WO1995020748A1 - Verfahren zur ermittlung von gebühren für die nutzung von verkehrswegen durch fahrzeuge - Google Patents
Verfahren zur ermittlung von gebühren für die nutzung von verkehrswegen durch fahrzeuge Download PDFInfo
- Publication number
- WO1995020748A1 WO1995020748A1 PCT/DE1995/000104 DE9500104W WO9520748A1 WO 1995020748 A1 WO1995020748 A1 WO 1995020748A1 DE 9500104 W DE9500104 W DE 9500104W WO 9520748 A1 WO9520748 A1 WO 9520748A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- points
- detection section
- area
- positions
- Prior art date
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Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Definitions
- the invention relates to a method for determining charges for the use of traffic routes by vehicles, the geographical position of a vehicle being continuously determined with the aid of radio location, in particular with the GPS system, and compared with the geographical positions of virtual survey points.
- GPS system Global Positioning System
- the simultaneously filed patent application “Method and arrangement for determining usage fees for traffic routes and / or traffic areas” of the applicant relates to a method in which the GPS system is also used.
- the position determination with the help of the GPS system is associated with a measurement error of approximately 100 m.
- the object of the present invention is to enable a reliable determination, using a radio location system, as to whether a vehicle is passing through a collection point.
- the virtual collection points are formed by detection sections which extend over predetermined lengths in the direction of the respective traffic route.
- a computer is preferably arranged in the vehicle which carries out the comparison, for which the positions of the detection sections must be available. This can be done in such a way that all positions are stored in the computer or that only positions of collection points are stored in a limited area and positions of further collection points if required can be supplied via a data transmission system.
- a first embodiment of the method according to the invention is characterized in that in each case a detection section consists of several reference points defined by their geographical positions, the distance between which is smaller than the measurement error of the radio location system. It is preferably provided that a part of the reference points of a detection section form a reference group.
- a vehicle is considered to have passed the collection point if all reference points or all reference groups are at a distance from positions determined for the vehicle that are smaller than a predetermined distance.
- storage space can optionally be saved in that the collection points consist of one or more reference points defined by their geographical position and a function which characterizes the course of the road within the detection section (straight line, curve).
- An evaluation can take place in that a vehicle is deemed to have passed the collection point if none of the points on the curve is further than the measurement error of the radio location system from one of the geographic positions of the vehicle that are continuously determined.
- Fig. 2 is a schematic representation of two
- FIG. 3 shows a further illustration of a detection section together with an area of larger area - hereinafter referred to as the umbrella area - and
- Fig. 4 is a Fu ⁇ y characteristic.
- the location of the toll collection on the motorway is generally referred to as the registration point.
- beacon-oriented systems it is technically implemented as a point system, just through the beacon. Because of the inaccuracy of the position determination with GPS, it cannot be reliably recognized that a vehicle is at a certain point. In order to tolerate the inaccuracy of the GPS, the detection point is not created in a point-like manner, but rather in a flat manner as a detection section (FIG. 1). The chain of reference points is referred to as the acquisition section. The current GPS measured values are compared with the reference points.
- the reference points are defined when the acquisition section is set up. This problem area is devoted to a separate "of Section 1.4, the number and arrangement of the reference points in the acquisition sector depend on it.:
- Position areas are assigned to the reference points. They take into account the fuzzy position determination by "capturing" surrounding measured values. The position areas are in the form of cut circles. The respective line of intersection corresponds to the plumb line fell in the center between adjacent reference points. The assignment method is described in section 2.1.
- Width of the hose b [m] diameter of one
- the hose is to be understood as a superimposed structure to the chain of reference points and serves that
- the hose width / diameter of a position area must be significantly larger than the distance between the reference points (A ⁇ b), so that the hose notches become sufficiently small.
- the detection sections in the open AGE system can be created on one side in pairs (only valid for one lane) and on both sides (valid for both lanes) (Fig. 2).
- the reference points are divided into reference groups, each reference group containing approximately the same number of reference points as those described in Logically OR-linked.
- the reference groups are numbered with one-sided
- the number of reference groups in the detection section G is determined by the desired reliability of the location of the detection section, which increases with an increasing number. At the same time, the effort for localization and, above all, the time until the decision about charging is increased.
