A vehicle in a city is not just deliberately distorted broadcast satellite signals, but also by the conditions of reception significantly influenced by the vehicle. Play in this context Reflections and shadowing of the signals from structures (e.g. buildings, tunnels, Bridges) a negative role; this applies in particular to inner cities with comparatively narrow street canyons, where, on the other hand, it is just high Accuracy arrives to the vehicle, for example, through a Route guidance system the right one out of several close to each other Show branch options. The negative influence is particularly evident in slow driving in typical position jumps of up to 100 m.
  • structures e.g. buildings, tunnels, Bridges
  • DE 40 33 527 A1 describes devices with which the current Vehicle position can be determined. Such systems are becoming one of them used, the driver of a vehicle in the sense of automated route guidance to be continuously supplied with information about the route to be taken.
  • the known devices are the signals of a satellite navigation system received, the current vehicle position based on the received satellite signals calculated and a digitized road map to assign the position of the Vehicle to one of the streets on the road map.
  • auxiliary sensor system To increase the It is intended that the results of satellite navigation be accurate Position determination by using measurement signals from an auxiliary sensor system, the is completely independent of the actual satellite navigation.
  • dead-reckoning sensors is the use of wheel sensors (for path and / or speed), of rotary encoders and of acceleration sensors known.
  • the disadvantage of this method for determining the position of a vehicle is that a additional independent route determination system installed in the vehicle must be what is technically complex and associated with high costs.
  • the Vehicle position is determined twice, and then that Position determination result of the one system by the position determination result the other corrected, for example if the street on which the Vehicle is not clearly based on the received satellite signals can be assigned.
  • 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 type of road used by the driver Street determined and for the clear assignment of the determined position to one of the Streets of the digitized street map is used.
  • Conveniently are used to assign a road type using the GPS system that is available anyway vehicle data speed and relatively easy to determine Direction of movement of the vehicle in each case in its temporal course within a used for a certain period of time. It is also useful to accelerate (e.g. the vertical acceleration) of the vehicle and the vehicle data more specifically in the Vehicle installed systems, especially switch positions of the hazard warning lights, the wiper, the rear fog lamp, etc. and the operating status of the anti-lock braking system, the traction control system, the accident data recorder, etc. for Assignment of the correct street type, for example to use in If in doubt, make a correct assignment. So on a highway pouring rain slower; to still choose the right type of road, namely to assign "Autobahn", it is additionally checked whether the Wiper is switched on.
  • the process is particularly simple if the road type is from the Vehicle data is determined by an on-board computer using fuzzy logic.
  • the Fuzzy logic provides the ability to view vehicle data with almost no essentials Assign computing effort to the corresponding street type.
  • the road type-dependent vehicle behavior patterns classes of vehicle and form position data that correspond to a typical vehicle behavior on a correspond to a certain type of road and serve as a comparison model. That is the reason Understanding that the driving behavior of the vehicle changes from road type Road type changes significantly because the vehicle behavior pattern closely matches that Road type is correlated. For example, the speed profile differs and the course of overtaking on a freeway is significantly different from that corresponding vehicle behavior patterns on a federal highway (amount of Speeds, duration and distance traveled when overtaking).
  • the road behavior-dependent vehicle behavior patterns by classifying the resulting vehicle data directly from the on-board computer arranged in the vehicle to be defined by means of a calculation algorithm. This makes individual Special features of the vehicle as well as the driver without additional effort already taken into account in the vehicle behavior patterns and a faulty one Street type assignment almost prevented.
  • the definition of street type dependent Vehicle behavior patterns i.e. the acquisition of those required for the method Comparison pattern, simplifies or can be done with a simpler Calculation algorithm to be executed when assigning the road type in the Definition phase manually, based on the individual from the on-board computer recorded vehicle data takes place.
  • Another advantageous embodiment of the invention provides that the road behavior-dependent vehicle behavior patterns from an external specification device be specified. This eliminates the need for any vehicle behavior pattern definition in the vehicle itself, reducing the effort for the equipment Equipment of the vehicles can be kept low.
  • the technical outlay on equipment is particularly low if the external specification exceeds a radio telephone takes place, which is technically connected to a traffic computer, since there are already fully installed cellular phone networks.
  • the street on which the vehicle is located can also be clearly identified assigned that the position data and the road type to one Traffic computers are transmitted and the searched street from the traffic computer determined and reported back to the vehicle.
  • a On-board computer determines the street based on the position data and the street type, on which the vehicle is located.
