SE540125C2 - Vehicle halting position estimation system and method thereof - Google Patents

Abstract

The disclosure relates to vehicle halting position estimation system and a method thereof, comprising a plurality of vehicle monitoring means each comprised in a respective vehicle, estimator means configured to receive vehicle data, pertaining to the respective vehicle, from each of the vehicle monitoring means, estimate at least one vehicle halting position within a vehicle halting area , of at least one of the respective vehicles based on the vehicle data, first indication means configured to receive the at least one estimated vehicle halting position as indication data, and indicate the at least one estimated vehicle halting position based on the indication data.

Description

VEHICLE HALTING POSITION ESTIMATION SYSTEM AND METHOD THEREOF Technical Field The present invention relates to a vehicle halting position estimation system. The inventionfurther relates to a corresponding method, computer program and computer programproduct.

Background Vehicles, and in particular busses and trucks, are typically loaded by one or more users indesignated vehicle halting areas, e.g. by a user boarding a bus at a bus stop or a userloading goods onto a truck at a loading dock. A problem is that the vehic|e's halting area maybe large and it takes time for the user to find and identify the exact vehicle halting positionwithin the vehic|e's halting area, when loading the vehicle. Slow moving users may not reachthe vehicle in time before it departs, which is particularly relevant for disabled users in awheelchair, elderly users or users pushing a pram or the like.

WO201498373 describes a method to show estimating a stop order at a bus stop for a targetbus by using location information of the vehicle.

US20120249340 describes a method for indicating information on the estimated arrival timesand positions of a bus on a user's mobile terminal and on a display at a bus stop.

US20110221615 describes a system for informing public transport vehicle arrival informationincluding a plurality of on-board devices installed on respective public transport vehicles.

However, none of the conventional systems further reduces the time required to load thevehicle.

Thus, there is a need for an improved system and method for estimating a vehicle haltingposition.

Objects of the inventionAn objective of embodiments of the present invention is to provide a solution which mitigatesor solves the drawbacks and problems of conventional solutions. 1 Yet an object of the invention is to provide a system for estimating a vehicle halting positions,which further reduces the loading time of the vehicle.

Yet an object of the invention is to provide method for a system for estimating a vehiclehalting positions, which further reduces the loading time of the vehicle.

Summary of the invention The above and further objectives are achieved by the subject matter of the independentclaims. Further advantageous implementation forms of the invention are defined by thedependent claims.

According to a first aspect of the invention, the above mentioned and other objectives areachieved with a vehicle halting position estimation system, the system comprising a pluralityof vehicle monitoring means each comprised in a respective vehicle, estimator means 110configured to receive vehicle data, pertaining to the respective vehicle, from each of thevehicle monitoring means, estimate at least one vehicle halting position within a vehiclehalting area, of at least one of the respective vehicles based on the vehicle data, firstindication means configured to receive the at least one estimated vehicle halting position asindication data, and indicate the at least one estimated vehicle halting position based on theindication data.

An advantage of the first aspect is to reduce the loading time of the vehicle by indicating atleast one estimated vehicle halting position within a vehicle halting area to a user. ln a first possible implementation form of vehicle halting position estimation system accordingto the first aspect, the first indication means is arranged at the vehicle halting area.

An advantage of this implementation form is that an early warning or indication may be givento users present at the vehicle halting area, such as a bus stop. A further advantage of thisimplementation form is that the stress level of a user may be reduced as the user, afterreceiving the indication, may place him- or her at the estimated vehicle halting position. Afurther advantage is that the probability that a user do not reach the vehicle before departureis reduced, e.g. less chance to miss the bus. ln a second possible implementation form of vehicle halting position estimation systemaccording to any of the preceding implementation forms of the first aspect or the first aspect as such, the estimator means is further configured to estimate vehicle halting positions further indicating door positions of the vehicle.

An advantage of this implementation form is that the loading time of the vehicle is furtherreduced by indicating the exact loading position within a vehicle halting area to a user, e.g. to a slow moving user such as a user pushing a pram. ln a third possible implementation form of vehicle halting position estimation systemaccording to any of the preceding implementation forms of the first aspect or the first aspectas such, the estimator means is further configured to estimate vehicle halting positions byestimating an arrival sequence of each respective vehicle to the vehicle halting area, at leastbased on the vehicle data, and, estimate the at least one vehicle halting position furtherbased on the arrival sequence.

An advantage of this implementation form is that the loading time may further be reduced asloading positions of multiple vehicles can be estimated. ln a fourth possible implementation form of vehicle halting position estimation systemaccording to any of the preceding implementation forms of the first aspect or the first aspectas such, the estimator means is further configured to obtain occupancy information, whereinthe occupancy information indicate areas within the halting area (200) that are occupied,and, estimate the at least one vehicle halting position (201-203) further based on the occupancy information.

An advantage of this implementation form is that the vehicle halting positions for vehicles ofdifferent lengths may be estimated. ln a fifth possible implementation form of vehicle halting position estimation system accordingto any of the preceding implementation forms of the first aspect or the first aspect as such,the estimator means is further configured to obtain vehicle routing properties, and, estimatethe vehicle halting positions of each of the respective vehicles further based on said vehiclerouting properties.

An advantage of this implementation form is that the vehicle halting position indication errorrate is reduced by factoring in conditions along the vehicles intended route. ln a sixth possible implementation form of vehicle halting position estimation systemaccording to any of the preceding implementation forms of the first aspect or the first aspectas such, the first indication means is further configured to obtain a geographical map and/orschematics of the vehicle halting area , and, indicate the estimated vehicle halting positionsof each of the respective vehicles by indicating said estimated vehicle halting positions 201-203 overlaid on the geographical map and/or the schematics of the vehicle halting area 200. ln a seventh possible implementation form of vehicle halting position estimation systemaccording to any of the preceding implementation forms of the first aspect or the first aspectas such, the estimator means is further configured to obtain a geographical map and/orschematics of the vehicle halting area, and, generate indication data IND further indicative ofthe at least one vehicle halting position overlaid on the geographical map and/or theschematics of the vehicle halting area.

