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WO2011158038A1 - Procédé de suivi - Google Patents

Procédé de suivi Download PDF

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Publication number
WO2011158038A1
WO2011158038A1 PCT/GB2011/051134 GB2011051134W WO2011158038A1 WO 2011158038 A1 WO2011158038 A1 WO 2011158038A1 GB 2011051134 W GB2011051134 W GB 2011051134W WO 2011158038 A1 WO2011158038 A1 WO 2011158038A1
Authority
WO
WIPO (PCT)
Prior art keywords
gantry
virtual
path
crossing
followed
Prior art date
Application number
PCT/GB2011/051134
Other languages
English (en)
Inventor
Preet Khalsa
Valentin Mircea Burtea
Bernard Vincent Grush
Joseph Henry Leblanc
Kexing Rui
Original Assignee
Skymeter Corporation
Skymeter Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Skymeter Corporation, Skymeter Ltd filed Critical Skymeter Corporation
Publication of WO2011158038A1 publication Critical patent/WO2011158038A1/fr

Links

Classifications

    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
    • 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 present invention relates to the field of global navigation system using satellites (GNSS).
  • GNSS global navigation system using satellites
  • the invention relates to a method of more efficient and reliable tracking of the position of an object than is permitted by existing GNSS systems.
  • Satellite positioning systems and other types of wireless tracking technology can be used to determine the position of an object or a vehicle and to track progress of that vehicle, or other object, travelling along a path, generally along a road, or a public footpath, for example.
  • the methods disclosed herein may be applied to any positioning system, although GNSS is used as a specific example to illustrate one particular application of the invention.
  • Toll booths with human operators charging a fee for road use can be used. This approach can impair traffic flow, which may result in expensive and inconvenient traffic delays.
  • Automatic toll gantries may be used.
  • the vehicle is identified using a combination of the following: inductive loops or radar technology used to detect the presence of a vehicle; video capture for accurate vehicle classification (i.e. size, usage type); digital image capture and character recognition software for license plate identification; radio-frequency identification (RFID) or dedicated short-range communications (DSRC), which may be used to carry out an electronic transaction.
  • RFID radio-frequency identification
  • DSRC dedicated short-range communications
  • an RFID tag may be associated with a particular user or vehicle, which is in turn associated with particular account details held by the organisation responsible for collecting payment on the particular road segment. Recognition of the RFID tag in a particular zone will then result in the account of the vehicle user being charged for use of that road segment.
  • GNSS technology to monitor whether a road segment has been used by a particular vehicle can benefit from an existing GNSS infrastructure, which has already been deployed. This can reduce the system deployment cost as compared to the cost of the above described physical installations.
  • a GNSS receiver is only able to determine the location of the person, object, or vehicle to which it is mounted with a finite degree of accuracy. Further, the performance of a GNSS receiver depends upon atmospheric conditions and the environment in which it is located. In dense urban areas the accuracy may degrade significantly due to signal obstruction by surrounding buildings, or due to multi-path reflections from surrounding buildings and objects.
  • Existing GNSS systems use map-matching to try to compensate for inherent GNSS errors. This is where the calculated GNSS location is compared with a map stored in the GNSS receiver. This map-matching constrains the reported trajectory of the receiver to the existing roads or pathways registered on the map. Therefore, identifying whether the vehicle is present on a certain road segment would appear to become trivial.
  • map-matching algorithms are not fool-proof. If the positional error induced in a receiver by environmental conditions or multi-path reflections exceeds the distance between two adjacent roads on a map, then resulting map registration errors may amplify the GNSS positioning errors rather than compensating for them. The receiver may therefore be reported as being located on the road adjacent to the road upon which it is actually located. This is of particular risk in the case of neighbouring or parallel roads. Furthermore, map-matching requires a significant degree of processing within the receiver and can increase operation and logistics costs. Methods of determining toll charges for vehicles using a traffic route are discussed in US 5717389. This document describes a road toll solution which does not rely on specific details of navigation maps.
  • the concept behind the disclosure in US 5717389 is to validate a certain predefined trajectory by placing validation points along a route.
  • the validation points have a circle of detection of a predefined radius. Although specified as a circle, these validation points can be any polygon. If the GNSS receiver resolves the position of the vehicle to be within one of these validation circles and if the vehicle passes through all of the validation circles, then it is concluded that the vehicle has travelled along the given segment of road. All of the validation areas in US 5717389 are generally overlapping circles and the processing required in verifying whether the GNSS receiver is within any of these circles can be burdensome on the device carrying out this processing.
  • the present invention attempts to overcome the draw-backs of all of the above technologies, by providing a GNSS-based road use monitoring method which requires a minimum of data storage and requires a minimum of data processing in order to determine whether a section of road or path or some other geographical zone has been travelled through by a user.
