EP2892030A1 - Procédé, dispositif et système de péage pour la détection de la présence d'un véhicule sur des tronçons de route - Google Patents

Procédé, dispositif et système de péage pour la détection de la présence d'un véhicule sur des tronçons de route Download PDF

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EP2892030A1
EP2892030A1 EP14075002.7A EP14075002A EP2892030A1 EP 2892030 A1 EP2892030 A1 EP 2892030A1 EP 14075002 A EP14075002 A EP 14075002A EP 2892030 A1 EP2892030 A1 EP 2892030A1
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Prior art keywords
vehicle
primary
xxx
yyy
recognition
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German (de)
English (en)
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EP2892030B1 (fr
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Thomas JESTÄDT Dr.
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Toll Collect GmbH
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Toll Collect GmbH
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
    • G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station

Definitions

  • the invention relates to a method and a device for detecting the passage of sections of road through a vehicle according to the preamble of the respective independent claim.
  • the German toll collection system operated by Toll Collect GmbH uses an on-board unit (OBU), which is carried by the toll vehicle and serves to detect the primary sections of the vehicle being tracked in a detection area. which includes primary sections of the German motorway network.
  • OBU on-board unit
  • location-sensitive primary recognition objects which are each linked to at least one identifier of a primary route section, are stored decentrally in a vehicle device carried by the vehicle.
  • the vehicle device detects at least one sequence of a plurality of consecutive vehicle positions in the detection area in order to check in a first step vehicle positions respectively in an initial primary comparison with location data of primary recognition objects by the vehicle device to a spatial correlation of the vehicle position with a particular primary recognition object.
  • the vehicle device checks in the course of the initial or a post-initial primary comparison of at least one vehicle position and / or at least one further travel measured variable with data of a first specific primary recognition object a certain primary section of track associated with the particular primary recognition object has been traveled. If the initial or post-initial comparison reveals that a particular primary route section linked to the particular primary recognition object has been traveled, the identifier of the particular primary route section in the vehicle device is stored as a vehicle with or without a vehicle-specific route section-specific toll. With the assignment of the vehicle-specific route segment-specific toll fee to the vehicle device by storage in the vehicle device and / or assigned to the vehicle device in a central data processing device, the toll fee is considered to be charged.
  • the German motorway network as the primary road network, covers about 5,000 primary sections of track over an area of approximately 13,000 km, with an average length of 4 km, to which the primary recognition objects are stored in the vehicle equipment.
  • the German federal road network as a secondary road network includes a significant larger number of secondary sections, not only because it is about three times the size of the primary road network at about 40,000 kilometers, but also because there is a significant increase in the number of inflows and outflows, especially in urban areas Departures, each marking the beginning and end of a section.
  • the invention for detecting vehicle and vehicle passing through primary and secondary links in a coverage area provides a method and vehicle equipment in which primary primary track detection objects are stored centrally in the vehicle device and secondary detection objects are decentralized in a central computing device, with vehicle positions, for which the vehicle device could not detect a spatial correlation with a primary recognition object, are stored in the vehicle device before being checked for spatial correlation with one of the centrally provided secondary recognition objects.
  • the invention provides a method for detecting vehicle access by a vehicle in at least one coverage area of primary and secondary links, to the localized primary recognition objects, each associated with at least one identifier of a primary link, decentralized in one of the vehicle entrained vehicle device, which detects at least one sequence of a plurality of consecutive vehicle positions in the detection area, wherein in a first step vehicle positions respectively in an initial primary comparison with location data of primary recognition objects by the vehicle device checked for a spatial correlation of the vehicle position with a particular primary recognition object which is characterized in that to the detection area spatially sensitive secondary detection objects, each with at least one identifier in a second step, vehicle positions for which no spatial correlation with a primary recognition object was determined in the initial primary comparison of the first step by the vehicle device in a secondary data Storage mode of operation of the vehicle device are stored as secondary vehicle positions at least temporarily in the vehicle device, and in a third step stored secondary vehicle positions are respectively checked in an initial secondary comparison with location data centrally provided secondary recognition objects on a spatial correlation of the
  • the vehicle device thus advantageously automatically recognizes which vehicle positions it must store as secondary vehicle positions so that they are available for later secondary comparison with secondary recognition objects that are not present on the vehicle device.
  • both the secondary vehicle locations and the selected secondary detection objects may be used to manage and temporarily store only those data which are necessary in sections for detecting the passage of secondary sections of an individually traveled section of the detection area.
  • primary sections are advantageous, but not mandatory, the sections of a parent road network with streets of several lanes per direction (for example, highways), and secondary sections the sections of a sub-road network with roads, of which the number of lanes for each direction usually not greater as one is (for example federal highways).
  • Other criteria such as the structural separation and the structural unit of the two lanes or exceeding and falling below a certain traffic density in the size of the number of vehicles that drive the respective sections per unit time, serve to define primary and secondary sections.
  • primary and secondary track sections are distinguished from one another by the different memory locations of the recognition object that is used to identify them:
  • Primary recognition objects which are linked to primary track sections are stored in the vehicle device in a decentralized manner, but not necessarily exclusively;
  • Secondary recognition objects associated with secondary links are in each case-though not necessarily exclusive-centrally stored in the central data processing device.
  • the primary recognition objects are those recognition objects which are decisive as to whether vehicle positions are subsequently subjected to a comparison with secondary recognition objects after comparison with the primary recognition objects.
  • the comparison with primary recognition objects is the first (primary) comparison of a vehicle position with a recognition object.
