EP2761609B1 - Verfahren zur übermittlung von routendaten für die verkehrstelematik - Google Patents

Verfahren zur übermittlung von routendaten für die verkehrstelematik Download PDF

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Publication number
EP2761609B1
EP2761609B1 EP12743736.6A EP12743736A EP2761609B1 EP 2761609 B1 EP2761609 B1 EP 2761609B1 EP 12743736 A EP12743736 A EP 12743736A EP 2761609 B1 EP2761609 B1 EP 2761609B1
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EP
European Patent Office
Prior art keywords
road
vehicle
probability
junctions
traffic
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Active
Application number
EP12743736.6A
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German (de)
English (en)
French (fr)
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EP2761609A1 (de
Inventor
Christian SKUPIN
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination

Definitions

  • the present invention relates to a method for traffic telematics information provision about the traveling route of a vehicle which is moved in a road system having a plurality of roads, the roads being connected to each other between road connection points.
  • the aim of traffic telematics is to make the most efficient use of existing transport infrastructure, for example to avoid traffic jams and empty and search trips by vehicles. Furthermore, the traffic safety can be increased, resulting in a reduction of accidents is achieved. Environmental impact can also be reduced by making vehicles more efficient and by optimizing routes. This reduces the CO2 emissions in road traffic in particular.
  • traffic telematics refers to individual traffic, and information about current or future driving routes from vehicles to central processing units or to vehicles is interchanged.
  • information that is the technology of information provision by the vehicle, based on various standards.
  • the various standards have different data record sizes, and the aim is to convey the most efficient possible transmission of the information content contained in the probable future microscopic vehicle route.
  • the microscopic vehicle route relates to the vehicle near field, for example directly roads or surrounding road paths with possible road junctions such as intersections or junctions.
  • a known method for describing the future vehicle route which is also referred to in the traffic-microscopic area as a preceding vehicle trajectory or probable path, relates to the use of a coordinate sequence.
  • the vehicle trajectory can be defined by this frequency of coordinates (Coordinate tuple) by describing the coordinates of the geo-coordinates of the trajectory to be described in a suitable resolution.
  • Map matching other road users can project the coordinate sequence on their digital map and thus close to the transmitted trajectory. In this way, the advantage can be achieved that, in principle, the shape of the trajectory can be reproduced as exactly as desired by means of a correspondingly high sequence length and resolution, in order to transmit them accordingly.
  • a plurality of point coordinates may be required, typically about 30 to 50 point coordinates for a respective microscopic trajectory.
  • the transmission of several probable trajectories generates a relatively high amount of data in this way.
  • 100 point coordinates already generate 800 bytes of net data using the usual WGS84 coordinates.
  • WGS84 coordinates When using the C2X communication via IEEE 802.11p for the transmission of the data, such a packet size can already be regarded as critical.
  • the possible trajectories are likely to contain significant redundancies.
  • Another transmission standard is the SAE J2735 Dedicated Short Range Communication (DSRC) Message Set Dictionary standard, and this standard is specified via the DF_PathPrediction element with a data field for immediate vehicle trajectory prediction. It consists of an indication of the current steering angle. This provides the advantage that this standard can essentially be provided for the prediction of the future lane, but this prediction is not sufficient for defining the microscopic driving route.
  • DSRC Dedicated Short Range Communication
  • AGORA-C Another standard known is the AGORA-C standard and defines a methodology that enables a relatively reliable positional referencing independent of the respective underlying digital map.
  • traffic network-specific attributes such as the road class and the direction of the corresponding section of the route are used. Both individual points of the road network as well as road sections or entire areas of a road network can be referenced.
  • An AGORA-C referencing of a single point typically has a data size of less than 50 bytes, while the referencing of link sections consisting of a few kilometers may require significantly more than 100 bytes.
  • the invention includes the technical teaching that the method comprises at least the steps of determining and assigning a probability to a respective road junction with which the vehicle approaches the road junction and has the transmission of the road junctions that are traveled with increased likelihood.
  • connection point likelihood approach is based on the idea not to transmit the complete trajectories, but only the relevant road connection points, each of these possible branches being assigned a probability of their use.
  • the possible traffic microscopic routes between the crossing points can thus be represented in the form of a tree structure.
  • the vehicle may include a traffic telematics unit and the data about the possible road junctions are transmitted either to another road user or to a central processing unit having a transmitter for receiving and transmitting data.
  • a map matching method of the route determined with an increased probability is executed with an electronic road map, so that the possible driving route of the vehicle is received with corresponding probability by other road users.
  • the map matching of the transmitted crossing points By means of the map matching of the transmitted crossing points, other road users can infer the possible route of the vehicle.
  • the probability of using the respective route can be determined by multiplying the corresponding branch probabilities along this route.
  • the referencing of the crossing points is made possible using a card-based independent method such as the AGORA-C method.
  • possible upcoming road connection points are transmitted, which are traveled with a probability of at least 20%.
  • the likelihood of the vehicle driving through respective connection points may be determined by multiplying respective branching probabilities of successive connection points. For example, if the vehicle is approaching a turn, and a first direction of the turn allows for travel in a variety of other directions, the turn is more likely to drive through the vehicle than the second turn, for example, a smaller number of possible other travel routes provides.
  • road connection points can be assigned to different probabilities and, for example, only those road connection points are transmitted which have a minimum probability of being driven on.
  • the data transmitted by the vehicle may be limited to geo-reference data of the position of the vehicle, geo-reference data of the upcoming road junctions and / or a link of a subsequent road junction with a previous road junction and / or an identification of possible branches of a road junction.