An advantage of the sixth and seventh implementation form is that the loading time mayfurther be reduced by increasing the understanding of the user. ln an eighth possible implementation form of vehicle halting position estimation systemaccording to any of the preceding implementation forms of the first aspect or the first aspectas such, the first indication means is a selection of an digital information display, asmartphone, a light projector and lights embedded in the surface of the vehicle halting area.

An advantage of this implementation form is that the loading time may further be reduced byincreasing the understanding of the user. ln a ninth possible implementation form of vehicle halting position estimation systemaccording to the first implementation form of the first aspect or the first aspect as such, thesystem further comprising at least one second indication means arranged at a drivingposition of at least one of the respective vehicles and configured to indicate the at least oneestimated vehicle halting position based on the indication data.

An advantage of this implementation form is that the vehicle halting position indication errorrate is reduced by directing the driver of the respective vehicle to the vehicle halting positionwithin the vehicle halting area. l.e. the risk that the driver will ignore or somehowmisunderstand halting rules at the vehicle halting area is therefore reduced. ln an tenth possible implementation form of vehicle halting position estimation systemaccording to any of the preceding implementation forms of the first aspect or the first aspectas such, the estimator means is configured to estimate a vehicle halting position within thevehicle halting area for each of the respective vehicles, the system further comprising aplurality of second indication means arranged at a driving position of each of the respectivevehicles and each configured to indicate the estimated vehicle halting position of therespective vehicle.

An advantage of this implementation form is that the probability that the estimated vehiclehalting positions change repeatedly, e.g. due to the traffic situation of the individual vehicles,is reduced.

According to a second aspect of the invention, the above mentioned and other objectives areachieved with a method for a vehicle halting position system comprising a plurality of vehiclemonitoring means each comprised in a respective vehicle, estimator means and firstindication means, the method comprising the steps receiving vehicle data, pertaining to the respective vehicle, from each of the vehiclemonitoring means, estimating at least one vehicle halting position within a vehicle halting area, of at least one ofthe respective vehicles based on the vehicle data, receiving the at least one estimated vehicle halting position as indication data, and indicating the at least one estimated vehicle halting position based on the indication data. ln an first possible implementation form of the method according to the second aspect,receiving the at least one estimated vehicle halting position is performed by the firstindication means arranged at the vehicle halting area. ln a second possible implementation form of the method according to any of the precedingimplementation forms of the second aspect or the second aspect as such, the estimatedvehicle halting positions as indication data further indicates door positions of the vehicle. ln a third possible implementation form of the method according to any of the precedingimplementation forms of the second aspect or the second aspect as such, the step ofestimating vehicle halting positions is performed by estimating an arrival sequence of eachrespective vehicle to the vehicle halting area, at least based on the vehicle data, and,estimating the at least one vehicle halting position further based on the arrival sequence. ln a fourth possible implementation form of the method according to any of the precedingimplementation forms of the second aspect or the second aspect as such, the step ofestimating vehicle halting positions is performed by obtaining occupancy information,wherein the occupancy information indicate areas within the halting area that are occupied,and, estimating the at least one vehicle halting position further based on the occupancy information. ln a fifth possible implementation form of the method according to any of the precedingimplementation forms of the second aspect or the second aspect as such, the step ofestimating vehicle halting positions is further performed by obtaining vehicle routingproperties, and; estimating the vehicle halting positions of each of the respective vehiclesfurther based on said vehicle routing properties. ln a sixth possible implementation form of the method according to any of the precedingimplementation forms of the second aspect or the second aspect as such, the method furthercomprises obtaining a geographical map and/or schematics of the vehicle halting area, andwherein indicating is performed by indicating said estimated vehicle halting positions overlaidon the geographical map and/or the schematics of the vehicle halting area. ln a seventh possible implementation form of the method according to any of the precedingimplementation forms of the second aspect or the second aspect as such, indicating the atleast one estimated vehicle halting position is performed by at least one second indication meanS. ln an eighth possible implementation form of the method according to any of the precedingimplementation forms of the second aspect or the second aspect as such, the step ofestimating comprises estimating a vehicle halting position within the vehicle halting area foreach of the respective vehicles and the step of indicating comprises indicating the estimatedvehicle halting position of each of the respective vehicles.

The advantages of the methods according to the second aspect are the same as for thecorresponding system according to the first aspect.

According to a third aspect of the invention, the above mentioned and other objectives areachieved with a computer program comprising computer-executable instructions for causinga system comprising estimator means and indication means to perform the method according to any of the forms of the second aspect or the second aspect as such, when the6 computer-executable instructions are executed on a processing unit comprised in the estimator means and/or in the indication means.

According to a fourth aspect of the invention, the above mentioned and other objectives areachieved with a computer program product comprising a computer-readable storagemedium, the computer-readable storage medium having the computer program according tothe third aspect embodied therein.

Further applications and advantages of embodiments of the invention will be apparent fromthe following detailed description.

Brief description of the drawings Fig. 1 schematically illustrates a vehicle halting position estimation system according to anembodiment of the present invention.

Fig. 2 illustrates an example of first indication means arranged at a vehicle halting areaaccording to an embodiment of the present invention.

Fig. 3 illustrates an example of estimating halting positions based on an arrival sequenceaccording to an embodiment of the present invention.

Fig. 4 illustrates an example of estimating halting positions based on occupancy informationand/or occupancy data according to an embodiment of the present invention.