  • link segments may also be arbitrarily divided into primary and secondary link segments, for example at random, and even in different ways for different vehicle devices and at different and varying time periods in different partitions.
  • the division is made by the central data processing device and a corresponding set of primary recognition objects transmitted from the central data processing device to the vehicle device which replaces the optionally existing on the vehicle device set of primary recognition objects. This manipulation of the vehicle device can be prevented or any tampering with the vehicle device can be detected faster.
  • the number of primary route sections is greater than the number of secondary route sections.
  • the number of primary detection objects stored to the detection area in the vehicle device is greater than the number of secondary detection objects stored to the detection area in the central data processing device.
  • the primary and secondary detection objects each comprise at least one georeferenced geometric object characterized at least by location data, wherein the primary and secondary comparisons of vehicle positions with primary and / or secondary detection objects include a check as to whether the vehicle position is georeferenced by the location data of the respective georeferenced geometric object Object defined detection area lie.
  • Such georeferenced geometric objects are also referred to as geo objects for short. They are each characterized by at least one first geographical position defining their position and by at least one second geographical position or relative length value which, in combination with the first geographical position, defines the size and / or orientation of the geo-object.
  • the recognition circuit with a center at the first geographical position and a length value for the radius and the detection line whose end points are given by the first and the second geographical position.
  • the recognition line as a one-dimensional recognition object can be extended by a length value to a rectangle with rounded corners as a two-dimensional recognition object whose edge always has a distance from the recognition line to the size of the length value (hereinafter referred to as "round corner").
  • the length value can also be specified in general for each recognition object within the framework of a computer program product for carrying out the method according to the invention and thus implicitly part of the recognition object without being explicitly part of the recognition object.
  • the geo-objects are preferably positioned to intersect the sections of track that are to be recognized.
  • the detection line as a virtual toll gate span a toll road in a stretch of road and a primary detection circuit include a node as a junction of two immediately adjacent primary sections along with their ups and downs to roads of the secondary road network.
  • recognition regions are defined as subregions of the coverage area in which vehicle positions can be relevant for detecting the driving of primary and secondary road sections.
  • Vehicle locations that are within the primary detection areas defined by primary geo objects of the primary detection object are considered primary vehicle locations that are not associated with secondary detection objects because the secondary geo objects of the secondary detection objects do not overlap with the primary detection objects. Except for an exception described below, various primary geo-objects do not overlap and do not overlap different secondary geo-objects.
  • the detection area is a lake with islands of primary geo-objects, where secondary vehicle positions are stored on the water during movement and primary vehicle positions are detected when moving over the land of the islands (see island model).
  • the geographic locations of the geo-objects and the vehicle locations are each represented, detected, processed and stored as a pair of longitude and latitude coordinates, for example in units of millibose seconds, respectively.
  • At least one further route measurement variable and / or at least one sequence of at least one further route measurement variable is detected by the vehicle device in connection with the vehicle positions and / or determined from the detected vehicle positions.
  • These further travel measurement variables include the direction of travel, the vehicle speed, the acquisition time of the vehicle position and the identifier of the last traveled recognition object or geo-object.
  • the direction of travel can either be obtained as so-called heading from the signals of satellites of a Global Navigation Satellite System (GNSS) or by comparing two or more consecutive vehicle positions. The combination and, if appropriate, weighted averaging of both methods for determining the direction of travel is possible.
  • GNSS Global Navigation Satellite System
  • the vehicle speed may be obtained from either the Doppler frequency shift of the satellite signals or the quotient of the spatial separation of two consecutive vehicle positions and the time interval of the detection times of these two consecutive vehicle positions. The combination and possibly weighted averaging of both methods for determining the vehicle speed is possible. These further (secondary) Fahrwegmessieren can be used to detect the driving of sections of track, if the vehicle positions as (main) Fahrwandensize not meaningful enough to make a decision in favor of or against a drive on a section.
  • the recognition object comprises at least one additional, data-dependent secondary recognition variable, which has a reference angle together with angular tolerance range for the direction of travel and / or a reference identifier of a previously traveled geo-object (or, more generally, recognition object) in addition to the spatially data-dependent main recognition variable of the geoobject.
  • the recognition rule defined for a particular link includes a sufficient recognition condition or multiple necessary recognition conditions that are sufficient in combination with each recognition condition for coincidence of data from one or more guideway metrics with recognition size data or a series of several recognition quantities of the recognition object within a predetermined maximum deviation, and a consequence or several consequences resulting from the satisfaction of the sufficient recognition conditions, a consequence of which is the recognition of the travel of the route segment linked to the recognition variable or the series of recognition variables.
  • any further travel measurements detected or determined in connection with the secondary vehicle positions may at least temporarily be stored as secondary travel measures in the vehicle device and used to detect secondary carriage sections in the third method step according to the invention become.
  • Embodiments of the inventive method provide that the storage of secondary position data in the vehicle device in a secondary data non-storage operating mode of the vehicle device is omitted, wherein the vehicle device due to the result of a first initial or post-initial primary comparison of at least one vehicle position and / or at least one other A path metric having data of a first designated primary recognition object that has traveled a first designated primary link associated with the first designated primary recognition object, changes from the secondary data storage mode to the secondary data non-memory mode and due to the result of a second initial or post-initial primary comparison of at least one vehicle position and / or at least one further Fahrwegmessucc with data of a second specific primary detection object, that no second primary primary section assigned to the second specific primary detection object has been traveled, changes from the secondary data non-storage operating mode to the secondary data storage operating mode.