  • the method according to the present invention is based upon the detection of the object having crossed a single line segment in space. The detection of this line crossing requires minimal processing power and the storage of the series of line segments relating to virtual gantry positions makes efficient use of memory storage to achieve the object of detecting whether the object has followed the path.
  • the method of the present invention removes the need for any processing to calculate whether the tracked object is on any part of a predefined map of roads and removes the need for a processor determine whether an object is within a particular polygonal area.
  • Determining whether the object has followed the predetermined path may further comprise the step of detecting a crossing, by the object, of a plurality of virtual gantries located at intervals along the path. Detecting a plurality of virtual gantries located at intervals along the path can further improve the reliability and accuracy of the method of the present invention. It can help to compensate for 'phantom' gantry crossings, where inaccuracy in a GNSS calculated position may give a false indication of a virtual gantry located near to a neighbouring path having been crossed, when the object was in fact moving along the neighbouring path and not along the path to which the virtual gantry relates.
  • Detecting a crossing of a virtual gantry may further comprise the step of detecting a segment between two consecutive object positions intersecting a virtual gantry.
  • the detecting of a line segment drawn between two consecutive calculated positions of the object intersecting the line segment representing a virtual gantry is a simple and efficient processing step and provides a simpler zone detection method when compared to other known methods, including calculation of whether an object is within any particular circular, polygonal or other 2D area.
  • the distance actually travelled by the object between virtual gantry crossings may be measured and compared with a distance along the predetermined path.
  • the measurement of the distance may be calculated from the GNSS signal or from another input means, such as an odometer in a vehicle or any other distance measuring device.
  • a comparison of this measured distance travelled by the tracked object with an expected distance that an object should travel between two virtual gantries, if travelling along the predetermined path, can provide a further validation check for the detection of an object having travelled along the predetermined path.
  • the path followed by the object may only be defined as the predetermined path when the distance actually travelled by the object is within a predefined range.
  • the predefined range may be a range above and/or below the actual distance along the predefined path between the virtual gantries. The use of a range can allow for an inaccuracy in the measurement of the distance that the object has travelled in between gantry crossings and the range may be chosen to be large enough to allow for inaccuracies in measurement of the distance, but small enough that an object taking a second, different path between virtual gantry crossings is not recorded.
  • the predefined range may be defined relative to a distance along the predetermined path.
  • Detected gantry crossings may be compared with any one of a NOT, AND or OR relationship between virtual gantries. Applying this further logical comparison to detected gantry crossings can improve the reliability of the detection of genuine path usage.
  • the method may further comprise the step of recording on a database a value indicating that the object has travelled along the predefined path. This step allows the user to access the memory to extract a list of predefined paths along which the object has travelled.
  • the recording step may only be carried out if the object has crossed the gantry in an expected direction.
  • the recording step may only be carried out if the object has crossed a plurality of gantries in an expected sequence.
  • the recording step may only be carried out if the most recently detected virtual gantry crossing relates to a virtual gantry different from the virtual gantry detected in the previously detected gantry crossing.
  • the recording step may only be carried out if a detected crossing complies with any one, or a combination of, a NOT, AND or OR relationship between virtual gantries. Applying these conditions can result in a more reliable recording of the objects having travelled along the predetermined path, since a greater number of validation checks must be successfully passed before the recording step is carried out.
  • the invention further provides a system for detecting whether a path has been followed by an object, comprising:
  • a receiver for receiving positioning signals from positioning satellites; a processing unit for processing position data generated by the receiver; a first memory for storing data representing the positions of virtual gantries; and
  • system is configured to carry out any one of the methods described herein.
  • Figure 1 shows an example of a road system and corresponding virtual gantries
  • Figure 2 shows a schematic drawing of a system which may be used to implement the method of the present invention.
  • numerals beginning with the number 1 indicate real-world objects, while numerals beginning with 2 indicate virtual lines or areas in space. Numerals beginning with the number 3 relate to system components of the system carrying out the methods of the present invention.
  • Figure 1 shows a road system 10 comprising a toll road 100 and a free road 101.
  • a road system 10 comprising a toll road 100 and a free road 101.