  • Road behavior-dependent vehicle behavior patterns can be Classification of the vehicle data from the on-board computer using a Calculation algorithm can be defined, expediently under manual specification of the street type.
  • the vehicle behavior patterns also include that Driving behavior of the driver, what the error-free clear road type assignment is particularly important if the driver's driving behavior e.g. disruptive Has peculiarities.
  • the comparison samples can be classified by classifying them Vehicle data are defined by the on-board computer by the signals of a Camera, especially a video camera, e.g. on the street surface is directed to be assigned.
  • the starting point of the method for determining the position of a vehicle is the Determination of the location coordinates using a position determining device known per se based on a satellite navigation system that is fixed in the vehicle is installed.
  • the satellite navigation system is in regular time Distances e.g. the current position data record is output in seconds, i.e. the on-board computer arranged in the vehicle.
  • the On-board computer is position determining device via a data bus with the output unit connected, takes over the determined current position data sets and stores them for further use in a storage area provided for this purpose.
  • the storage area is expediently organized as a ring storage, i.e. the Data records are stored successively in the memory, so that always the oldest record is overwritten by the newest. This ensures that the time course of all positions of the vehicle within a certain Period is available, the period being the number of Data records in the ring buffer and the time interval for determining the position results.
  • Special vehicle data is recorded in parallel to the position data. This includes for example the very precisely determinable speed and the direction of movement of the vehicle. Both are preferably also from the position determining device made available. It has also proven useful the acceleration (e.g. vertical acceleration) of the Vehicle to detect what by a measuring device installed in the vehicle he follows.
  • the vehicle data is more specifically installed in the vehicle Systems, especially switch positions of the hazard warning lights, the Windshield wipers, the rear fog lamp etc. and operating states of the anti-lock braking system, the traction control system, the accident data recorder, etc. recorded; this makes it possible to make a correct assignment even in cases of doubt. So is used on a highway in heavy rain e.g.
  • the temporal course of the vehicle data is shown at regular time intervals assigned a road type, i.e. based on the time history of the vehicle data it is determined whether the vehicle is on a freeway, an expressway, a Country road, a side street, etc.
  • the assignment of the road type will by the on-board computer in the vehicle using the known per se Fuzzy logic determined. For this purpose, they are those that correspond to the respective road type Data combinations stored in tabular form in the memory of the on-board computer.
  • the street type assignment can also be based on any other Calculation algorithm done.
  • the on-board computer Based on the determined type of road, the on-board computer then orders the determined one Position one of the streets of the digitized street map.
  • the consideration the road type always occurs, for example, when due to the inaccuracy the position data more than one street of the digitized street map in question comes, so the assignment is not clear.
  • the road type is expediently set out for clear road type determination determines the typical behavior of the vehicle, i.e. in the sense of Comparison patterns of vehicle behavior patterns depending on the road type. It has namely shown that the vehicle behavior when changing the road type changes significantly.
  • the typical vehicle behavior can be very well derived from the Derive the time course of certain vehicle data, so that it is useful to Street type assignment via the determination of the vehicle behavior pattern to make.
  • the road behavior-dependent vehicle behavior patterns form Classes of vehicle and position data that represent typical vehicle behavior correspond to a certain type of road.
  • a traffic computer can be transmitted using a digitized Road map determines the road on which the vehicle is located.
  • the Traffic calculator can have a very large number of very detailed road maps have so that a street assignment for any city or area can. In the vehicle itself, there is no need to carry stored road maps become. This is particularly advantageous because it means that the otherwise necessary time-consuming updating of the road maps stored in the vehicles not applicable 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 where the road type and position data are in one Traffic calculator to be transmitted.
  • the device has a transmission and Receiver unit 1 for data transmission.
  • the Device a central processor unit (CPU) 2 with a data bus 3rd connected is.
  • the data bus 3 is an organized as a ring memory Storage area 4 for storing the acquired data and a working storage area 5 connected, with a computer program in the working memory area 5 Determination of the type of road on which the road is driven based on the vehicle data and predefined comparison pattern is filed.
  • To capture the vehicle data are Arranged in the vehicle sensors / actuators 6, which are also connected to the data bus 3 are connected.
  • the device has for determining the position data and special vehicle data (speed, direction of movement) a GPS receiver 7 on.
  • the GPS receiver 7 is connected to the central via the data bus 3 Processor unit (CPU) 2 electrically connected.
  • the device is data technology can be connected wirelessly to a traffic computer 8 which is connected to a transmission and Receiver unit 9 is equipped.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Claims (15)