  • the storage of secondary position data in the vehicle device in a secondary data non-storage operating mode of the vehicle device is omitted, the vehicle device due to the result of a first initial or post-initial primary comparison of at least one vehicle position and / or at least one other
  • a path metric having data of a first designated primary detection object that has not traveled a first designated primary section associated with the first designated primary detection object changes from the secondary data non-storage mode to the secondary data storage mode and due to the result of a second initial or post-primary primary comparison of at least a vehicle position and / or at least one further Fahrwegmessucc with data of a second specific primary detection object that m the second particular primary link associated with the second particular primary detection object has traveled from the secondary data storage mode of operation to the secondary data non-memory mode of operation.
  • Post-initial comparisons are each temporally downstream of an initial comparison. As a rule, they are only used if the initial comparison is not sufficient to detect a tracing of the route section linked to the recognition object.
  • the storage of secondary position data is restricted to sections of the detection area which are not accompanied by a primary Section of the route. This can advantageously be dispensed with an unnecessary storage of secondary position data and the secondary comparison of the third method step according to the invention.
  • the change from the secondary data storage operating mode to the secondary data non-storage operating mode occurs when in the secondary data storage operating mode, the driving of a primary route section has been detected because no secondary route sections can be used on the primary route sections.
  • the change from the secondary data non-storage operation mode to the secondary data storage operation mode is made when it is detected in the secondary data non-storage operation mode that no primary road section has been traveled by a primary recognition object determined in the primary comparison because this detection corresponds to the primary road network of has been left on primary sections of the route, making it necessary to test the route for driving on secondary sections outside the primary road network.
  • the first sections correspond to bridges between the islands of primary recognition objects. As long as these bridges are used as part of the land-based land transport, there is no storage of secondary position data, which only occurs on waterborne maritime traffic.
  • a change from the secondary data non-storage operation mode to the secondary data storage operation mode is made in the image of the sea-island model in the island-side landing from the island to the lake, a change from secondary data storage mode to the secondary data non-storage mode after sea-side landing of the See on the island when a bridge is used to reach a neighboring island, that is: the land route and not the sea route.
  • Hybrid primary recognition objects are primary recognition objects that are also linked to at least one identifier of a secondary route section in addition to at least one identifier of a primary route section.
  • Such hybrid recognition objects are, for example, those which comprise a recognition circuit as the main recognition variable, which comprises a node as a connection point between two directly adjoining primary and secondary route sections.
  • a node is given, for example, wherever it is possible to drive from a secondary route section to a primary route section or to depart from a primary route section to a secondary route section.
  • the primary recognition object may include a primary secondary recognition amount (eg, a primary heading reference angle) associated with the identifier of the primary link and a secondary secondary recognition value (eg, a secondary heading reference angle) associated with the identifier of the secondary link.
  • a primary secondary recognition amount eg, a primary heading reference angle
  • a secondary secondary recognition value eg, a secondary heading reference angle
  • Embodiments of the method according to the invention can provide that, in the first initial or in a post-initial primary comparison of at least one vehicle position and / or at least one further travel measured variable with data of a first specific hybrid primary recognition object, it is checked that a hybrid primary recognition object determined with the first the first linked secondary section was used.
  • Hybrid primary recognition objects can advantageously reduce the number of secondary recognition objects.
  • Supplementary secondary detection objects are secondary detection objects whose secondary geo-objects each spatially overlap or are identical to the primary geo-object of a supplementary primary detection object.
  • Supplementary secondary recognition objects are alternatives to the hybrid primary recognition objects in that they compensate for the lack of primary recognition objects in possible links to secondary links by providing another recognition object having this linkage.
  • Supplementary secondary recognition objects can be displayed if the recognition rule, which is used to distinguish between secondary and primary route sections based on hybrid primary recognition objects, is so complex that it is more data and / or computation time, two separate recognition rules with supplementary primary and secondary detection objects.
  • Embodiments of the method according to the invention provide that vehicle positions for which a spatial correlation with a particular primary recognition object has been determined in the first step in the initial primary comparison of the first step are at least temporarily stored by the vehicle device as primary vehicle positions in a first data storage area of the vehicle device and storing stored primary vehicle positions in a further step as secondary vehicle positions by the vehicle device in a second data storage area of the vehicle device when in the course of a post-initial primary comparison of at least one stored primary vehicle position or at least one further travel metric with data of the particular primary recognition object has been determined by the in-vehicle device that determines not assigned to the particular primary recognition object he was driven on the primary section of the route.
  • hybrid primary recognition objects are checked in the course of the secondary comparison for a spatial correlation with secondary vehicle positions and / or on the basis of secondary travel measured variables in general for a driving of a secondary route section.
  • This data volume can be saved in the course of the transfer of selected secondary recognition objects of the central data processing device to the vehicle device.
  • this measure can be used to generate secondary vehicle positions that can be checked for spatial correlation with parallel secondary recognition objects, and / or (in general) sequences of secondary driving measurements that are generated on the basis of parallel secondary recognition objects the possible driving of a secondary section of the route is checked.
  • a decentralized detection comprising at least one stored secondary vehicle position by the vehicle device in an intermediate step preceding the second step and third step by means of a mobile radio communication device included in the vehicle device the central data processing device is sent, the central data processing device based on the received at least one secondary Vehicle position determined from a plurality of secondary detection objects, a set of selected secondary detection objects whose location data spatially correlate with the secondary vehicle position to a predetermined extent, and sends the selected secondary detection objects together with the associated identifiers of the secondary sections to the vehicle device, and the vehicle device receives the selected secondary detection objects and at least temporarily stores them in the vehicle device to perform in the third step the initial secondary comparison of secondary vehicle positions with respect to the selected secondary detection objects.
