EP0715291A1 - 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
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
Authority
EP
European Patent Office
Prior art keywords
vehicle
road
data
type
determined
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.)
Granted
Application number
EP95250284A
Other languages
German (de)
English (en)
Other versions
EP0715291B1 (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 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.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
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 true EP0715291A1 (fr) 1996-06-05
EP0715291B1 EP0715291B1 (fr) 2000-02-23

Family

ID=25942820

Family Applications (1)

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

Country Status (2)

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

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0817134A2 (fr) * 1996-07-05 1998-01-07 Robert Bosch Gmbh Appareil pour déterminer la distance parcourue par un véhicule automobile
WO1998035331A1 (fr) * 1997-02-06 1998-08-13 Mannesmann Ag Transmission d'informations routieres regionales
WO2001057552A1 (fr) * 2000-02-05 2001-08-09 Jaguar Cars Limited Mesure trajectorielle d'une automobile
WO2005015785A1 (fr) * 2003-08-12 2005-02-17 Yury Alexeevich Gromakov Procede de communication cellulaire
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

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4033527A1 (de) 1989-10-24 1991-04-25 Mitsubishi Electric Corp Fahrzeugpositionsdetektoreinrichtung

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4033527A1 (de) 1989-10-24 1991-04-25 Mitsubishi Electric Corp Fahrzeugpositionsdetektoreinrichtung

Cited By (15)

* 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
EP0817134A2 (fr) * 1996-07-05 1998-01-07 Robert Bosch Gmbh Appareil pour déterminer la distance parcourue par un véhicule automobile
WO1998035331A1 (fr) * 1997-02-06 1998-08-13 Mannesmann Ag Transmission d'informations routieres regionales
WO2001057552A1 (fr) * 2000-02-05 2001-08-09 Jaguar Cars Limited Mesure trajectorielle d'une automobile
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 (fr) * 2003-08-12 2005-02-17 Yury Alexeevich Gromakov Procede de communication cellulaire
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
ATE189935T1 (de) 2000-03-15
EP0715291B1 (fr) 2000-02-23

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