  • superimposed on the road system is plurality of line segments, representing virtual gantries 201 , 202 and 203.
  • An object 102 is travelling along toll road 100.
  • a second object 103 is travelling along free road 101 in a first direction.
  • a third object 104 is travelling along the same free road 101 in a second direction.
  • Each of objects 102, 103 and 104 is equipped with a GNSS receiver or similar tracking device.
  • Each of the tracking devices will receive signals from a global positioning system 105, to determine their respective positions.
  • Object 102 which may be any object or vehicle carrying a GNSS receiver, is travelling along toll road 100 and, as can be seen from the figure, its trajectory will pass across virtual gantries 201 , 202 and 203.
  • the object passes the virtual gantries in a particular sequence, i.e. in this case, virtual gantry 201 followed by virtual gantry 202, followed by virtual gantry 203.
  • a sequence in which gantry crossings are detected can be used to further verify whether a detected gantry crossing is a genuine virtual gantry crossing or a "phantom" gantry crossing caused by jitter or inaccuracy in the GNSS signal.
  • the method of the present invention may optionally include comparing the position of the most recently detected gantry crossing with the position of the previously detected gantry crossing. If these relate to the same virtual gantry, then the most recent gantry crossing may be disregarded.
  • the two last detected gantry crossings relate to different virtual gantries, then they are more likely to be genuine gantry crossings. Further, the sequence in which the virtual gantries are apparently crossed by the object can be compared with an expected sequence in which the gantries would normally be crossed as object 102 travels along toll road 100. Further, a distance along toll road 100 will necessarily be travelled by an object if it is actually following the troll road in between virtual gantry crossings.
  • this distance may be compared with the actual distance travelled by the vehicle during the time that has elapsed between the last detected virtual gantry crossing of virtual gantry 201 and the detected gantry crossing of gantry 202.
  • This known expected distance may be compared with an actual distance travelled.
  • the actual distance travelled may be taken from another system in the object, for example, if the object is a car, the actual distance travelled by the car may be taken from its odometer or other on board system, and compared with the expected distance between gantry crossings.
  • a range of distances may be covered by the object as it passes between the position of virtual gantry 201 and virtual gantry 202 along the toll road 100. Therefore, it is advantageous to make the comparison between the actual distance travelled by the car and a potential range of distances that the car may have travelled in between virtual gantry crossings.
  • Object 103 which may be any object or vehicle carrying a GNSS receiver, is travelling along free road 101.
  • the vehicle is travelling generally left to right along the free road 101 as shown by arrow 105 in the figure.
  • the GNSS signal associated with object 103 is subject to a certain degree of jitter and inaccuracy, which results in a calculated position for the object which may be anywhere approximately within circle 204.
  • the object will pass adjacent to virtual gantry 202. If there is sufficient jitter in the signal and the object 103 passes sufficiently close to the virtual gantry 202, then a crossing of that virtual gantry by object 103 may be detected.
  • the object not having crossed virtual gantries 201 or 203 it is possible to conclude that the object was not passing along the toll road 100 and thus it will not be recorded that the object has passed along the toll road in this particular case.
  • Object 104 is travelling along the free road in the opposite direction to object 103, generally right to left.
  • An equivalent amount of jitter and potential inaccuracy in the calculated position of object 104 from the GNSS signals will apply, as depicted in circle 204 for object 103.
  • jitter or inaccuracy in its calculated position may cause its calculated trajectory to appear to cross virtual gantry 202, However, this is likely to be in a direction opposite to the expected direction of travel for toll road 101 at the position of gantry 202. This expected direction is indicated by arrow 205.
  • gantries 201 or 203 it will not be necessary to detect whether or not either of gantries 201 or 203 has been crossed to determine whether the objects have passed along the toll road or not.
  • a virtual gantry is sufficiently distant from any neighbouring roads, a simple detection of a crossing of a single gantry may be sufficient to give a reliable indication of whether a section of toll road has been used or not.
  • the use of a single gantry 201 may be sufficient to reliably detect whether an object has passed along toll road 100.
  • detection of a crossing of gantry 203 may also be sufficient. Where this certainty is not possible due, for example, to multiple adjacent paths, then further validation checks may be necessary to validate whether a detected gantry crossing is genuine or not.
  • An AND relationship may be recorded between, for example, virtual gantry 201 and 202. In this case, it will only be determined that the object 102 has travelled along path 100 if crossings of both of the virtual gantries 201 AND 202 have been crossed. This AND relationship may be applied to any pairing, or all three, of virtual gantries 201 , 202 and 203. An OR relationship may further be applied to a pair or plurality of virtual gantries. For example, it may be determined that the object 102 has travelled along path 100 if crossings of either of virtual gantries 201 OR 203 has been crossed. A NOT relationship may also be applied to certain virtual gantries.