  • the initial secondary comparison may already be sufficient to clearly identify the driving or non-driving of a secondary section of the route. If the initial secondary comparison is not sufficient for this recognition, then in a post-initial secondary comparison of secondary travel measures with data of secondary recognition objects-for example with data of a secondary secondary recognition variable-this recognition can be completed.
  • the vehicle device preferably deletes at least the received selected secondary recognition objects from the vehicle device after it has carried out the third method step according to the invention.
  • the deletion occurs after the initial or post-initial secondary comparison has resulted in the result of driving or not following a secondary route section.
  • the secondary vehicle positions and / or secondary path measurements that were subjected to the comparison with the selected secondary detection objects are also deleted.
  • the number of selected secondary detection objects received by the central data processing device is less than the number of primary detection objects stored to the detection area in the vehicle device.
  • a central recognition may be provided for carrying out the third method step according to the invention, comprising a set of several stored secondary vehicle positions by the vehicle device in an intermediate step preceding and following the second step by means of a sent by the vehicle device mobile communication device is sent to the central data processing device, and the central data processing device performs the initial secondary comparison of received secondary vehicle positions with location data of the selected secondary recognition objects in the third step.
  • the initial secondary comparison may already be sufficient to clearly identify the driving or non-driving of a secondary section of the route. If the initial secondary comparison is not sufficient for this recognition, then in a post-initial secondary comparison of secondary travel measures with data of secondary recognition objects-for example with data of a secondary secondary recognition variable-this recognition can be completed.
  • a sequence of secondary route measurement quantities can be transmitted from the vehicle device to the central data processing device and / or generated by the central data processing device from the received secondary vehicle positions.
  • the central data processing device sends a response message to the vehicle device for all those secondary vehicle positions of the set of stored secondary vehicle positions for which the implementation of the third step was provided.
  • This response message may include information about the secondary links (for example, the identifiers of the secondary links) for which a run was detected in the course of the initial or post-initial secondary comparison, or contain information that in the course of the initial or post-initial Secondary comparison, no secondary passage was detected.
  • the vehicle device deletes stored secondary vehicle positions from the vehicle device after receiving the response message. In each case a plurality of secondary vehicle positions can be combined to form a common average secondary vehicle position, which are stored instead of the original secondary vehicle positions for documentation purposes.
  • a central detection may be provided in addition to the decentralized detection already described in order to carry out a central-side check of the decentralized detection of the vehicle device after the vehicle device has transmitted the result of the decentralized detection to the central data processing device, wherein in the case of a discrepancy of the result of the central Detection of the result of the decentralized detection by the central data processing device, an error signal is generated.
  • the central data processing device automatically recognizes on the basis of the number of received vehicle positions, whether it remains (in particular with respect to the vehicle device) in a central recognition operating mode or changes into this, or if it remains in a decentralized detection operating mode or changes in this , If, for example, it only receives a single vehicle position from the vehicle device, then the central data processing device automatically decides to remain in the decentralized detection operating mode or to change to it.
  • the central data processing device automatically decides to remain in the central recognition mode of operation or to change to it.
  • the central data processing device may interpret a corresponding command or code from the vehicle device as to which detection mode of operation it is to apply to the secondary vehicle positions involved.
  • the vehicle device can determine in which recognition operating mode it has to remain or in which it has to change.
  • the vehicle device can automatically recognize in which of the detection operating modes it is used for the respective detection area by comparing the associated central or decentralized detection operating mode with comparison of the detected vehicle positions with location data defining the respective detection area, using one of several detection areas has to work.
  • the invention provides a vehicle device for detecting the driving of at least primary sections by a vehicle in a detection area comprising primary and secondary sections, the at least one position determination device for determining a plurality of successive vehicle positions of the vehicle, at least one mobile communication device for communicating with a central data processing device, at least one decentralized data storage arrangement comprising one or more decentralized data memories, in which location-sensitive primary recognition objects, which are each linked to at least one identifier of a primary link section, are stored, and at least one decentralized processor, which is configured, of the position determination device transmitted vehicle positions each in an initial primary comparison with location data p in a secondary data storage operating mode of the vehicle device vehicle positions, for each in the initial primary comparison no spatial correlation with a primary Detection object has been determined to store as secondary vehicle positions at least temporarily in the decentralized data storage device, and to transfer from the stored secondary vehicle positions at least one secondary vehicle position to the mobile communication device for sending the at least one secondary vehicle position to the central data processing device.
  • detected vehicle positions can be stored before the initial primary comparison in a first decentralized data memory of the decentralized data storage device, for example, the memory of the decentralized processor primary detection objects together with their associated identifiers of the primary sections in a second decentralized data memory of the decentralized data storage device, such as a EEPROM, and the secondary vehicle positions in a third decentralized data memory of the decentralized data storage device, such as a removable from the vehicle device memory card.
  • a first decentralized data memory of the decentralized data storage device for example, the memory of the decentralized processor primary detection objects together with their associated identifiers of the primary sections in a second decentralized data memory of the decentralized data storage device, such as a EEPROM, and the secondary vehicle positions in a third decentralized data memory of the decentralized data storage device, such as a removable from the vehicle device memory card.
  • the position determining means is constituted by a GNSS receiver which receives signals from satellites of a Global Navigation Satellite System (GNSS) and processes them to position data of vehicle positions.