  • the possible branches of a road connection point can be assigned probabilities with which a respective road connection point is left.
  • the data transmitted by the vehicle may include the probabilities with which the vehicle leaves a road junction. This can be done in particular with the assignment of usage probabilities of the possible branches of a road connection point. This fulfills the purpose that these probabilities can be used at the receiver in order to determine next to the most probable route the second or third most probable route, but also further probable routes.
  • An unambiguous identification of the possible branches of a road connection point can be effected, for example, by means of "Link Angles" known from the NDS (Navigation Data Standard) card format.
  • the attributes can be in the form of a neighborhood list, the so-called “Adjacency List” are transmitted and allow the complete reconstruction of the tree structure.
  • the achievable benefits are maximum flexibility in evaluating likely trajectories, and the method is based on a relatively compact data set, with little redundancy, that is, repetitive information.
  • the crossing points tend to match more reliably in a map than any points on a route segment.
  • the robustness of the method can be increased.
  • possible forthcoming road junction points can be transmitted which are traveled with a probability of preferably at least 25% and more preferably of at least 30%.
  • a higher probability limit a further reduction in the amount of data is achieved, but the possible accuracy for predicting the route to be traveled or the variety of information for predicting possible routes to be traveled decreases.
  • the present invention is further directed to a traffic telematics unit for traffic telematics information delivery about the travel route of a vehicle being moved in a multi-street road system, the roads being interconnected between road junctions, the traffic telematics being arranged to determine and assign a probability to one respective road junction point at which the vehicle approaches the road junction and for transmission of the road junctions that are likely to be traveled.
  • a traffic telematics unit for traffic telematics information delivery about the travel route of a vehicle being moved in a multi-street road system, the roads being interconnected between road junctions, the traffic telematics being arranged to determine and assign a probability to one respective road junction point at which the vehicle approaches the road junction and for transmission of the road junctions that are likely to be traveled.
  • the present invention further relates to a computer program with program code means to perform all the steps of a method having the features and advantages described above, in particular when the computer program is executed on a computer or a corresponding traffic telematics unit. Furthermore, the invention relates to a computer program product with program code means which are stored on a computer-readable medium to perform the steps of the method described above, when the computer program is executed on a computer or a corresponding traffic telematics unit.
  • FIG. 1 shows schematically the view of a road system 11, which can be traveled by a vehicle 1.
  • the vehicle 1 travels to a road junction 22, and the road junction 22 allows the roads 12, 13, and 14 to continue.
  • the road 12 leads to the road junction 23, and allows the road 15 and 16 to continue.
  • the road 13 leads to the road junction 25 and the road 14 leads to the road junction 24.
  • a driving route 10 with a high probability of driving is indicated.
  • the probability that the vehicle 1 is driving past the road junction 22 on the road 12 is greater than driving on the roads 13 or 14.
  • the vehicle 1 has a traffic telematics unit 2, via which the vehicle 1 can communicate with a traffic telematics unit 2 of another road user 28 or via a transmitting device 6 with a central processing unit 5.
  • the aim is to keep the required data volumes for communication as low as possible.
  • the invention provides that the data sent out for traffic telematics information provision merely provides for the determination and assignment of a probability to a respective road junction 22, 23, 24 and / or 25, with which the vehicle 1 the road junction 22, 23, 24 and / or 25, wherein then a transmission of the possible road connection points 22 or 23 takes place, which are traveled with increased probability, the road connection points are optionally associated with the associated probabilities for the use of the respective A concludede Trents107 in particular for leaving the respective road connection point.
  • the data to be transmitted to the traffic telematics unit 2 of the further traffic participant 28 and / or to the central processing unit 5 can be limited to a smaller data set comprising only the current geo-reference of the vehicle 1 with a heading, furthermore the geo-referencing of upcoming road junctions 22 or 23, where a link of the road junctions 22 or 23 links to the given previous intersection.
  • the unambiguous identification of the possible branching for the assignment of usage probabilities of the branches of a crossing point can take place here by means of the "Link Angles" from the NDS card format. This identification has its meaning in the assignment of probabilities which indicate with what probability a road junction is left over which branch.
  • FIG. 2 directed In order to further clarify the determination of the probability of the roads to be traveled.
  • FIG. 2 shows by way of example a road system 11, and a vehicle 1, for example, drive on the road 17 and get to the road junction point 26.
  • the roads 18 or 19 can be traveled. If the road 18 is used, the vehicle can get to the road junction 27, from which the vehicle 1 is given the opportunity to continue on the roads 20 and 21.
  • driving on the road 19 is another possibility of a targeted route is unlikely. Consequently, the driving routes along the road 18 and the road 19 are determined with a different degree of probability.
  • this receives, for example, a probability of driving through the vehicle with 70%, the road 19 receives only a probability of 30%.
  • the probability of driving on these roads corresponds to the turn-off probabilities of the road connection point from which these roads branch off. If the vehicle passes the road connection point 26, the branching probability of road connection point 26 in this example has a value of 70% for continuing on road 18, 30% for continuing on road 19 and 0% for continuing on road 17. If the vehicle travels along the road 18 towards the road junction 27, it can again be determined with what probability the roads 20 or 21 are driven. Since the road 21 (in a manner not shown in detail) has a higher probability of further driving than the road 20, the road 21 can be categorized with a 60% likelihood of traffic and the road 20 with, for example, a 40% likelihood of driving.
  • a tree structure of the road map 11 can be reconstructed, and only those road connection points 22 to 27 are transmitted which have a correspondingly high probability of occurrence.
  • a limit of the probability of driving can be set at 30%, and only roads that are traveled with a probability of over 30% are transmitted with the traffic telematics unit 2.