  • FIG. 1 This may be applied where an object is only deemed to have travelled along a path if a detection of a crossing of a particular virtual gantry has not been detected.
  • a virtual gantry 206 is optionally located on path 101.
  • the virtual gantry 206 may be located away from path 100, for example, approximately at the location of either of objects 103 or 104 in the figure, so as to make phantom virtual gantry crossings due to signal inaccuracies or signal jitter less likely.
  • Path 100 may only be determined to have been followed by object 102, if a crossing of the virtual gantry on path 101 has NOT been detected.
  • This NOT relationship may be applied as an alternative to, or in combination with, either of the above described AND and OR relationships.
  • path 101 may only be deemed to have been travelled along by object 102 if crossings of virtual gantries 201 AND (202 OR 203) NOT 206, have been detected.
  • the passage of a vehicle through a set of virtual gantries in a predetermined sequence may be considered as sufficient evidence that the vehicle has travelled the entire length of a given road section.
  • the virtual gantries are segments of a certain width intersecting the trajectory followed by the road.
  • the width of the virtual gantry may be slightly wider than the physical road which it is placed to intersect. This ensures that the risk of jitter or inaccuracy in GNSS position calculations does not cause the calculated trajectory of the car to pass around the edge of the gantry. This gives greater certainty of an object crossing the virtual gantries positioned on the path being detected.
  • the gantry crossing is recorded if the signal between two consecutive vehicle positions intersects the signal representing the virtual gantry.
  • the gantry may be sensitive to one direction only, in that if the detected gantry crossing is not in an expected direction for the virtual gantry, then the gantry crossing may be ignored. Multiple subsequent crossings of the same virtual gantry may be ignored, since these may be a consequence of jitter due to GNSS errors or inaccuracies. It may be required that all gantries are triggered in a predetermined sequence to indicate that the vehicle has travelled along the particular road segment corresponding to that set of virtual gantries. A distance travelled between detected gantry crossings may further be required to be within a predefined range of expectation for a gantry crossing to be recorded and use of a toll road to be consequently recorded.
  • FIG 2 is a schematic representation of a system which may be used to implement the method of the present invention.
  • a GNSS receiver 300 is configured to receive GNSS positioning signals from GNSS satellites 105 of Figure 1.
  • the position data generated by the receiver is passed via a communication line 301 to a processing unit.
  • the passing of the information between the GNSS receiver and the processor may be done in real time as the position is calculated. Alternatively, the data may be saved into an intermediate memory and accessed by a processor carrying out the method of the present invention at a later point in time.
  • Processor 303 is connected to an input memory containing data representing the positions of the virtual gantries and to an output memory for recording at least which toll roads have been used, along with the output of any of the comparison steps, for example any gantry systems that have been detected.
  • a first memory 304 may contain the positions of the virtual gantries and the second memory 305 may contain the output data in a suitable format.
  • Processor 303 monitors the incoming GNSS position data and checks for a line segment in-between two sequential object positions crossing a virtual gantry segment held in first memory 304. This check can be carried out using any known algorithm for the detection of line intersections.
  • Processor 303 may be programmed to subsequently carry out any of the validation checks on that gantry crossing, for example comparing a detected sequence in which gantries have been crossed with an expected sequence of gantry crossings, comparing the direction in which a gantry has been crossed with an expected direction.
  • the expected results of these validation checks may be stored in memory 304 along with the position data for each gantry.
  • the processor may further compare a recorded distance since the previous gantry crossing with an expected distance between the two relevant virtual gantries.
  • the memory 304 may contain at least the end point coordinates of each gantry and for each virtual gantry. Moreover, there may also be stored any or all of: an expected crossing direction; an expected previous gantry crossing; an expected subsequent gantry crossing; an expected distance since a previous gantry crossing; an identifier corresponding to the toll road to which that virtual gantry corresponds; and information concerning any NOT, AND or OR relationships for each gantry.
  • the output into memory 305 may contain at least a record of the toll road that the object has deemed to have travelled along, together with, optionally, each detected virtual gantry crossing, each validated gantry crossing and the times and distances corresponding to those gantry crossings.
  • a benefit of the described method is that the trajectory of the vehicle is indirectly constrained by the road network to which the virtual gantries correspond, even though road mapping information is not a direct part of the detection process.
  • road mapping information is not a direct part of the detection process.
  • the described system does not require the tracking of every point of the object along an entire road section, but the analysis is focussed on a relatively simple detection method implemented at certain key locations on the road network.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Finance (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