  • GNSS Global Navigation Satellite System
  • the decentralized processor is configured to detect, in addition to the vehicle positions, at least one further route measurement variable and / or at least one sequence of at least one further route measurement variable by the vehicle device in connection with the vehicle positions from the position determination device and / or from the position determination device transmitted vehicle positions to determine from vehicle positions, for each of which was determined in the initial primary comparison of the first step, a spatial correlation with a particular primary recognition object, the corresponding vehicle position as the primary vehicle position and / or at least one further, associated with the corresponding vehicle position, Fahrwegmessiere primary Fahrwegmessdorf at least temporarily in a first data storage area of the decentralized data storage device z u save, and im Secondary data storage mode of operation of the vehicle device to store the secondary vehicle positions in a second data storage area of the decentralized data storage device, wherein the decentralized processor is further configured in the course of an initial or a post-initial primary comparison of at least one primary vehicle position and / or at least one further Fahrrucmessiere Check data of the
  • This provides an advantageous memory concept for primary driving measurements and secondary driving metrics, including secondary vehicle positions, which allows secondary vehicle locations to be stored in a location where they are not overwritten by primary vehicle locations and / or other primary driving metrics used for a post-initial primary comparison is required for the eventual determination as to whether a primary route section has been traveled or has not traveled on a primary route section whose identifier is linked to the specific primary identification object.
  • the distributed processor is configured to, from the mobile communication device, respond to the transmitted at least one secondary vehicle position by a set of a plurality of selected location-sensitive secondary detection objects of the coverage area, each having at least one identifier selected secondary link sections, along with the identifiers of these selected secondary link sections to receive and store in the decentralized data storage arrangement and stored secondary vehicle positions respectively in an initial secondary comparison with location data of selected secondary recognition objects on a spatial vehicle position spatial correlation with a particular selected secondary recognition object to consider.
  • the decentralized processor may additionally be configured to delete the set of stored selected secondary recognition objects from the decentralized data storage device after checking all secondary vehicle positions provided for initial secondary comparison for spatial correlation with the selected secondary recognition objects.
  • the distributed processor is configured to transmit from the stored secondary vehicle positions a set of multiple secondary vehicle positions to the mobile communication device for sending the at least one secondary vehicle position to the central data processing device.
  • the remote processor may be configured to receive from the mobile communication device in response to the dispatched set of multiple secondary vehicle positions a response message having at least one secondary link identifier or information indicating that the second multiple vehicle position being sent is not a secondary identifier Section was determined to receive.
  • the distributed processor may be configured to erase at least some of the stored secondary vehicle locations from the decentralized data storage arrangement in response to the received response message.
  • the device-technical aspect of the invention also provides a toll collection system with a vehicle device according to the invention and a central data processing device that provides at least one central communication device for communication with at least one vehicle device according to the invention at least one central processor for processing secondary vehicle positions and at least one central data storage device comprising one or more central data storage devices in which a plurality of location-sensitive secondary detection objects of the detection area, each associated with at least one identifier of a secondary road section, are stored, wherein the central processor is configured to receive from the central communication device at least one secondary vehicle position.
  • the central processor is configured to determine from the received at least one secondary vehicle position from the plurality of secondary detection objects stored in the central data storage arrangement a set of selected secondary recognition objects whose location data are contained in one spatially correlate given measure with the secondary vehicle position, and to transmit the selected secondary recognition objects together with their associated identifiers of the secondary link sections to the central communication device for sending the set of selected secondary recognition objects together with the identifiers of the selected secondary link sections associated therewith to the vehicle device that has provided the at least one secondary vehicle position.
  • the central processor is configured to map secondary vehicle positions of the received set of multiple secondary vehicle positions into initial secondary comparison with location data of the plurality of secondary detection objects stored in the central data storage arrangement for spatial correlation of the secondary ones Vehicle position with a particular secondary detection object to check. Further, after checking all of the secondary vehicle positions of the set of secondary vehicle positions for which the initial secondary comparison was made to spatially correlate with secondary detection objects, the central processor may be configured to send the response message to the central communication device for dispatch to the vehicle device that provided the set of multiple secondary vehicle positions.
  • the response message may include a set of recognized secondary links for which it may charge a toll to the decentralized processor of the in-vehicle device.
  • this is not mandatory, because the collection of a toll for the use of a secondary section of the route does not have to be done in the vehicle device, but can also be carried out by the central processor of the central data processing device.
  • Fig. 1 The route of a vehicle, not shown is in Fig. 1 represented by a dotted curve. It leads from the secondary section 2S-112 of the main road B1 in the southeast of the illustration over the primary sections 1S-162 and 1S-152 of the Federal Highway A1, secondary sections 2S-227 of the Federal Highway B2 in the west, 2S-474 of the Federal Highway B4 and 2S- 320 and 2S-320 of the B3 national road, through the location-1 and toll-free sections finally on the primary section 1 S-451 of the A4 in the northeast of the figure.
  • each directional lane of the motorways between two nodes where can be ascended to the directional lane or departed from the directional lane, defined as their own primary sections
  • the nodes between two immediately adjacent primary sections of a highway in Fig. 1 are shown as rectangles and the motorway junction between two highways as a square.
  • the details of the Federal highway and federal road designations are purely fictitious, as well as the mentioned numbers of recognition objects, recognition rules and so on, the numbers given in relation to the relations of "greater and less than" in practice are correct.
  • the vehicle carries a vehicle device 100 of the toll system from Fig. 2 with it, which is temporarily via a mobile communication link 200 in the data exchange with a central data processing device 300 of the toll system.