Fig. 5 schematically illustrates a plurality of second indication means each arranged at adriving position of a respective vehicle according to an embodiment of the present invention.Fig. 6 schematically illustrates signaling between nodes in the vehicle halting positionestimation system.

Fig. 7 schematically illustrates a block diagram of a method for a vehicle halting positionsystem according to an embodiment of the present invention.

Fig. 8 schematically illustrates a computer device according to an embodiment of the invenfion.

Detailed description Fig. 1 schematically illustrates a vehicle halting position estimation system 100 according toan embodiment of the present invention. The vehicle halting position estimation system 100may comprise a plurality of vehicle monitoring means each comprised in a respective vehicle121-123, such as a bus or a truck. The vehicle halting position estimation system 100 mayfurther comprise estimator means 110. The vehicle halting position estimation system 100may further comprise at least a first indication means 130. The vehicle halting position 7 estimation system 100 may further optionally comprise a wireless communications network140, e.g. a GSM, UMTS, LTE or LTE advanced communications network or any otherwireless communication network known in the art. The vehicle monitoring means maycomprise a computer device 800, as further described in relation to Fig. 8, e.g. in the form ofan on-board computer. The estimator means 110 may comprise a computer device 800, asfurther described in relation to Fig. 8, e.g. in the form of a computer server. The firstindication means 130 may comprise a computer device 800, as further described in relationto Fig. 8, e.g. in the form of a digital information screen and/or a LED screen and/or asmartphone. Each of the vehicle monitoring means may be configured to receive and/orobtain and/or measure physical properties pertaining to the respective vehicle 121-123 andsend vehicle data VD1-VD3 indicative of the physical properties to the estimator means 110.ln an example, the physical properties may be vehicle position, vehicle speed, vehiclepitch/yaw/roll accelerometer information, vehicle door status, total vehicle loading weight,vehicle fault/status codes or any other property pertaining to the respective vehicle 121-123.The estimator means 110 may be configured to receive the vehicle data VD1-VD3, pertainingto the respective vehicle 121-123, from each of the vehicle monitoring means. ln an example,the vehicle data VD1-VD3 may be in the form of a data structure and/or a table. Theestimator means 110 may further be configured to estimate at least one vehicle haltingposition 201-203 within a vehicle halting area 200, of at least one of the respective vehicles121-123 based on the vehicle data VD1-VD3. ln one example the vehicle halting area 200 isan elongated bus stop and the halting position 201-203 indicate that the bus will halt at afront position, a middle position or at a rear position at the vehicle halting area 200, as furtherdescribed in relation to Fig. 2. The estimator means 110 may further be configured togenerate indication data IND at least based on the at least one vehicle halting position 201-203 within a vehicle halting area 200. ln an example, the indication data IND may be in theform of a data structure and/or a table. The estimator means 110 may further be configuredto send the indication data IND, e.g. as a wireless signal to the first indication means 130.The first indication means 130 may be configured to receive the at least one estimatedvehicle halting position 201-203 as indication data (IND), e.g. from the estimator means(110). The first indication means 130 may further be configured to indicate the at least oneestimated vehicle halting position (201-203) based on the indication data IND, e.g. indicatethe at least one vehicle halting position 201-203 within a vehicle halting area 200 to a userabout to board a bus at a bus stop or to a user about to load goods onto a truck. ln a further embodiment, the first indication means 130 is arranged at the vehicle halting area200. ln one example, the first indication means 130 is a digital information display arrangedat a bus stop, as further described in Fig. 2.

Fig. 2 illustrates a non-Iimiting example of how first indication means 130 are arranged at avehicle halting area 200 according to an embodiment of the present invention. The firstindication means 130 is in Fig. 2 illustrated as a digital information display arranged at avehicle halting area 200 such as a bus stop. lt should be understood that the disclosure isnot limited to this embodiment and the may as well be a smartphone, a tablet computer, alaser projector, lights embedded in the surface, or any other suitable indication means. ln theexample, at a given moment, a second and a third respective vehicle 122, 123 are halted atthe vehicle halting area 200 and occupying a front position 203 and a rear position 201 at thevehicle halting area 200, e.g. predetermined uniform halting positions. A first respectivevehicle 121 is about to arrive at the vehicle halting area 200 and travel in a direction of travel210. The estimator means 110 will then receive vehicle data VD1-VD3, pertaining to each ofthe respective vehicle 121-123, from each of the vehicle monitoring means, e.g. physicalproperties such as the vehicle position of each of the respective vehicles 121-123. Theestimator means may then estimate the halting position of the first vehicle 121 within thevehicle halting area 200 as the middle position 202, as the vehicle data VD2-VD3 indicatesthat the second vehicle 122 is halted at the rear position 201 and the third vehicle 123 ishalted at the front position 203. The first indication means 130 then receives the haltingposition 202 as indication data IND, e.g. as a data structure (“Bus 121”, “lVliddle position”),and indicates the halting position on the digital information display, e.g. presenting the text“Bus 121 arriving in the middle position” to a user/passenger waiting for the first vehicle 121. ln some situations several respective vehicles are on their way to the vehicle halting area200. Thus, in an embodiment, the estimator means 110 may further be configured toestimate an arrival sequence of each respective vehicle 121-123 to the vehicle halting area200, at least based on the vehicle data VD1-VD3, where estimating the at least one vehiclehalting position 201-203 is further based on the arrival sequence.