- the number of reference groups must be determined and optimized taking into account the specific local conditions (parallel streets, black runs, reception shading). Under no circumstances may the charging be applied to country or city roads running in parallel. For a positive decision on charging, one of the prerequisites is that at least one measured value should be in each effective reference group (Section 2.2.5).
- a further model structure must be provided for the localization algorithm, which is superimposed on the entire detection section.
- the umbrella area is rectangular and completely encloses the tube of a detection section with the exception of certain edge areas (FIG. 3). In principle, it is a practical approximation of the hose.
- the caterpillar-shaped structure is overlaid with a rectangle, the karites of which are aligned with the circles of longitude and latitude.
- the rectangular umbrella areas make it very easy to test whether you are anywhere near reference points, i.e. a detection section.
- a detection section With the caterpillar-shaped hose, the amount of computing time and comparison data would be incomparably higher. With around 4,000 registration points on Germany's highways, the rapid detection of the detection section is very important.
- the center of the umbrella area lies at the intersection of the diagonals. The umbrella area is described by the following parameters:
- a hysteresis area is also created as a frame around the umbrella region so that the measurement algorithm works reliably and is robust against minor changes in position.
- the hysteresis H [] is the frame width. It should be set at 10m ⁇ H ⁇ O. Random jumps larger than 50m to the side of the motorway line are rare. Smaller values only damage the localization algorithm insofar as incorrect activations of the
- Case 3 also shows the definition of the boundary of the hysteresis and the umbrella area.
- the outer limit of the hysteresis area runs through the last reference point of the hose. The reason for this is given in section 2.1.4.
- Case a describes a corner
- case b an edge of the hysteresis area.
- the frame width is given by H. All reference points, whose position areas are not completely within the umbrella area, are summarized as an ineffective marginal reference group.
- the entire algorithm for localizing charging stations is based on the continuous positioning with the help of GPS.
- the measuring interval T between two position determinations depends on the GPS receiver used. With the receivers currently available, the measuring intervals are between 0.5s and 1s. Longer measurement intervals appear to be of concern because the driving speed v on motorways is high. 9/00104
- the vehicle In the basic state, the vehicle is located far outside of any toll collection points on motorways. This state is referred to as OUT in the measuring algorithm. The opposite is the state IN if the position of the vehicle is within an umbrella or hysteresis area.
- the current measured value consisting of longitude and latitude coordinates, is compared with the center points of all umbrella areas. An umbrella area is reached if:
- the index of the umbrella area (detection section) is determined, then the reference data for all position areas of the detection section are loaded.
- the current measured value consisting of the latitude and longitude coordinates, is compared with the center of the current umbrella or hysteresis area.
- the algorithm changes to the intermediate state OUT_PROVE.
- the 3 confirmation value C is the number of immediately successive measuring points for which the relationship (2.2) must be fulfilled before the change from the state OUT_PROVE to the state OUT takes place.
- the parameter is preferably in a range between 1 .. 5.
- the radial distance is modified by the following relationship:
- Precision influence coefficient hE The measured value is assigned to the reference point to which the modified radial distance is the smallest.
- the relationship (2.4) needs to be explained. There are cross jumps and outliers, but these correlate with an increased PDOP (weakening of precision). They can become dangerous if vehicles move on parallel roads and runaways in all reference groups are located in the immediate vicinity of the motorway.
- the proposed modification represents a possibility to better weigh near measured values with a high PDOP and distant measured values with a low PDOP. Nearby measured values with low and medium PDOP, as are normally available when driving on the motorway, are emphasized more strongly.
- the • parameter contained is called the precision conversion coefficient hU. Another possibility is to generally maintain the precision through the HDOP.
- the precision coefficient of influence strengthens and dampens the effect of multiplication with precision.
- hE 0 no modification
- r R hE ⁇ 1 damped modification
- the modified radial distance is only in the measurement algorithm and when compressing the measured values in the
- the assignment value is the one with the higher accuracy, even if it is further away.
- the random jump near the highway is eliminated because it has a large PDOP.
- a measured value has already been noted for a reference point, it is compared with the one just received. The measured value with the smaller (squared) modified radial distance is further reduced. If there is a change in the assignment to a reference point, the value last noted with the smallest (squared) modified radial distance is assigned to the old reference point in a binding manner. For the new reference point, the reservation begins again.