  1. Procédé pour déterminer la position d'un véhicule sur une voie, dans lequel les données de position du véhicule sont détectées par un appareil de détermination de position agencé dans le véhicule et travaillant sur la base d'un système de navigation par satellite et la voie est déterminée en référence aux données de position et à un plan de voies numérisé, les signaux satellites émis pour la détermination de position subissant une distorsion pour limiter sciemment la précision locale lors de l'utilisation des satellites,
    caractérisé en ce que des données de véhicule déterminées sont détectées dans le véhicule et, en référence à ces données de véhicule et à des modèles de comparaison prédéfinis, de façon supplémentaire, le type de la voie parcourue est déterminé et est utilisé pour l'association univoque de la position détectée à une des voies du plan de voies numérisé.
  2. Procédé selon la revendication 1,
    caractérisé en ce que les données de véhicule comportent la vitesse et la direction de déplacement du véhicule, à chaque fois, au cours du temps dans un intervalle de temps donné.
  3. Procédé selon la revendication 1 ou 2,
    caractérisé en ce que les données de véhicule comportent l'accélération du véhicule, à chaque fois, au cours du temps dans un intervalle de temps donné.
  4. Procédé selon une des revendications 1 à 3,
    caractérisé en ce que les données de véhicule comportent des états de fonctionnement de systèmes spéciaux installés dans le véhicule, en particulier des positions de commutation des feux de détresse, des essuie-glaces, des feux anti-brouillard, etc... et des états du système antiblocage, de la régulation du patinage, de l'enregistreur de données d'accident etc... au cours du temps dans un intervalle de temps donné.
  5. Procédé selon une des revendications 1 à 4,
    caractérisé en ce que le type de voie est déterminé à partir des données de véhicule par un ordinateur de bord au moyen d'une logique floue.
  6. Procédé selon une des revendications 1 à 5,
    caractérisé en ce que le type de voie est déterminé à partir des données de véhicule en référence à des modèles de comparaison qui sont des modèles de comportement du véhicule dépendant du type de voie.
  7. Procédé selon la revendication 6,
    caractérisé en ce que les modèles de comportement du véhicule dépendant du type de voie forment des classes de données de véhicule et de position qui correspondent à un comportement typique du véhicule sur un type de voie déterminé.
  8. Procédé selon une des revendications 6 ou 7,
    caractérisé en ce que les modèles de comportement du véhicule dépendant du type de voie sont déterminés par classification des données de véhicule arrivant, au moyen d'un algorithme de calcul, par l'ordinateur de bord.
  9. Procédé selon la revendication 8,
    caractérisé en ce que les modèles de comportement du véhicule dépendant du type de voie sont définis par définition manuelle du type de voie à partir de données de véhicule détectées individuellement par l'ordinateur de bord.
  10. Procédé selon une des revendications 6 à 9,
    caractérisé en ce que les modèles de comportement du véhicule dépendant du type de voie sont prédéfinis par un dispositif de définition externe.
  11. Procédé selon la revendication 10,
    caractérisé en ce que le dispositif de définition externe est un calculateur de trafic raccordé par radiotéléphone.
  12. Procédé selon une des revendications 1 à 11,
    caractérisé en ce que les données de position et le type de voie sont transmis à un calculateur de trafic qui détermine, à partir de cela, la voie sur laquelle se trouve le véhicule.
  13. Procédé selon une des revendications 1 à 12,
    caractérisé en ce qu'un calculateur de bord détermine, en référence à des données de position et au type de voie, la voie sur laquelle se trouve le véhicule.
  14. Dispositif pour la mise en oeuvre du procédé selon la revendication 1, comportant :
    des dispositifs (6) pour détecter les données de véhicule arrivant, et
    un dispositif de détermination de position (7) pour déterminer les données de position, ainsi que des données de véhicule spéciales, comme par exemple la vitesse ou la direction de déplacement, à des intervalles déterminés, qui correspondent à un intervalle de temps prédéfini ou à un parcours prédéfini,
    au moins une zone de mémorisation (4) pour stocker les données détectées,
    au moins une zone de mémorisation de travail (5) ayant un programme de calcul pour déterminer le type de la voie parcourue en référence aux données de véhicule et à des modèles de comparaison prédéfinis,
    un dispositif (1 ) pour transmettre le type de voie et les données de position au calculateur de trafic (8) pour l'association univoque de la position détectée à une des voies du plan de voies numérisé au moyen du type de voie,
    une unité de processeur centrale (2), et
    un bus de données (3) qui est relié aux dispositifs (1,6), au dispositif de détermination de positon (7), à la zone de mémorisation (4), à la zone de mémorisation de travail (5), et à l'unité de processeur (2).
  15. Dispositif pour la mise en oeuvre du procédé selon la revendication 1, comportant :
    des dispositifs (6) pour détecter les données de véhicule arrivant, et
    un dispositif de détermination de position (7) pour déterminer les données de position, ainsi que des données de véhicule spéciales, comme par exemple la vitesse ou la direction de déplacement, à des intervalles déterminés, qui correspondent à un intervalle de temps prédéfini ou à un parcours prédéfini,
    au moins une zone de mémorisation (4) pour stocker les données détectées,
    au moins une zone de mémorisation de travail (5) ayant un programme de calcul pour déterminer le type de la voie parcourue en référence aux données de véhicule et à des modèles de comparaison prédéfinis,
    un ordinateur de bord présentant une unité de processeur centrale (2), grâce auquel, au moyen du type de voie, il est effectué une association univoque de la position déterminée à une des voies du plan de voies numérisé, et
    un bus de données (3), qui est relié aux dispositifs (6), au dispositif de détermination de position (7), à la zone de mémorisation (4), à la zone de mémorisation de travail (5), et à l'unité de processeur (2).
EP95250284A 1994-11-28 1995-11-20 Procédé et dispositif de localisation d'un véhicule Expired - Lifetime EP0715291B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE4444390 1994-11-28
DE4444390 1994-11-28
DE19521917A DE19521917C2 (de) 1994-11-28 1995-06-09 Verfahren und Vorrichtung zur Positionsbestimmung eines Fahrzeugs
DE19521917 1995-06-09