Fig. 3 illustrates an example of estimating vehicle halting positions based on an arrivalsequence according to an embodiment of the present invention. ln the example illustrated inFig. 3, the vehicle data at least indicates physical properties pertaining to the respectivevehicle in the form of a vehicle position, e.g. a GPS position, and vehicle routing properties inthe form of a predetermined vehicle route, e.g. road vectors with expected average speed,for each of the respective vehicles 121-123. Before the vehicles 121-123 reach the vehiclehalting area 200, an arrival sequence of each respective vehicle 121-123 to the vehiclehalting area 200 may then be calculated and/or estimated, e.g. as a data structure indicating a vehicle ID and an arrival time. The arrival sequence may be calculated and/or estimated9 based on the physical properties and the vehicle routing properties, i.e. the vehicle positionand the predetermined vehicle route, in manners known in the art. An example of an arrivalsequence may be a data structure such as a list, e.g. as {(“Bus 123”, 12:41:00), (“Bus 122”,12:42:00), (“Bus 121”, 12:44:00)}. Using halting rules, e.g. a predetermined halting rule toalways drive as far as possible along the direction of travel 210 within the vehicle halting area200 before halting, the halting position of each of the respective vehicles 121-123 may beestimated. As illustrated in Fig. 2, the halting position may then be estimated as the frontposition for the third respective vehicle 123, the middle position for the second respectivevehicle 122 and the rear position for the first vehicle.

The respective vehicles may further be of different lengths, e.g. a standard city bus and anarticulated bus. Thus, the varying lengths do not map well to uniform halting positions, suchas front, middle and rear positions. This problem is addressed by a further embodiment ofthe disclosure. ln an embodiment, the estimator means 110 may further be configured to: obtain occupancy information and/or occupancy data, wherein the occupancyinformation/data indicate areas within the halting area 200 that are occupied, where estimate the at least one vehicle halting position 201-203 is further based on the occupancyinformation and/or occupancy data.

Fig. 4 illustrates an example of estimating halting positions based on occupancy informationand/or occupancy data according to an embodiment of the present invention. ln the example,at a given moment, a second respective vehicle having a vehicle length L3 and a thirdrespective vehicle 122 having a vehicle length L3, 123 are halted at the vehicle halting area200 and occupying a front position and a middle position at the vehicle halting area 200. lnthe example illustrated in Fig. 4, the vehicle data VD1-VD3 indicates a vehicle front position,e.g. a GPS position, and a vehicle length of each of the respective vehicle 121-123, e.g. avehicle length value in meters. The occupancy information/data may then be obtained bydetermining occupied areas within the halting area 200 as the ones mapped to the vehiclefront position and a point defined by a vector originating from said vehicle front position 2021,2031 and extending to a point 2022, 2032 at a distance equal to the vehicle length L1-L3 in adirection opposite to the vehicles direction of travel 210 and optionally parallel to the directionof travel 210. The occupied area may be mapped from the vehicle front position and thevector. The occupied area may be mapped as a rectangle having four sides. Two sides ofthe rectangle may have the same length as the vector and may be parallel to the vector. The remaining two sides of the rectangle may be perpendicular to the vector and may have a length equal to a halting area width. The rectangle may further be centered about the vector.The halting position of the first vehicle 121 may then be estimated by identifying at least oneremaining non-occupied area 410 of the halting area 200 based on the occupancyinformation and/or occupancy data and estimating the vehicle halting position of the firstvehicle 121 as the non-occupied area 410 if it is determined that the non-occupied area 410of the halting area 200 have sufficient length, e.g. length >= vehicle length, to accommodatethe vehicle length of the first vehicle. ln a further embodiment, the estimator means 110 may further be configured to estimatevehicle halting positions 201-203 further indicating the front position of the vehicle, the centerposition of the vehicle, the rear position of the vehicle or the door positions of the vehicle.

A problem when drivers of the respective vehicles use halting rules, e.g. predeterminedhalting rules, to determine the exact halting position when arriving first to a bus stop is thatthe halting position indication error rate of the vehicle halting position estimation system 100may increase, i.e. when the vehicle halts at a different location to the estimated vehiclehalting position. This may be the case when the halting rules are ignored or by the driver orsomehow misunderstood by the driver. An example of such a scenario is when a vehicle isthe first vehicle to arrive at a halting area 200 and the halting rules state to drive to the frontposition. lf for some reason the driver prefers to halt at the rear position, the vehicle haltingposition estimation system 100 would indicate a vehicle halting position 201-203 different tothe actual vehicle halting position. ln an embodiment that addresses this problem, the system 100 further comprise at least onesecond indication means 151-153 arranged at a driving position 1211, 1221, 1231 of at leastone of the respective vehicles 121-123 and is configured to indicate the at least oneestimated vehicle halting position 201-203 based on the indication data IND. ln anembodiment, each of the plurality of second indication means 151-153 may comprise acomputer device 800, as further described in relation to Fig. 8. ln an example, the secondindication means 151-153 may be an on-board computer, a digital information display, atablet computer, a handheld computer, a wrist-worn computer, a smart watch, a PDA, aSmartphone, a telephone, a media player, a game console, a vehicle mounted computersystem or a navigation device, as further described in relation to Fig. 8. The secondindication means 151-153 may typically be arranged at a driving position of a respectivevehicle such that the screen and/or display is visible to the driver when operating therespective vehicle in a normal driving position. The second indication means 151-153 may further be configured to receive the indication data IND, e.g. from the estimator means 110.11 The second indication means 151-153 may further be configured to indicate the at least oneestimated vehicle halting position 201-203, related to the respective vehicle, based on theindication data IND.