- the counter reading is the Reference point also assigned and used to evaluate the drive sequence in the decision algorithm (section 2.2)
- the tube In order for the count to work properly, the tube must protrude a little beyond the outer border of the hysteresis area (Fig. 3). If the hose were shorter, there would be possible measuring positions in the area between the hose end and the outer boundary of the hysteresis area, which are very close the highway, but are no longer assigned to a position area. This would incorrectly increase the second counter and not the first.
- the construction of the peripheral area is also not overly critical, since when the tube is passed through, a large number of internal positions are counted, so that a few external ones are not too important.
- the rule that the outer border of the hysteresis area runs through the last reference point of the hose is a simple solution to the problem described.
- the hose coefficient J is defined with:
- the comparison of the hose coefficient with the hose setpoint W is the first step of the decision algorithm and, in principle, embodies a preliminary, quick rough selection as to whether the activation of the further complicated decision models is worthwhile at all.
- the further decision algorithm does not work with the individual reference points, but only with the effective reference groups.
- the compression of the measured values is again carried out according to the criterion of the smallest (squared) modified radial distance.
- the assignment value has the greatest significance, which is closest to the reference point.
- the stored measured value of a reference point whose modified radial distance is the smallest is used as a significant measured value of the reference group.
- Width difference to the reference point ⁇ B KB (B-Bn)
- the driving sequence of the reference groups is an important indicator of whether the vehicle has actually moved on the highway. Turning is not possible with greatity within the detection section of the open system, since there is no motorway junction here. If the sequence of the weights of the drive-through sequence is not growing rapidly (or falling, in the case of the bilateral detection section), the vehicle must have used the country or city roads of the area. The falling passage sequence must be excluded for one-sided detection sections.
- the drive-through sequence is disturbed if the weight of the successor is less than Q of the predecessor as the sequence increases, and the weight of the successor is less than that of the predecessor when the sequence is decreasing.
- the decision about the fee collection is then negative.
- the separation value Q can be viewed as the height of the step between adjacent reference groups, which must be exceeded by the difference in the weights of the drive-through sequences.
- the correct passage sequence is determined by the following relationships:
- the precision comparison value P has a great responsibility here. If it is too small, normal fluctuations in the DOP within the measurement series of a detection section are poorly compensated, so that too often a negative decision is made. If it is too large, there is no need to check the medium precision at all. Its reasonable range of values is 1..3.
- the shape of the fuzzy characteristic can be interpreted in such a way that a maximum degree of satisfaction of 1 (condition 100% fulfilled) is used for small distances from the reference point, and a "gray zone" with a degree of fulfillment falling outwards is introduced for medium distances (condition closed) a certain percentage fulfilled) and for long distances the degree of satisfaction is set to 0 (condition not fulfilled at all).
- the degree of fulfillment mg is determined via a FUZZY AND link:
- ⁇ g ⁇ MIN ( ⁇ Lg> ⁇ Bg ) + (l- ⁇ ) .- ⁇ Lg + ⁇ Sg ) ( 2.11 )
- the last step in deciding on the fee collection is the comparison with a set (collection) threshold value S based on the rule: Pay if m> S, otherwise not!
- the threshold is approximately in the range of 0.6.0.8.