Procédé permettant de détecter si un itinéraire a été suivi par un objet. Ce procédé consiste : à recevoir des données de localisation par rapport à la position de l'objet à des intervalles déterminés ; à déterminer si l'objet à suivi l'itinéraire en détectant si oui ou non ledit objet a franchi au moins un portique virtuel, lequel portique virtuel est défini par un segment de ligne coupant spatialement l'itinéraire. Sont également décrits d'autres contrôles de validation, y compris le franchissement d'un certain nombre de portiques virtuels selon une séquence prévue, sur une distance prévue et dans une direction prévue. L'invention porte également sur un système de mise en œuvre de ce procédé.
PCT/GB2011/051134 2010-06-17 2011-06-17 Procédé de suivi WO2011158038A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB1010180.6A GB201010180D0 (en) 2010-06-17 2010-06-17 Tracking method
GB1010180.6 2010-06-17

Publications (1)

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WO2011158038A1 true WO2011158038A1 (fr) 2011-12-22

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GB (1) GB201010180D0 (fr)
WO (1) WO2011158038A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2887325A1 (fr) 2013-12-20 2015-06-24 Q-Free ASA Détection de portique virtuel dans un système GNSS
EP3012810A1 (fr) * 2014-10-20 2016-04-27 Marte Gerhard Procédé et unité embarquée pour l'enregistrement de péage
EP2955546A3 (fr) * 2014-06-03 2016-05-11 Q-Free ASA Détection d'objets a péage dans un système gnss avec un filtre à particules
CN109155107A (zh) * 2016-03-22 2019-01-04 德尔福技术有限公司 用于自动化车辆场景感知的感知系统

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WO2003098556A1 (fr) * 2002-05-15 2003-11-27 Pa Consulting Services Limited Systeme visant a evaluer l'utilisation d'un vehicule dans des zones
US7006915B2 (en) * 2001-10-11 2006-02-28 Vodafone Holding Gmbh Recording system for vehicles with CPS
EP1696208A1 (fr) * 2005-02-23 2006-08-30 Vodafone Holding GmbH Procédé de détection de la position de véhicules et système de détection de véhicules dans une zone géographique
EP1736932A1 (fr) * 2005-06-24 2006-12-27 Vodafone Holding GmbH Procédé et dispositif destinés à la détermination d'une trajectoire parcourue par un véhicule
DE102006027676A1 (de) * 2006-06-14 2007-12-20 Siemens Ag Verfahren zur Fahrstreckenerkennung in einem Mautsystem

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EP0730728B1 (fr) * 1993-11-26 1999-02-03 MANNESMANN Aktiengesellschaft Systeme place dans un vehicule pour determiner le passage dudit vehicule sur un troncon d'un reseau routier predefini
US5717389A (en) 1994-01-28 1998-02-10 Detemobil Deutsche Telekom Mobilnet Gmbh Method of determining toll charges for vehicles using a traffic route
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WO2003098556A1 (fr) * 2002-05-15 2003-11-27 Pa Consulting Services Limited Systeme visant a evaluer l'utilisation d'un vehicule dans des zones
EP1696208A1 (fr) * 2005-02-23 2006-08-30 Vodafone Holding GmbH Procédé de détection de la position de véhicules et système de détection de véhicules dans une zone géographique
EP1736932A1 (fr) * 2005-06-24 2006-12-27 Vodafone Holding GmbH Procédé et dispositif destinés à la détermination d'une trajectoire parcourue par un véhicule
DE102006027676A1 (de) * 2006-06-14 2007-12-20 Siemens Ag Verfahren zur Fahrstreckenerkennung in einem Mautsystem

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2887325A1 (fr) 2013-12-20 2015-06-24 Q-Free ASA Détection de portique virtuel dans un système GNSS
WO2015093975A1 (fr) * 2013-12-20 2015-06-25 Q-Free Asa Détection de véhicule au niveau d'un portique virtuel d'un système gnss
US9666001B2 (en) 2013-12-20 2017-05-30 Q-Free Asa Virtual gantry detection in a GNSS system
EP2955546A3 (fr) * 2014-06-03 2016-05-11 Q-Free ASA Détection d'objets a péage dans un système gnss avec un filtre à particules
EP3012810A1 (fr) * 2014-10-20 2016-04-27 Marte Gerhard Procédé et unité embarquée pour l'enregistrement de péage
WO2016062712A1 (fr) * 2014-10-20 2016-04-28 Gerhard Marte Procédé et unité embarquée (obu) pour la détermination de taxes de péage
CN109155107A (zh) * 2016-03-22 2019-01-04 德尔福技术有限公司 用于自动化车辆场景感知的感知系统

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