  • the vehicle device 100 may be designed as a so-called on-board unit (OBU) and be permanently installed in the vehicle.
  • OBU on-board unit
  • the vehicle device 100 may alternatively be configured as a portable mobile phone, which does not even have to be mounted in the vehicle in order to contribute to carrying out the recognition method according to the invention in the same way as an on-board unit.
  • the mobile phone can have an on-board unit analog computer program (a so-called toll application).
  • the vehicle device 100 comprises a decentralized data storage device 120 with a RAM as the first decentralized data memory 121, a removable memory card as a second decentralized data memory 122 and an EEPROM as a third decentralized data memory 123, a GNSS position determining device 130 for determining the vehicle positions from signals from satellites of a GNSS, It receives a cellular communication device 140 for partially wireless communication with the central processing device 300, a radio clock 150 for providing a uniform time signal, a DSRC device 160 for dedicated short distance communication with roadside controllers or control vehicles, and a remote processor 110 wired or is wirelessly connected to each of the aforementioned components in a communication formed connection.
  • the third decentralized data memory 123 stores a set of primary recognition objects 1 E-XXX which the
  • the communication connection between the vehicle device 100 and the central data processing device 300 has with the vehicle-device-side mobile communication device 140 (GSM, UMTS, and / or LTE module) a first, decentralized end and with the central-side central communication device 340 in the form of a modem second, central end up. Between both ends, the communication takes place via the mobile radio communication connection 200 between the mobile radio communication connection and a base station 240 (BTS, Node B) of a mobile radio network and via at least one gateway 210 of a wired telecommunication network to the central communication device 340.
  • GSM vehicle-device-side mobile communication device 140
  • UMTS UMTS
  • LTE module vehicle-device-side central communication device
  • the central data processing device 300 comprises, in addition to the already mentioned central communication device 340, a central data storage device 320 with a RAM as the first central data memory 321, a first hard drive as a second central data memory 322 and a second hard drive as a third central data memory 323 and a central processor 310, the wired or is wirelessly connected to each of the aforementioned components in a communication formed connection.
  • the second central data store 322 is a primary database of 5,000 primary recognition records of primary recognition objects 1 E-XXX, each having a primary recognition rule with the primary identifier 1 S-XXX of a primary link segment or multiple primary recognition rules with multiple primary identifiers 1 S-XXX.
  • XXX, 1 S-YYY of a plurality of primary links, and a secondary database of 100,000 secondary recognition records of secondary recognizers 2E-XXX / 2E-XXXX, each having a secondary detection rule with the secondary identifier 2S-XXX of a secondary link or more secondary detection rules are associated with multiple secondary identifiers 2S-XXX, 2S-YYY of multiple secondary links.
  • the recognition data sets each comprise object data (location data and possibly angle data and / or other data) of the recognition object, condition data for the comparison of the object data with the data of the travel measurement variables, and consequence data for the result upon fulfillment of all necessary recognition conditions defined by the condition data, wherein the consequence data for each detection rule comprises an identifier of a route section.
  • a first memory area of the third decentralized data memory 123 is also the primary database of 5,000 primary recognition records of primary recognition objects 1 E-XXX, each having a primary recognition rule with the primary identifier 1 S-XXX of a primary link segment or multiple primary recognition rules with multiple primary identifiers 1 S-XXX, 1 S-YYY of a plurality of primary route sections are linked, which the vehicle device has received from the central data processing device 300 via the mobile radio communication link 200.
  • a second memory area there is a residual memory area in the third decentralized data memory 123, the storage volume of which constitutes one fifth of the first memory area.
  • the position determination device 130 determines vehicle positions and the direction of travel angle every second, which it makes available to the decentralized processor 110. Vehicle locations that are less than 10 meters away from their predecessor vehicle location are discarded by the remote processor without further treatment. With no claim to scale, each point of the route symbolizes Fig. 1 a detected vehicle position of the vehicle.
  • the decentralized processor 110 checks whether it is within the range of one of the primary recognition circuits by primary comparing the vehicle positions with the primary recognition circuits as main recognition quantities of the primary recognition objects 1 E-XXX. On the secondary sections 2S-112, 2S-113, 2S-114 and 2S-115 of the main road B1, this is not the case for the vehicle positions recorded there.
  • the remote processor is in the secondary data storage mode of operation. Until the entry into the primary recognition circuit 1 E-167 all vehicle positions that are on the B1 with sufficient spatial distance to its predecessor are stored as secondary vehicle positions by the remote processor 110 in the second distributed data memory 122. In addition, the heading angles detected with each secondary vehicle position are stored as secondary heading angles in the second remote data memory 122.
  • the remote processor is in decentralized detection mode. Of the set of stored secondary vehicle positions, the first stored secondary vehicle position is determined by a 10-minute elapsed time since the first secondary vehicle position is detected or 10 kilometers of total distance traveled since the first secondary vehicle position was detected by the remote processor 110 Mobile communication device 140 for transmission to the central data processing device 300 transmitted.
  • the central processor 310 receives the first secondary vehicle position from the central communication device 340, which maintains the connection with the vehicle device.
  • the gateway 210 is embodied as an anonymization server which hides the identity of the vehicle device 100 or of the mobile radio communication device 140 with respect to the central data processing device 300.
  • the central processor selects from all the secondary records of the coverage area stored in the second central data store 322 the secondary detection rules of all the recognition objects whose location data are located within a radius of 30 km around the first secondary vehicle location. These are 300 secondary records with secondary detection rules that contain the secondary detection objects 2E-113, 2E-114, 2E-115, 2E-117, 2E-222, and 2E-223, along with their associated secondary links.