- the flag "Pay yes / no?" is the most important output parameter of the overall localization algorithm. It has two states:
- VOID - no fee collection (basic status, "no", 0) PAY - fee collection ("yes", 1)
- the key number of the entry section passed is displayed.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Finance (AREA)
- Business, Economics & Management (AREA)
- Devices For Checking Fares Or Tickets At Control Points (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Meter Arrangements (AREA)
Abstract
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DK95908870T DK0742890T3 (da) | 1994-01-28 | 1995-01-27 | Fremgangsmåde til bestemmelse af afgifter for køretøjers anvendelse af færdselsårer |
PL95315553A PL176110B1 (pl) | 1994-01-28 | 1995-01-27 | Sposób lokalizacji pojazdu przy określaniu opłat za użytkowanie wydzielonej trasy komunikacyjnej |
EP95908870A EP0742890B2 (de) | 1994-01-28 | 1995-01-27 | Verfahren zur ermittlung von gebühren für die nutzung von verkehrswegen durch fahrzeuge |
DE59506587T DE59506587D1 (de) | 1994-01-28 | 1995-01-27 | Verfahren zur ermittlung von gebühren für die nutzung von verkehrswegen durch fahrzeuge |
US08/676,314 US5717389A (en) | 1994-01-28 | 1995-01-27 | Method of determining toll charges for vehicles using a traffic route |
HU9602057A HU220572B1 (hu) | 1994-01-28 | 1995-01-27 | Eljárás járművek úthasználati díjának megállapítására |
AU17044/95A AU1704495A (en) | 1994-01-28 | 1995-01-27 | Method of determining toll charges for vehicles using a traffic route |
NO19963057A NO312050B1 (no) | 1994-01-28 | 1996-07-23 | Fremgangsmåte for fastsetting av gebyrer for bruk av trafikkårer |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DEP4402614.5 | 1994-01-28 | ||
DE4402614A DE4402614A1 (de) | 1994-01-28 | 1994-01-28 | Verfahren zur Ermittlung von Gebühren für die Nutzung von Verkehrswegen durch Fahrzeuge |
Publications (1)
Publication Number | Publication Date |
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WO1995020748A1 true WO1995020748A1 (de) | 1995-08-03 |
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ID=6508948
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1995/000104 WO1995020748A1 (de) | 1994-01-28 | 1995-01-27 | Verfahren zur ermittlung von gebühren für die nutzung von verkehrswegen durch fahrzeuge |
Country Status (12)
Country | Link |
---|---|
US (1) | US5717389A (de) |
EP (1) | EP0742890B2 (de) |
AT (1) | ATE183307T1 (de) |
AU (1) | AU1704495A (de) |
CZ (1) | CZ224496A3 (de) |
DE (2) | DE4402614A1 (de) |
DK (1) | DK0742890T3 (de) |
ES (1) | ES2137497T5 (de) |
HU (1) | HU220572B1 (de) |
NO (1) | NO312050B1 (de) |
PL (1) | PL176110B1 (de) |
WO (1) | WO1995020748A1 (de) |
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JPS58178214A (ja) * | 1982-04-12 | 1983-10-19 | Mitsubishi Electric Corp | 走行情報表示装置 |
US4924402A (en) * | 1986-07-02 | 1990-05-08 | Pioneer Electronic Corporation | Method for identifying current position of vehicle |
EP0394517A1 (de) * | 1989-04-25 | 1990-10-31 | Robert Bosch Gmbh | Fahrzeugnavigationssystem |
DE4039887A1 (de) * | 1990-12-13 | 1992-06-17 | Bosch Gmbh Robert | Fahrzeugleit- und zielfuehrungssystem |
EP0503870A1 (de) * | 1991-03-13 | 1992-09-16 | Pioneer Electronic Corporation | Fahrzeugroutenführungsgerät |
EP0566390A1 (de) * | 1992-04-15 | 1993-10-20 | Sumitomo Electric Industries, Limited | Vorrichtung zur Bestimmung der Position eines Fahrzeuges |
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JPS61245299A (ja) * | 1985-04-22 | 1986-10-31 | オムロン株式会社 | 路車間通信機能付き車両感知器 |
JPH06309595A (ja) * | 1993-04-26 | 1994-11-04 | Pioneer Electron Corp | ナビゲーション装置 |
US5537324A (en) * | 1993-08-07 | 1996-07-16 | Aisin Aw Co., Ltd. | Navigation system |
JP3385657B2 (ja) * | 1993-08-10 | 2003-03-10 | トヨタ自動車株式会社 | 車載用ナビゲーション装置 |
WO1995014910A1 (de) † | 1993-11-26 | 1995-06-01 | Mannesmann Ag | Verfahren zur erzeugung einer digitalisierten strassennetzkarte |