The embodiment that addresses this problem is schematically illustrated in Fig. 5, showing aplurality of second indication means 151-153 each arranged at a driving position of arespective vehicle according to an embodiment of the present invention. A first vehicle 121comprising a first driving position 1211 may have at least one 151 of a plurality of a secondindication means 151-153 arranged at the driving position 1211 of the first vehicle. Thesecond indication means 151 of the first vehicle may be configured to indicate the at leastone estimated vehicle halting position 202 of the first vehicle, e.g. as would be the case inthe scenario described in relation to Fig. 2. A second vehicle 122 comprising a seconddriving position 1221 may have at least one 152 of a plurality of second indication means151-153 arranged at the driving position 1221 of the second vehicle 122. The secondindication means 152 of the second vehicle 122 may optionally be configured to indicate theat least one estimated vehicle halting position 201 of the second vehicle, e.g. as would bethe case in the scenario described in relation to Fig. 2. A third vehicle 123 comprising a firstdriving position 1231 may have at least one 153 of a plurality of second indication means151-153 arranged at the driving position 1231 of the third vehicle. The third indication means153 of the third vehicle may optionally be configured to indicate the at least one estimatedvehicle halting position 203 of the third vehicle, e.g. as would be the case in the scenariodescribed in relation to Fig. 2. ln an illustrative example, the driver of the first vehicle would then be given the intendedhalting position, e.g. “Halt bus at position 202”, and would not have to rely on halting rules. ln some situations several respective vehicles are on their way to arrive at the vehicle haltingarea 200. To avoid that the estimated halting positions repeatedly change, e.g. due to thetraffic situation of the individual vehicles, the system 100 may then estimate a vehicle haltingposition 201-203 within the vehicle halting area 200 for each of the respective vehicles 121-123. ln an embodiment of the system 100, the estimator means 110 may be configured toestimate a vehicle halting position 201-203 within the vehicle halting area 200 for each of therespective vehicles 121-123. The system 100 may further comprise a plurality of secondindication means 151-153 arranged at the driving position 1211, 1221, 1231 of each of the 12 respective vehicles 121-123 and each configured to indicate the estimated vehicle haltingposition 201-203 of the respective vehicle 121-123.

The estimator means 110 may in one embodiment be a separate unit, e.g. a server or avirtual server, and/or communicatively coupled directly and/or via the communicationsnetwork 140.

The estimator means 110 may in one embodiment be integrated with the first indicationmeans 130, e.g. in a digital information display.

The estimator means 110 may in one embodiment be integrated with a vehicle monitoringmeans of the plurality of vehicle monitoring means, e.g. in a digital information display.

A problem when estimating vehicle halting positions is that the vehicles 121-123 arrival timeat the vehicle halting area 200 is affected by external factors, such as traffic congestion androad conditions, thus the halting position indication error rate of the vehicle halting positionestimation system 100 may increase. ln an embodiment, the estimator means 110 is configured to: obtain vehicle routing properties, e.g. a selection of a vehicle time table, a vehicle predictedpassenger loading profile, traffic congestion along said route and road conditions along saidroute of each of the respective vehicles 121 -123, and, estimate the vehicle halting positions 201-203 of at least one of the respective vehicles 121-123 further based on said selection. ln a further embodiment, where the vehicle haltingpositions 201-203 are estimated for each of the respective vehicles 121-123. ln one example, the estimation of the arrival time of a vehicle may be improved byconsidering the expected number of passengers boarding the vehicle at each stop, the trafficcongestion along the bus route and road conditions, such as slippery roads, along the rout ofthe bus.

The indication of estimated vehicle halting positions 201-203 may further be improved byindicating positions overlaid on a geographical map and/or schematics of the vehicle haltingarea 200. The positions may in one embodiment be overlaid by the indication means 130. ln an embodiment, the first indication means 130 is further configured to: obtain a geographical map and/or schematics of the vehicle halting area 200, and,13 indicate the estimated vehicle halting positions 201-203 of each of the respective vehicles121-123 by indicating said estimated vehicle halting positions 201-203 overlaid on thegeographical map and/or the schematics of the vehicle halting area 200.

The positions may in a further embodiment be overlaid by the estimator means 110. ln an embodiment, the estimator means 110 may further configured to obtain a geographical map and/or schematics of the vehicle halting area 200, and, generate indication data IND further indicative of the at least one vehicle halting position 201 -203 overlaid on the geographical map and/or the schematics of the vehicle halting area 200.

The indication of estimated vehicle halting positions 201-203 may be performed by indicationmeans 130 in the form of a digital information display arranged at the vehicle halting area200. Thus, in an embodiment, the first indication means (130) is a digital information display. ln one example the digital information display is a weatherproofed LCD display.

The indication of estimated vehicle halting positions 201-203 may be performed by indicationmeans 130 in the form of a smartphone or a tablet computer, e.g. carried by the user. Thus,in an embodiment, the first indication means (130) is a smartphone and/or a tablet computer. ln one example, the user is carrying a smartphone and/or a tablet computer and running anapplication and/or “app” and/or a web browser which is indicating at least one estimatedvehicle halting positions 201-203 of at least one of the respective vehicles 121-123, e.g. astext or graphical user input objects.

The indication of estimated vehicle halting positions 201-203 may be performed by indicationmeans 130 in the form of a light projector. Thus, in an embodiment, the first indication means130 is a light projector, e.g. a visual light and/or laser light projector. ln one example, the light projector is indicating at least one estimated vehicle haltingpositions 201-203 of at least one of the respective vehicles 121-123, e.g. as text or graphicaluser input objects onto the surface of the vehicle halting area 200.

The indication of estimated vehicle halting positions 201-203 may be performed by indicationmeans 130 in the form of lights embedded in the surface of the vehicle halting area 200.Thus, in an embodiment, the first indication means 130 is one or more lights embedded in the surface of the vehicle halting area 200, e.g. light emitting diodes, LED.14 ln one example, the lights embedded in the surface of the vehicle halting area 200 isindicating at least one estimated vehicle halting positions 201-203 of at least one of therespective vehicles 121-123, e.g. as a plurality of light forming a rectangle outlining afront/middle/rear position.