  • the selected secondary data sets are transferred from the central processor 310 to the central communication device 340 for transmission to the vehicle device 100.
  • the remote processor 110 receives the selected secondary records from the cellular communication device 140 and stores them in the second data storage area of the third remote data store 123, overwriting the oldest existing secondary records of secondary recognition rules in the second data storage area of the third remote data store 123. For the set of stored secondary vehicle positions, the remote processor 110 now checks, for each secondary vehicle position in the course of an initial secondary comparison, whether the secondary vehicle position spatially coincides with a particular one of the selected secondary recognition objects. This spatial correlation is given to the secondary recognition circuits as the main recognition feature of the secondary recognition objects when the secondary vehicle location is within a particular secondary recognition circle defined by a geographic location of its center and a length value of its radius.
  • the processor determines a spatial correlation with the particular secondary detection objects 2E-113, 2E-114 and 2E-115 as part of the initial secondary comparison.
  • the particular secondary recognition objects 2E-114 and 2E-115 each include two sub-recognition objects of two exit angles with associated tolerance ranges, each associated with one of two secondary linkages via respective recognition conditions.
  • the particular secondary recognition object 2E-113 comprises three sub-recognition objects each of three exit angles with associated tolerance ranges, each associated with one of three secondary linkages (2S-112, 2S-113, S-643) via respective recognition conditions.
  • the remote processor 110 checks whether one and if so which detection condition is met that matches the secondary heading angles of at least two of the last three secondary vehicle locations in the respective secondary detection circle or its mean value with the respective exit angle within the tolerance of + / - 10 degrees associated with the respective exit angle.
  • the respective secondary heading angles correspond, according to the post-initial comparison, to the exit angles associated with the particular secondary links 2S-113, 2S-114 and 2S-115.
  • the remote processor detects these secondary lanes as busy, stores the secondary lanes recognized as fast in the second remote data store 122, and clears or releases the set of compared secondary vehicle positions and secondary vehicle angles for rewriting by new secondary vehicle positions and new secondary heading angles.
  • the decentralized processor 110 charges a toll charge for each of the secondary road sections identified as traveled by storing a charge amount associated with the respective secondary road sections identified as traveled in the second decentralized data store 122.
  • the tolls collected are, under certain conditions, transmitted by the vehicle device 100 to the central data processing device 300 with notification of the identity of the vehicle device or registered vehicle registration mark for payment by a user account linked to the identity of the vehicle device or the registered vehicle registration plate.
  • Vehicle positions and heading angles are temporarily stored as primary vehicle positions and primary heading angles in the first remote data store 121, for which the remote processor 110 determines that they originate from an area within the primary recognition scope of the primary recognition object 1 E-167 in the course of the initial primary comparison.
  • the remote processor 110 determines that the primary link 1 S-162 of the Federal Highway A1 has been traveled.
  • the remote processor switches from the secondary data storage mode of operation to the secondary data non-memory mode of operation.
  • Vehicle positions that are detected on the highway as the journey progresses are not stored as secondary position data, regardless of whether they have been spatially correlated with a primary recognition object in the initial primary comparison.
  • the vehicle passes the virtual boundary G, which is stored as a polygon with corresponding geographical positions in the first memory area of the third decentralized data memory 123. Passing the boundary governs a detection mode change from the decentralized detection mode to the central detection mode when traveling in the south-north direction, and for a detection mode change from the central detection mode to the decentralized detection mode when driving in the north direction. south direction.
  • the distributed processor 110 places the vehicle device 100 from the decentralized detection mode to the central detection mode, which provides that the initial secondary comparison be performed by the central data processing device 300.
  • Vehicle positions for which a spatial correlation with a particular primary recognition object has been determined in the initial primary comparison are stored by the remote processor 110 along with the associated heading angles as primary travel measures in the first remote data store 121 to be followed by post-primary primary comparison with minor recognition variables - here the exit angles - a determination of a driving of one or no primary section of the track to be available.
  • the travel of the primary route section 1 S-152 is detected.
  • the navigation of any primary section of the route - and thus the leaving of the primary road network of motorways - is ascertained.
  • the remote processor switches from the secondary data non-storage mode to the secondary data storage mode and stores primary travel measurements of primary vehicle positions and primary heading angles stored in the first remote data memory 121 as secondary vehicle measurements of secondary vehicle positions and secondary heading angles.
  • the primary recognition object 1 E-145 is a hybrid primary recognition object, in which secondary exit angles are linked as secondary secondary recognition quantities to the secondary linkages 2S-226 and 2S-227, whereby in the course of the post-initial primary comparison decentralized processor driving on the secondary section 2S-227 is detected.
  • a secondary detection object 2E-227 supplementary to the primary detection object 1 E-145 is stored in the central data processing device and is provided centrally for the initial and post-initial secondary comparison.
  • the supplementary primary detection object takes up less memory space in the first memory area of the third decentralized data memory 123 than in the case of the first variant.
  • the second variant is chosen.
  • vehicle positions are stored as secondary vehicle positions by the decentralized processor 110 in the second decentralized data memory 122 in the absence of existing primary recognition objects for this route.
  • a storage of further Fahrbutmessieren remains in the central detection mode of operation, whereby the amount of data to be transmitted to the central data processing device can be significantly reduced.
  • the central processor 310 is configured to determine the heading angles between them by the vectorial subtraction of adjacent vehicle positions from the set of received secondary vehicle positions.
