EP0715291B1 - Verfahren und Vorrichtung zur Positionsbestimmung eines Fahrzeugs - Google Patents
Verfahren und Vorrichtung zur Positionsbestimmung eines Fahrzeugs Download PDFInfo
- 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
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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.
Description
- 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.
- 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.
Claims (15)
- Verfahren 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 werden,
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. - Verfahren nach Anspruch 1,
dadurch gekennzeichnet,
daß die Fahrzeugdaten die Geschwindigkeit und die Bewegungsrichtung des Fahrzeugs jeweils in ihrem zeitlichen Verlauf innerhalb einer gewissen Zeitspanne umfassen. - Verfahren nach Anspruch 1 oder 2,
dadurch gekennzeichnet,
daß die Fahrzeugdaten die Beschleunigung des Fahrzeugs jeweils in ihrem zeitlichen Verlauf innerhalb einer gewissen Zeitspanne umfassen. - Verfahren nach einem der Ansprüche 1 bis 3,
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. - Verfahren nach einem der Ansprüche 1 bis 4,
dadurch gekennzeichnet,
daß der Straßentyp aus den Fahrzeugdaten durch einen Bordcomputer mittels Fuzzy-Logik bestimmt wird. - Verfahren nach einem der Ansprüche 1 bis 5,
dadurch gekennzeichnet,
daß der Straßentyp aus den Fahrzeugdaten anhand von Vergleichsmustern bestimmt wird, die straßentypabhängige Fahrzeugverhaltensmuster sind. - Verfahren nach Anspruch 6,
dadurch gekennzeichnet,
daß die straßentypabhängigen Fahrzeugverhaltensmuster Klassen von Fahrzeug- und Positionsdaten bilden, die einem typischen Fahrzeugverhalten auf einem bestimmten Straßentyp entsprechen. - Verfahren nach einem der Ansprüche 6 oder 7,
dadurch gekennzeichnet,
daß die straßentypabhängigen Fahrzeugverhaltensmuster durch Klassifizierung der anfallenden Fahrzeugdaten mittels eines Rechenalgorithmus vom Bordcomputer bestimmt werden. - Verfahren nach Anspruch 8,
dadurch gekennzeichnet,
daß die straßentypabhängigen Fahrzeugverhaltensmuster unter manueller Vorgabe des Straßentyps unter Zugrundelegung individuell vom Bordcomputer erfaßter Fahrzeugdaten definiert werden. - Verfahren nach einem der Ansprüche 6 bis 9,
dadurch gekennzeichnet,
daß die straßentypabhängigen Fahrzeugverhaltensmuster von einer externen Vorgabeeinrichtung vorgegeben werden. - Verfahren nach Anspruch 10,
dadurch gekennzeichnet,
daß die externe Vorgabeeinrichtung ein über Funktelefon angeschlossener Verkehrsrechner ist. - Verfahren nach einem der Ansprüche 1 bis 11,
dadurch gekennzeichnet,
daß die Positionsdaten und der Straßentyp an einen Verkehrsrechner übermittelt werden, der daraus die Straße ermittelt, auf der sich das Fahrzeug befindet. - Verfahren nach einem der Ansprüche 1 bis 12,
dadurch gekennzeichnet,
daß ein Bordcomputer anhand der Positionsdaten und des Straßentyps die Straße ermittelt, auf der sich das Fahrzeug befindet. - Vorrichtung zur Durchführung des Verfahrens nach Anspruch 1, mitEinrichtungen (6) zum Erfassen der anfallenden Fahrzeugdaten undeiner Positionsbestimmungsvorrichtung (7) zur Ermittlung der Positionsdaten sowie spezieller Fahrzeugdaten, wie z.B. Geschwindigkeit oder Bewegungsrichtung, in bestimmten Abständen, welche einer vorgegebenen Zeitspanne oder einer vorgegebenen Wegstrecke entsprechen,mindestens einem Speicherbereich (4) zum Ablegen der erfaßten Datenmindestens einem Arbeitsspeicherbereich (5) mit einem Rechenprogramm zur Bestimmung des Straßentyps der befahrenen Straße anhand der Fahrzeugdaten und vorgegebener Vergleichsmuster,einer 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 mittels des Staßentyps,einer zentralen Prozessoreinheit (2) undmit einem Datenbus (3), der mit den Einrichtungen (1,6), der Positions bestimmungs vorrichtung (7), dem Speicherbereich (4), dem Arbeitsspeicherbereich (5) und der Prozessoreinheit (2) verbunden ist.
- Vorrichtung zur Durchführung des Verfahrens nach Anspruch 1, mitEinrichtungen (6) zum Erfassen der anfallenden Fahrzeugdaten undeiner Positionsbestimmungsvorrichtung (7) zur Ermittlung der Positionsdaten sowie spezieller Fahrzeugdaten, wie z.B. Geschwindigkeit oder Bewegungsrichtung in bestimmten Abständen, welche einer vorgegebenen Zeitspanne oder einer vorgegebenen Wegstrecke entsprechen,mindestens einem Speicherbereich (4) zum Ablegen der erfaßten Datenmindestens einem Arbeitsspeicherbereich (5) mit einem Rechenprogramm zur Bestimmung des Straßentyps der befahrenen Straße anhand der Fahrzeugdaten und vorgegebener Vergleichsmuster,einem eine zentrale Prozessoreinheit (2) aufweisenden Bordcomputer, durch den mittels des Straßentyps eine eindeutige Zuordnung der ermittelten Position zu einer der Straßen des digitalisierten Straßenplans erfolgt undmit einem Datenbus (3), der mit den Einrichtungen (6), der Positions bestimmungs vorrichtung (7), dem Speicherbereich (4), dem Arbeitsspeicherbereich (5) und der Prozessoreinheit (2) verbunden ist.
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 (de) | 1994-11-28 | 1995-06-09 | Verfahren und Vorrichtung zur Positionsbestimmung eines Fahrzeugs |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0715291A1 EP0715291A1 (de) | 1996-06-05 |
EP0715291B1 true EP0715291B1 (de) | 2000-02-23 |
Family
ID=25942820
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP95250284A Expired - Lifetime EP0715291B1 (de) | 1994-11-28 | 1995-11-20 | Verfahren und Vorrichtung zur Positionsbestimmung eines Fahrzeugs |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP0715291B1 (de) |
AT (1) | ATE189935T1 (de) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0817134A3 (de) * | 1996-07-05 | 1999-10-27 | Robert Bosch Gmbh | Gerät zum Ermitteln der mit einem Kraftfahrzeug zurückgelegten Wegstrecke |
WO1998035331A1 (de) * | 1997-02-06 | 1998-08-13 | Mannesmann Ag | Übermittlung gebietsbezogener verkehrsinformationen |
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 |
US7228135B2 (en) | 2003-08-12 | 2007-06-05 | Yury Alexeevich Gromakov | Method for cellular communications |
RU2227373C1 (ru) * | 2003-08-12 | 2004-04-20 | Громаков Юрий Алексеевич | Способ сотовой связи |
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)
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 |
-
1995
- 1995-11-20 AT AT95250284T patent/ATE189935T1/de not_active IP Right Cessation
- 1995-11-20 EP EP95250284A patent/EP0715291B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0715291A1 (de) | 1996-06-05 |
ATE189935T1 (de) | 2000-03-15 |
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