Fig. 6 schematically illustrates signaling between nodes in the vehicle halting positionestimation system according to an embodiment of the invention. ln an embodiment, each ofthe monitoring means of the plurality of vehicle monitoring means each comprised in arespective vehicle 121-123 may be configured to send a wireless signal S1-S3 comprisingvehicle data VD1-VD3 to the estimator means 110. ln an example a first respective vehicle121 sends a first wireless signal S1 comprising a first set of vehicle data VD1 to the estimatormeans 110 via the communications network 140. Further, a second respective vehicle 122sends a second wireless signal S2 comprising a second set of vehicle data VD2 to theestimator means 110 via the communications netvvork 140. Further, a third respective vehicle123 sends a third wireless signal comprising a third set of vehicle data VD3 to the estimatormeans 110 via the communications network 140. Optionally at least one second indicationmeans (151-153) of at least one vehicle 121-123 may send a wireless signal S4-S6comprising vehicle data VD1-VD3 to the estimator means 110 via the communicationsnetwork 140, e.g. comprising vehicle routing properties. ln an example, second indicationmeans 151 of a first vehicle 121 may send a fourth wireless signal S4 comprising a fourth setof vehicle data VD4 to the estimator means 110 via the communications network 140.Further, second indication means 152 of a second vehicle 122 may send a fifth wirelesssignal S5 comprising a fifth set of vehicle data VD5 to the estimator means 110 via thecommunications network 140. Further, second indication means 153 of a third vehicle 123may send a sixth wireless signal S6 comprising a sixth set of vehicle data VD6 to theestimator means 110 via the communications network 140. The fourth set of vehicle dataVD4 and/or the fifth set of vehicle data VD5 and/or the sixth set of vehicle data VD6 maycomprise a vehicle routing properties, e.g. a selection of a vehicle time table, a vehiclepredicted passenger loading profile, traffic congestion along said route and road conditionsalong said route of each of the respective vehicles 121-123. ln a further embodiment, theestimator means 110 may further be configured to send a seventh wireless signal S7comprising the indication data IND to the first indication means 130 via the communicationsnetwork 140. ln a further embodiment, the estimator means 110 may further be configured tosend an eighth wireless signal S8 comprising the indication data IND to the plurality ofsecond indication means 151-153 via the communications network 140.

Fig. 7 schematically illustrates a block diagram of a method for a vehicle halting positionsystem according to an embodiment of the present invention. The vehicle halting positionsystem 100 comprising a pluraiity of vehicle monitoring means each comprised in arespective vehicle 121-123, estimator means 110 and first indication means 130. Themethod may comprise the step receiving 710 vehicle data VD1-VD3, pertaining to therespective vehicle 121-123, e.g. from each of the vehicle monitoring means. E.g. as awireless signal comprising the vehicle data VD1-VD3 directly and/or via the communicationsnetwork 140. The method may further comprise the step estimating 720 at least one vehiclehalting position 201-203 within a vehicle halting area 200, of at least one of the respectivevehicles 121-123 based on the vehicle data VD1-VD3, e.g. text indicating “front position”,“middle position” or “rear position”. The method may further optionally comprise the stepreceiving 730 the at least one estimated vehicle halting position 201-203 as indication dataIND, e.g. from the estimator means 110. The method may further comprise the stepindicating 740 the at least one estimated vehicle halting position 201-203 based on theindication data IND. ln an embodiment of the method, indicating 740 the at least one estimated vehicle haltingposition 201-203 is performed by the first indication means 130 arranged at the vehiclehalting area 200. Thus, users may be informed where the respective vehicle will halt andthereby reduce the time required to load the respective vehicle. ln an embodiment, the vehicle halting position system 100 may further comprise at least onesecond indication means 151-153 arranged at a driving position 1211, 1221, 1231 of at leastone of the respective vehicles 121-123. indicating 740 the at least one estimated vehiclehalting position 201-203 may be performed by the at least one second indication means 151-153. Thus, the driver of the respective vehicle may be informed where the respective vehiclewill halt and thereby reduce the time required to load the respective vehicle. ln an embodiment, the system 100 may further be comprising a pluraiity of second indicationmeans 151-153 each arranged at a driving position 1211, 1221, 1231 of each of therespective vehicles 121-123. Estimating 720 may further comprise estimating a vehiclehalting position 201-203 within the vehicle halting area 200 for each of the respectivevehicles 121-123. indicating 740 may further comprise indicating the estimated vehiclehalting position 201-203 of the respective vehicle 121-123. 16 ln an embodiment, where the estimated vehicle halting positions 201-203 as indication dataIND further indicates door positions of the vehicle. ln an example, the indication data INDindicates both a front position of the vehicle and a door position of the vehicle. ln an embodiment, the step of estimating 720 vehicle halting positions 201-203 is optionallyperformed by: estimating 722 an arrival sequence of each respective vehicle 121-123 to the vehicle haltingarea 200, at least based on the vehicle data VD1-VD3, and, estimating 720 the at least one vehicle halting position 201-203 further based on the arrival sequence. ln an embodiment, the step of estimating 720 vehicle halting positions 201-203 is optionallyperformed by: obtaining 724 occupancy information, wherein the occupancy information indicate areaswithin the halting area 200 that are occupied, and, estimating 720 the at least one vehicle halting position 201-203 further based on the occupancy information. ln an embodiment, where the step of estimating 720 vehicle halting positions 201-203 isoptionally performed by: obtaining 726 vehicle routing properties, e.g. a selection of a vehicle time table, a vehiclepredicted passenger loading profile, traffic congestion along said route and road conditionsalong said route of each of the respective vehicles 121 -1 23, and, estimating 720 the vehicle halting positions 201-203 of each of the respective vehicles 121-123 further based on said routing properties. ln an embodiment, the method further comprises obtaining a geographical map and/orschematics of the vehicle halting area 200. The method may further comprise generatingindication data IND further indicative of the at least one vehicle halting position 201-203overlaid on the geographical map and/or the schematics of the vehicle halting area 200. Themethod may further comprise indicating 740 the estimated vehicle halting positions 201-203of each of the respective vehicles 121-123 by indicating said estimated vehicle haltingpositions 201-203 overlaid on the geographical map and/or the schematics of the vehiclehalting area 200.

