EP0715291B1 - 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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- 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
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- vehicle
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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 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.
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 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.
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 becoming increasingly popular Road traffic as an electronic signpost and especially for that Fleet management of larger fleets used. 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.
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 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.
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 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. At 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. 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. For one such dead-reckoning sensors is the use of wheel sensors (for path and / or speed), of rotary encoders and of acceleration sensors 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.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.
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 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.
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 several are in the immediate vicinity roads to each other, despite the inaccuracy of the determined position of the Vehicle, clearly assigned the street based on the digitized street map on which the corresponding vehicle is currently located. The one for that required technical equipment effort is relatively low, especially since most of the required data is already available in the vehicle and only have 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 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.
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 using to determine the predetermined vehicle behavior patterns depending on the road 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).
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 correctly, it is advisable to use 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.
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 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.
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 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.
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 street map memory in the vehicle, 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.
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 a On-board computer determines the street based on the position data and the street type, 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 pattern,
- 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 pattern,
- 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 embodiment and that shown in the single figure Contraption.
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 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. In this case, 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. However, it is also possible to have the vehicle behavior patterns depending on the road type to be specified by an external specification body, in particular via radio telephone to which a traffic computer is used for data processing connected. In this case, the determination of the typical vehicle behavior patterns is omitted through the on-board computer.
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.As an alternative, 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.
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 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 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.
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. 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. In addition, 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. drove a little slower; around nevertheless assigning the correct type of road, namely "Autobahn", is done by the On-board computer also checks whether the wiper is switched on. Is the The wipers are switched on and the current vehicle behavior pattern is correct otherwise corresponds to the vehicle behavior pattern "Autobahn", so the the road traveled by the on-board computer based on the additional information "Windshield wiper switched on" correctly assigned the street type "Autobahn". All Vehicle data is stored like the position data in a memory (as a ring memory organized).
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.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. Of course, the street type assignment can also be based on any other Calculation algorithm done.
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.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.
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.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.
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, it is also possible that the position data and the street type are displayed 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.
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 where the road type and position data are in one
Traffic calculator to be transmitted. The device has a transmission and
Claims (15)
- A method for determining the position of a vehicle on a road, in which the position data of the vehicle are detected by a position determining device operating on the basis of a satellite navigation system and arranged in the vehicle and the road is identified with the aid of the position data and a digitalised road map, the satellite signals emitted for position determination being distorted during satellite operation for the purpose of deliberate limitation of locating accuracy,
characterised in that
specific vehicle data are collected in the vehicle and, using these vehicle data and predetermined reference patterns, the type of road being travelled on is additionally determined and used for definite allocation of the detected position to one of the roads on the digitalised road map. - A method according to claim 1,
characterised in that
the vehicle data include the speed and direction of movement of the vehicle in each case as a time profile over a certain period of time. - A method according to claim 1 or claim 2,
characterised in that
the vehicle data include the acceleration of the vehicle in each case as a time profile over a certain period of time. - A method according to any one of claims 1 to 3,
characterised in that
the vehicle data include the operating states of particular systems installed in the vehicle, in particular the switch positions of the hazard warning lights, the windscreen wipers, the rear fog-lights etc and the status of the antilock brake system, the traction control system, the accident data recorder etc as a time profile over a certain period of time. - A method according to any one of claims 1 to 4,
characterised in that
the road type is determined from the vehicle data by an on-board computer using fuzzy logic. - A method according to any one of claims 1 to 5,
characterised in that
the road type is determined from the vehicle data by means of reference patterns which consist of road type-dependent vehicle behaviour patterns. - A method according to claim 6,
characterised in that
the road type-dependent vehicle behaviour patterns constitute categories of vehicle and position data which correspond to typical vehicle behaviour on a specific type of road. - A method according to either one of claims 6 or 7,
characterised in that
the road type-dependent vehicle behaviour patterns are determined by the on-board computer by categorising the vehicle data obtained by means of a computing algorithm. - A method according to claim 8,
characterised in that
the road type-dependent vehicle behaviour patterns are defined with manual setting of the road type on the basis of vehicle data acquired individually by the on-board computer. - A method according to any one of claims 6 to 9,
characterised in that
the road type-dependent vehicle behaviour patterns are predetermined by an external setting device. - A method according to claim 10,
characterised in that
the external setting device is a traffic computer connected via radio telephone. - A method according to any one of claims 1 to 11,
characterised in that
the position data and the road type are transmitted to a traffic computer, which determines therefrom the road on which the vehicle is located. - A method according to any one of claims 1 to 12,
characterised in that
an on-board computer determines the road on which the vehicle is located using the position data and the road type. - A device for carrying out the method according to claim 1, comprisingmeans (6) for collecting vehicle data which arises anda position determining device (7) for detecting the position data together with particular vehicle data such as, for example, speed or direction of movement, at specific intervals which correspond to a given period of time or a given distance,at least one memory zone (4) for storing the data collectedat least one working memory zone (5) with a computer program for determining the type of road travelled on using the vehicle data and predetermined reference patterns,a means (1) for transmitting the road type and the position data to the traffic computer (8) for definite allocation of the detected position to one of the roads on the digitalised road map by means of the road type,a central processing unit (2) anda data bus (3), which is connected with the means (1, 6), the position determining device (7), the memory zone (4), the working memory zone (5) and the processing unit (2).
- A device for carrying out the method according to claim 1, comprisingmeans (6) for collecting vehicle data which arises anda position determining device (7) for detecting the position data together with particular vehicle data such as, for example, speed or direction of movement, at specific intervals which correspond to a given period of time or a given distance,at least one memory zone (4) for storing the data collectedat least one working memory zone (5) with a computer program for determining the type of road travelled on using the vehicle data and predetermined reference patterns,an on-board computer comprising a central processing unit (2), which on-board computer effects definite allocation, by means of the road type, of the detected position to one of the roads on the digitalised road map anda data bus (3), which is connected with the means (1, 6), the position determining device (7), the memory zone (4), the working memory zone (5) and the processing unit (2) .
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4444390 | 1994-11-28 | ||
| DE4444390 | 1994-11-28 | ||
| DE19521917A DE19521917C2 (en) | 1994-11-28 | 1995-06-09 | Method and device for determining the position of a vehicle |
| DE19521917 | 1995-06-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0715291A1 EP0715291A1 (en) | 1996-06-05 |
| EP0715291B1 true 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) |
Families Citing this family (9)
| 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 |
| WO1998035331A1 (en) * | 1997-02-06 | 1998-08-13 | 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 |
| US7228135B2 (en) | 2003-08-12 | 2007-06-05 | Yury Alexeevich Gromakov | Method for cellular communications |
| RU2227373C1 (en) * | 2003-08-12 | 2004-04-20 | Громаков Юрий Алексеевич | Cellular communications process |
| 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 (en) | 1989-10-24 | 1996-09-18 | 三菱電機株式会社 | Navigation device for mobile |
-
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
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| EP0715291A1 (en) | 1996-06-05 |
| ATE189935T1 (en) | 2000-03-15 |
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