  • primary vehicle positions and primary heading angles are stored by the remote processor 110 as primary travel measurements in the first remote data store 121 to initially post primary initial comparison result in secondary recognition variables to the result that no primary section was traveled at the location of this primary identification object.
  • the primary vehicle positions are stored by the remote processor 110 as secondary vehicle locations in the second remote data store 122 and the primary heading angles and primary vehicle locations are deleted from the first remote data store 121.
  • a total of 1001 secondary vehicle positions are stored until the exit from the closed village of Location 1 in a northerly direction.
  • This number is the trigger for the remote processor 110 to pass a first set of 1001 secondary vehicle positions to the cellular communication device 140 for transmission to the central data processing device 300. Again, the disclosure of the identity of the vehicle device to the central data processing device 300 is blocked by the anonymization server of the gateway 210, leaving the first set of 1001 secondary vehicle positions unassigned. After dispatch of the 1001 vehicle positions and a first individual data record identifier to the central data processing device 300, the decentralized processor 110 instructs the mobile radio communication device 140 to terminate the communication connection to the central data processing device.
  • the central processor 310 successively subjects the 1001 secondary vehicle positions stored in the first central data store 321 to an initial secondary comparison with secondary detection objects to determine those particular secondary detection objects that have spatial correlation with certain secondary vehicle positions within the constraints imposed by the particular secondary Geo objects of the particular secondary recognition objects 2E-227, 2E-475, 2E-321, 2E-320, 2E-319 and 2E-3181 are defined.
  • the central processor 310 determines certain secondary heading angles associated with the determined secondary preceding vehicle positions of the determination pair of particular secondary predecessor and child vehicle positions.
  • the main recognition variables of the particular secondary recognition objects 2E-227, 2E-475, 2E-321 and 2E-320 are secondary geo-objects in the form of recognition circles.
  • the central processor determines that secondary sections 2S-227, 2S-474, 2S-320 and 2S-319 have been traveled.
  • the primary identifiers of the particular secondary detection objects 2E-319 and 2E-3181 within the closed locality location-1 are secondary geo-objects in the form of detection lines spanning roads in their geographical position and with a tolerance range of 30 meters tolerance distance to the detection line surrounding the detection line describe a recognition area in the form of a rectangle of the length of the recognition line and the width of the double tolerance distance LT with half circles placed on both sides in the direction of the length axis from the radius of the tolerance distance LT (round corner).
  • the secondary road section 2S-318 is divided into four secondary road sections, each beginning and / or ending at the junctions of subordinate roads.
  • the transit journey on the B3 through location-1 provides the secondary route section 2S-318 as a whole in full use.
  • a transit journey, which partially uses subordinate roads, provides only partial sections of the secondary route section 2S-318 - a minimum of one and a maximum of three.
  • travel measurement variable traveled recognition object.
  • the central processor 310 determines the coincidence of the heading angles with the exit angle 1 WB1 in a northerly direction in the course of a first post-initial comparison In the course of a second post-initial comparison, the compliance of the last-traveled recognition object with the specification of the first recognition rule, so that the central processor 310 registers the secondary route section with the identifier 2S-318-1 covered by the first recognition rule as being driven.
  • the first set of registered secondary lanes 2S-227, 2S-474, 2S-320, 2S-319 and 2S-328-1 are stored by the central processor 310 associated with the first individual record identifier in the third central data store 322.
  • the distributed processor 110 of the vehicle device 100 is configured to send the identity of the vehicle device or the vehicle registered vehicle along with the first individual record identifier to the central data processing device after a predetermined period of time has elapsed since the first set of secondary vehicle positions or other predetermined conditions 300 to send.
  • the central processor 310 assigns the first set of secondary sections to the vehicle based on the vehicle data stored centrally in the third central data memory under the identity of the vehicle device or the vehicle (maximum permissible total weight, number of axles, pollutant class, etc.) calculate the secondary route sections and raise the toll for the use of the particular secondary sections by linking the tolls with the identity of the vehicle set-up or the vehicle.
  • the central data processing device 300 sends back to the vehicle device 100 a response message with information about the particular secondary route sections (for example in the form of their identifications) to which a toll has been levied.
  • the remote processor 110 initiates deletion of the first set of secondary vehicle locations from the second remote data store 122 or releases the second remote data store 122 memory area to be rewritten with new secondary vehicle locations by the secondary vehicle locations of the first set occupied at secondary vehicle positions.
  • the remote processor has already stored further secondary vehicle positions in the second decentralized data memory 122 as the vehicle progresses, without overwriting the secondary vehicle positions of the first set.
  • the remote processor 110 relocates the vehicle device from the secondary data storage mode to the secondary data non-storage mode, completes and ships the second set of secondary vehicle positions with a stock of 820 secondary vehicle positions the number of 1001 secondary vehicle positions has been reached, together with a second individual data record identifier to the central data processing device 300.
  • the central processor 310 In the course of the initial secondary comparison with the secondary vehicle positions of the second set, the central processor 310 ascertains that the secondary detection object 2E-533 was used as the only secondary detection object, but ascertains that none with the secondary one in the course of the post-initial secondary comparison Recognition object 2E-533 linked secondary section was traveled.
  • the decentralized processor 110 receives from the central data processing device 300 the message that no secondary link section in the course of traveled on the route described by the second set of secondary vehicle positions.
  • the remote processor 110 initiates deletion of the second set of secondary vehicle locations from the second remote data store 122 or releases that memory area of the second remote data store 122 to be rewritten with new secondary vehicle locations occupied by the secondary vehicle locations of the second set of secondary vehicle locations is.

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