With reference to Fig. 8, a diagram of a computer device 800 is shown according to an embodiment of the invention. ln yet an embodiment, the computer device 800 is in the form17 of a server, an on-board computer, an digital information display, a stationary computingdevice, a laptop computer, a tablet computer, a handheld computer, a wrist-worn computer, asmart watch, a PDA, a Smartphone, a smart TV, a telephone, a media player, a gameconsole, a vehicle mounted computer system or a navigation device. ln embodiments, thecomputer device 800 comprises processing means 812 comprising and/or in the form of aprocessor/processing unit, e.g. processing circuitry, a central processing unit, processormodules or multiple processors configured to cooperate with each-other, which is provided,e.g. in a memory, with specifically designed programming or program code portions adaptedto control the processing means 812 to perform the steps and functions of one or moreembodiments of the method and/or methods described herein. The computer device 800may further comprise at least one memory 815 or data storage configured to store theprogramming or program code portions and/or data values or parameters received as a writesignal from the processing means 812. The at least one memory 815 or data storage mayfurther be configured to retrieve and send data values and/or parameters as a read signal tothe processing means 812. The computer device 800 may further comprise acommunications interface 816, e.g. a wireless transceiver and/or communications networkadapter, which is configured to send and/or receive data values or parameters as a signal toor from the processing means 812 to or from other external nodes, i.e. in between a selectionof the vehicle monitoring means, the estimator means 110, the first indication means 130 andoptionally the second indication means 151-153. ln an embodiment, the communicationsinterface 616 communicates directly between network nodes or via the communicationsnetwork 140. ln one or more embodiments the computer device 800 may further comprise aninput device 817, configured to receive input or indications from a user and send a user-inputsignal indicative of the user input or indications to the processing means 812. ln one or moreembodiments the computer device further comprises a display 818 configured to receive adisplay signal indicative of rendered objects, such as text or graphical user input objects,from the processing means 812 and to display the received signal as objects, such as text orgraphical user input objects. ln one embodiment the display 818 is integrated with the userinput device 817 and is configured to receive a display signal indicative of rendered objects,such as text or graphical user input objects, from the processing means 812 and to displaythe received signal as objects, such as text or graphical user input objects, and/or configuredto receive input or indications from a user and send a user-input signal indicative of the userinput or indications to the processing means 812. ln embodiments, the processing means812 is communicatively coupled to the memory 815 and/or the communications interfaceand/or the input device and/or the display and/or the sensor/s. ln embodiments, thecommunications interface 816 communicates using wired and/or wireless communication techniques. ln embodiments, the one or more memories 815 may comprise a selection of a18 hard RAM, disk drive, a floppy disk drive, a magnetic tape drive, an optical disk drive, a CDor DVD drive (R or RW), or other removable or fixed media drive. ln a further embodiment,the computer device 800 may further comprise one or more sensors 821-825 configured toreceive and/or obtain and/or measure physical properties pertaining to the respective vehicle(121-123) and send one or more sensor signals indicative of the physical properties to theprocessing means 812.

Furthermore, any methods according to embodiments of the invention may be implementedin a computer program, having code means, which when run by processing means causesthe processing means to execute the steps of the method. The computer program is includedin a computer readable medium of a computer program product. ln an embodiment, a computer program is provided comprising computer-executableinstructions for causing a system 100 comprising estimator means 110 and indication means130 to perform the method described herein, when the computer-executable instructions areexecuted on processing means comprised in the estimator means 110 and/or in cooperationwith the processing means comprised in the indication means 130. ln an embodiment, a computer program product comprising a memory and/or a computer-readable storage medium, the computer-readable storage medium having the computerprogram described above embodied therein. The computer-readable storage medium maycomprises of essentially any memory, such as a ROM (Read-Only Memory), a PROM(Programmable Read-Only Memory), an EPROM (Erasable PROM), a Flash memory, anEEPROM (Electrically Erasable PROM), or a hard disk drive. ln embodiments, the communications network 140 communicate using wired or wirelesscommunication techniques that may include at least one of a Local Area Network (LAN),Metropolitan Area Network (MAN), Global System for Mobile Network (GSM), EnhancedData GSM Environment (EDGE), Universal Mobile Telecommunications System, Long termevolution, High Speed Downlink Packet Access (HSDPA), Wideband Code Division MultipleAccess (W-CDMA), Code Division Multiple Access (CDMA), Time Division Multiple Access(TDMA), Bluetooth®, Zigbee®, Wi-Fi, Voice over Internet Protocol (VoIP), LTE Advanced,lEEE802.16m, WirelessMAN-Advanced, Evolved High-Speed Packet Access (HSPA+),3GPP Long Term Evolution (LTE), Mobile WiMAX (IEEE 802.16e), Ultra Mobile Broadband(UMB) (formerly Evolution-Data Optimized (EV-DO) Rev. C), Fast Low-latency Access withSeamless Handoff Orthogonal Frequency Division Multiplexing (Flash-OFDM), High Capacity Spatial Division Multiple Access (iBurst®) and Mobile Broadband Wireless Access (MBWA)19 (IEEE 802.20) systems, High Performance Radio Metropolitan Area Network (HIPERNIAN),Beam-Division Multiple Access (BDMA), World lnteroperability for Microwave Access (Wi-l\/IAX) and ultrasonic communication, etc., but is not limited thereto.