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  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
EP12743736.6A 2011-09-26 2012-08-06 Verfahren zur übermittlung von routendaten für die verkehrstelematik Active EP2761609B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011083375A DE102011083375A1 (de) 2011-09-26 2011-09-26 Verfahren zur Übermittlung von Routendaten für die Verkehrstelematik
PCT/EP2012/065348 WO2013045150A1 (de) 2011-09-26 2012-08-06 Verfahren zur übermittlung von routendaten für die verkehrstelematik

Publications (2)

Publication Number Publication Date
EP2761609A1 EP2761609A1 (de) 2014-08-06
EP2761609B1 true EP2761609B1 (de) 2015-05-27

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EP12743736.6A Active EP2761609B1 (de) 2011-09-26 2012-08-06 Verfahren zur übermittlung von routendaten für die verkehrstelematik

Country Status (7)

Country Link
US (1) US9053631B2 (zh)
EP (1) EP2761609B1 (zh)
KR (1) KR102007181B1 (zh)
CN (1) CN103890823B (zh)
DE (1) DE102011083375A1 (zh)
IN (1) IN2014DN01827A (zh)
WO (1) WO2013045150A1 (zh)

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JP6533675B2 (ja) * 2015-03-16 2019-06-19 アイシン・エィ・ダブリュ株式会社 引継情報送信システム、引継情報送信装置、案内端末、引継情報送信方法、及び引継情報送信プログラム
CN105354221A (zh) * 2015-09-30 2016-02-24 百度在线网络技术（北京）有限公司 路径查询方法及装置
KR101847833B1 (ko) 2015-10-27 2018-04-11 현대자동차주식회사 교통량 예측 시스템, 차량용 표시 장치, 차량 및 교통량 예측 방법
KR101683588B1 (ko) * 2016-04-28 2016-12-07 김성일 운송 수단의 번호판 인식을 이용한 교통 정보 빅데이터 운용 서버
DE102016007567A1 (de) 2016-06-21 2017-12-21 Audi Ag Verfahren zum Betreiben eines zum Ermitteln einer zu befahrenden Trajektorie und/oder zum Durchführen von Fahreingriffen ausgebildeten Fahrzeugsystems, Verfahren zum Betreiben eines Steuerungssystems und Kraftfahrzeug
US10175059B2 (en) 2016-08-30 2019-01-08 Here Global B.V. Method, apparatus and computer program product for a navigation system user interface
US20180188057A1 (en) * 2017-01-03 2018-07-05 International Business Machines Corporation Detecting and simulating a moving event for an affected vehicle
DE102017201514B4 (de) 2017-01-31 2022-11-03 Volkswagen Aktiengesellschaft Verfahren für ein Fahrzeug einer Fahrzeugflotte zur Übertragung von Daten an eine Datenverarbeitungsanlage, Verfahren für eine Datenverarbeitungsanlage zum Übertragen von Daten einer Fahrzeugflotte an die Datenverarbeitungsanlage sowie Fahrzeug
DE102018202970A1 (de) * 2018-02-28 2019-08-29 Robert Bosch Gmbh Verfahren zum Ermitteln einer topologischen Information einer Straßenkreuzung
DE102018209982A1 (de) 2018-06-20 2019-12-24 Robert Bosch Gmbh Verfahren zum Bereitstellen von Daten für ein Fahrzeug
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CN113240925B (zh) * 2021-04-21 2022-02-25 郑州大学 一种考虑交叉口信号灯随机延误影响的出行路径确定方法

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Also Published As

Publication number Publication date
KR20140066200A (ko) 2014-05-30
KR102007181B1 (ko) 2019-08-05
US20140316686A1 (en) 2014-10-23
WO2013045150A1 (de) 2013-04-04
CN103890823B (zh) 2016-08-17
CN103890823A (zh) 2014-06-25
IN2014DN01827A (zh) 2015-05-15
US9053631B2 (en) 2015-06-09
DE102011083375A1 (de) 2013-03-28
EP2761609A1 (de) 2014-08-06

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