US5490079A (en) * | 1994-08-19 | 1996-02-06 | Texas Instruments Incorporated | System for automated toll collection assisted by GPS technology |
-
1994
- 1994-01-28 DE DE4402614A patent/DE4402614A1/de not_active Withdrawn
-
1995
- 1995-01-27 EP EP95908870A patent/EP0742890B2/de not_active Expired - Lifetime
- 1995-01-27 AT AT95908870T patent/ATE183307T1/de active
- 1995-01-27 CZ CZ962244A patent/CZ224496A3/cs unknown
- 1995-01-27 WO PCT/DE1995/000104 patent/WO1995020748A1/de active IP Right Grant
- 1995-01-27 AU AU17044/95A patent/AU1704495A/en not_active Abandoned
- 1995-01-27 PL PL95315553A patent/PL176110B1/pl unknown
- 1995-01-27 US US08/676,314 patent/US5717389A/en not_active Expired - Lifetime
- 1995-01-27 ES ES95908870T patent/ES2137497T5/es not_active Expired - Lifetime
- 1995-01-27 HU HU9602057A patent/HU220572B1/hu unknown
- 1995-01-27 DE DE59506587T patent/DE59506587D1/de not_active Expired - Lifetime
- 1995-01-27 DK DK95908870T patent/DK0742890T3/da active
-
1996
- 1996-07-23 NO NO19963057A patent/NO312050B1/no not_active IP Right Cessation
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JPS58178214A (ja) * | 1982-04-12 | 1983-10-19 | Mitsubishi Electric Corp | 走行情報表示装置 |
US4924402A (en) * | 1986-07-02 | 1990-05-08 | Pioneer Electronic Corporation | Method for identifying current position of vehicle |
EP0394517A1 (de) * | 1989-04-25 | 1990-10-31 | Robert Bosch Gmbh | Fahrzeugnavigationssystem |
DE4039887A1 (de) * | 1990-12-13 | 1992-06-17 | Bosch Gmbh Robert | Fahrzeugleit- und zielfuehrungssystem |
WO1992010824A1 (de) * | 1990-12-13 | 1992-06-25 | Robert Bosch Gmbh | Fahrzeugleit- und zielführungssystem |
EP0503870A1 (de) * | 1991-03-13 | 1992-09-16 | Pioneer Electronic Corporation | Fahrzeugroutenführungsgerät |
EP0566390A1 (de) * | 1992-04-15 | 1993-10-20 | Sumitomo Electric Industries, Limited | Vorrichtung zur Bestimmung der Position eines Fahrzeuges |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2295476A (en) * | 1994-11-22 | 1996-05-29 | Aztech Systems Limited | GPS electronic road pricing system |
GB2295476B (en) * | 1994-11-22 | 1998-06-17 | Aztech Systems Limited | GPS based electronic road pricing system |
WO2002071338A1 (en) * | 2001-03-07 | 2002-09-12 | P.E.M.A. Preserving The Environment Matters Association | Traffic control system with road tariff depending on the congestion level |
EP1482451A2 (de) * | 2001-03-07 | 2004-12-01 | P.E.M.A. Preserving the Environment Matters Association | Verkehrsleitsystem mit vom Verstopfungsgrad abhängenden Strassenbenutzungsgebühren |
EP1482451A3 (de) * | 2001-03-07 | 2005-12-14 | P.E.M.A. Preserving the Environment Matters Association | Verkehrsleitsystem mit vom Verstopfungsgrad abhängenden Strassenbenutzungsgebühren |
US7818204B2 (en) | 2001-03-07 | 2010-10-19 | P.E.M.A. Preserving The Environment Matters Association | Traffic control system with road tariff depending on the congestion level |
EP1701322A3 (de) * | 2005-03-11 | 2007-10-10 | Vodafone Holding GmbH | Verfahren und System zum Erfassen eines Objekts |
US8255272B2 (en) | 2005-08-30 | 2012-08-28 | Siemens Aktiengesellschaft | Test method for detecting deviations of geoobjects |
Also Published As
Publication number | Publication date |
---|---|
EP0742890A1 (de) | 1996-11-20 |
HU9602057D0 (en) | 1996-09-30 |
ATE183307T1 (de) | 1999-08-15 |
HUT76004A (en) | 1997-06-30 |
HU220572B1 (hu) | 2002-03-28 |
EP0742890B2 (de) | 2006-12-20 |
AU1704495A (en) | 1995-08-15 |
EP0742890B1 (de) | 1999-08-11 |
CZ224496A3 (en) | 1997-06-11 |
PL315553A1 (en) | 1996-11-12 |
DE4402614A1 (de) | 1995-08-03 |
ES2137497T3 (es) | 1999-12-16 |
PL176110B1 (pl) | 1999-04-30 |
NO963057D0 (no) | 1996-07-23 |
NO963057L (no) | 1996-07-23 |
US5717389A (en) | 1998-02-10 |
DE59506587D1 (de) | 1999-09-16 |
NO312050B1 (no) | 2002-03-04 |
DK0742890T3 (da) | 2000-03-13 |
ES2137497T5 (es) | 2007-07-01 |
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