Publications (2)

Publication Number Publication Date
EP0715291A1 EP0715291A1 (fr) 1996-06-05
EP0715291B1 true EP0715291B1 (fr) 2000-02-23

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ID=25942820

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Application Number Title Priority Date Filing Date
EP95250284A Expired - Lifetime EP0715291B1 (fr) 1994-11-28 1995-11-20 Procédé et dispositif de localisation d'un véhicule

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EP (1) EP0715291B1 (fr)
AT (1) ATE189935T1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0817134A3 (fr) * 1996-07-05 1999-10-27 Robert Bosch Gmbh Appareil pour déterminer la distance parcourue par un véhicule automobile
US6292742B1 (en) * 1997-02-06 2001-09-18 Mannesmann Ag Transmission of localized traffic information
GB2358975B (en) * 2000-02-05 2004-05-05 Jaguar Cars Motor vehicle trajectory measurement
US6587781B2 (en) 2000-08-28 2003-07-01 Estimotion, Inc. Method and system for modeling and processing vehicular traffic data and information and applying thereof
RU2227373C1 (ru) * 2003-08-12 2004-04-20 Громаков Юрий Алексеевич Способ сотовой связи
US7228135B2 (en) 2003-08-12 2007-06-05 Yury Alexeevich Gromakov Method for cellular communications
US7620402B2 (en) 2004-07-09 2009-11-17 Itis Uk Limited System and method for geographically locating a mobile device
GB0901588D0 (en) 2009-02-02 2009-03-11 Itis Holdings Plc Apparatus and methods for providing journey information
GB2492369B (en) 2011-06-29 2014-04-02 Itis Holdings Plc Method and system for collecting traffic data

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2536190B2 (ja) 1989-10-24 1996-09-18 三菱電機株式会社 移動体用ナビゲ―ション装置

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ATE189935T1 (de) 2000-03-15
EP0715291A1 (fr) 1996-06-05

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