Moreover, it is realized by the skilled person that the computer device 800 may comprise thenecessary communication capabilities in the form of e.g., functions, means, units, elements,etc., for performing the present solution. Examples of other such means, units, elements andfunctions are: processors, memory, buffers, control logic, encoders, decoders, rate matchers,de-rate matchers, mapping units, multipliers, decision units, selecting units, switches,interleavers, de-interleavers, modulators, demodulators, inputs, outputs, antennas,amplifiers, receiver units, transmitter units, DSPs, MSDs, TCM encoder, TCM decoder,power supply units, power feeders, communication interfaces, communication protocols, etc.which are suitably arranged together for performing the present solution.

Especially, the processing means of the present computer device 800 may compriseprocessing means, e.g., one or more instances of processing circuitry, processor modulesand multiple processors configured to cooperate with each-other, Central Processing Unit(CPU), a processing unit, a processing circuit, a processor, an Application Specific IntegratedCircuit (ASIC), a microprocessor, a Field-Programmable Gate Array (FPGA) or otherprocessing logic that may interpret and execute instructions. The expression “processingmeans” may thus represent a processing circuitry comprising a plurality of processingcircuits, such as, e.g., any, some or all of the ones mentioned above. The processing meansmay further perform data processing functions for inputting, outputting, and processing ofdata comprising data buffering and device control functions, such as call processing control,user interface control, or the like.

Finally, it should be understood that the invention is not limited to the embodiments described above, but also relates to and incorporates all embodiments within the scope ofthe appended independent claims.

Claims (15)

CLAI MS

1. A vehicle halting position estimation system (100) comprising: a pluraiity of vehicle monitoring means each comprised in a respective vehicle (121-123), estimator means (110) configured toreceive vehicle data (VD1-VD3), pertaining to the respective vehicle (121-123), fromeach of the vehicle monitoring means,estimate at least one vehicle halting position (201-203) within a vehicle halting area(200), of at least one of the respective vehicles (121-123) based on the vehicle data(VD1-VD3), first indication means (130) configured toreceive the at least one estimated vehicle halting position (201-203) as indication data(IND), andindicate the at least one estimated vehicle halting position (201-203) based on theindication data (IND).

2. The system (100) of claim 1, wherein the first indication means (130) is arranged at thevehicle halting area (200).

3. The system (100) of any of the preceding claims, wherein the estimator means (110) isfurther configured to estimate vehicle halting positions (201-203) further indicating doorpositions of the vehicle.

4. The system (100) of any of the preceding claims, wherein the estimator means (110) isconfigured to estimate vehicle halting positions (201 -203) by: estimating an arrival sequence of each respective vehicle (121-123) to the vehicle haltingarea (200), at least based on the vehicle data (VD1-VD3), estimate the at least one vehicle halting position (201-203) further based on the arrival sequence.

5. The system (100) of any of the preceding claims, wherein the estimator means (110) isconfigured to estimate vehicle halting positions (201-203) by: obtaining occupancy information, wherein the occupancy information indicate areas withinthe halting area (200) that are occupied, and, estimate the at least one vehicle halting position (201-203) further based on the occupancy information. 21

6. The system (100) of any of the preceding claims, wherein the estimator means (110) isconfigured to: obtain vehicle routing properties, and, estimate the vehicle halting positions (201-203) of each of the respective vehicles (121-123)further based on said selection.

7. The system (100) of any of the preceding claims, wherein the first indication means (130)is further configured to: obtain a geographical map, and, indicate the estimated vehicle halting positions (201-203) of each of the respective vehicles(121-123) by indicating said estimated vehicle halting positions (201-203) overlaid on thegeographical map.

8. The system (100) of any of the preceding claims, wherein the estimator means 110 isfurther configured to obtain a geographical map and/or schematics of the vehicle halting area200, and, generate indication data (IND) further indicative of the at least one vehicle haltingposition 201-203 overlaid on the geographical map and/or the schematics of the vehiclehalting area 200.

9. The system (100) of any of the preceding claims, wherein the first indication means (130)is a selection of a digital information display, a smartphone, a light projector and lightsembedded in the surface of the vehicle halting area (200).

10. The system (100) of any of the preceding claims, further comprising at least one secondindication means (151-153) arranged at a driving position (1211, 1221, 1231) of at least oneof the respective vehicles (121-123) and is configured to indicate the at least one estimatedvehicle halting position (201-203) based on the indication data (IND).

11. The system (100) of any of the preceding claims, wherein the estimator means (110) isconfigured to estimate a vehicle halting position (201-203) within the vehicle halting area(200) for each of the respective vehicles (121-123), the system further comprising a pluralityof second indication means (151-153) arranged at a driving position (1211, 1221, 1231) ofeach of the respective vehicles (121-123) and each configured to indicate the estimatedvehicle halting position (201-203) of the respective vehicle (121-123). 22

12. A method (700) for a vehicle halting position system (100) comprising a plurality ofvehicle monitoring means each comprised in a respective vehicle (121-123), estimatormeans (110) and first indication means (130), the method comprising the steps: receiving (710) vehicle data (VD1-VD3), pertaining to the respective vehicle (121-123), fromeach of the vehicle monitoring means, estimating (720) at least one vehicle halting position (201-203) within a vehicle halting area(200), of at least one of the respective vehicles (121-123) based on the vehicle data (VD1-VD3), receiving (730) the at least one estimated vehicle halting position (201-203) as indicationdata (IND), and indicating (740) the at least one estimated vehicle halting position (201-203) based on theindication data (IND).

13. The method (700) of claim 12, wherein receiving (730) the at least one estimated vehiclehalting position (201-203) is performed by the first indication means (130) arranged at thevehicle halting area (200).

14. A computer program comprising computer-executable instructions for causing a system(100) comprising estimator means (110) and indication means (130) to perform the methodaccording to any one of the claims 12 to 13, when the computer-executable instructions areexecuted on a processing unit comprised in the estimator means (110) and/or in theindication means (130).

15. A computer program product comprising a computer-readable storage medium, the computer-readable storage medium having the computer program according to claim 14embodied therein. 23