Method for selecting and processing traffic information
Abstract
Mit der Erfindung wird ein Verfahren zur Auswahl und Aufbereitung von Verkehrsinformationen für einen Fahrer eines Kraftfahrzeuges mit den folgenden Verfahrensschritten vorgeschlagen: Bestimmung einer Fahrzeugposition und einer Fahrtrichtung des Kraftfahrzeugs,Zuordnen der Fahrzeugposition zu einer Straße anhand von Straßenkartendaten,Bestimmung möglicher Fahrtrouten unter Einbeziehung der Fahrzeugposition, der Fahrtrichtung und der Straßenkartendaten,Empfangen mindestens einer Verkehrsmeldung, die Informationen über eine Verkehrsbehinderungen und einen von der Verkehrsbehinderung betroffenen Streckenabschnitt enthält,Vergleichen der empfangenen Verkehrsmeldungen mit den möglichen Fahrtrouten zur Ermittlung von für eine der möglichen Fahrtrouten des Fahrzeugs relevanten Verkehrsbehinderungen, und, falls eine relevante Verkehrsbehinderung auf einer der möglichen Fahrtrouten des Fahrzeugs ermittelt wurde:Festlegen eines Zwischenziels auf der von der relevanten Verkehrsbehinderung betroffenen möglichen Fahrtroute, wobei das Zwischenziel auf der möglichen Fahrtroute in Fahrtrichtung des Fahrzeugs hinter dem von der Verkehrsbehinderung betroffenen Streckenabschnitt liegt,Starten einer Routenberechnung zur Berechnung einer Fahrtroute von der aktuellen Fahrzeugposition oder einer in Fahrtrichtung des Fahrzeugs vor der aktuellen Fahrzeugposition liegenden Position zu dem Zwischenziel unter Vermeidung des von der relevanten Verkehrsbehinderung betroffenen Streckenabschnitts,Starten einer Zielführungsausgabe und Ausgabe von Zielführungsinformationen zu der berechneten Fahrtroute.

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Projected expiry passed 25 October 2024, 1.9 years ago.
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24 claims: 18 independent, 6 dependent
- 1Procedures for the selection and preparation of traffic information for a driver of a motor vehicle with the steps of:Determining a vehicle position and a direction of travel of the motor vehicle,based mapping of the vehicle position to a road road map data,Determine possible routes, including the vehicle position, the direction of travel and the road map data,Receiving at least one traffic message, the information a traffic congestion and one of the traffic congestion section of line concerned contains,Comparing the received traffic messages with the possible routes for the determination of one of the possible routes of the vehicle relevant traffic delays, and if a relevant traffic conditions on a the possible routes of the vehicle was determined:Specifying a stopover on the relevant of the Traffic incident concerned possible route, wherein the intermediate destination on the possible route in the direction of travel of the vehicle behind the traffic obstruction section of line concerned is,Starting a route calculation for calculating a Route from the current vehicle position or a in the direction of travel of the vehicle before the current vehicle position lying position to the intermediate target as Avoidance of the relevant of the traffic obstruction relevant line section, Starting a route guidance output and output Route guidance information on the calculated route. Verfahren zur Auswahl und Aufbereitung von Verkehrsinformationen für einen Fahrer eines Kraftfahrzeugs mit den Verfahrensschritten: - Bestimmung einer Fahrzeugposition und einer Fahrtrichtung des Kraftfahrzeugs,- Zuordnen der Fahrzeugposition zu einer Straße anhand von Straßenkartendaten,- Bestimmung möglicher Fahrtrouten unter Einbeziehung der Fahrzeugposition, der Fahrtrichtung und der Straßenkartendaten,- Empfangen mindestens einer Verkehrsmeldung, die Informationen über eine Verkehrsbehinderungen und einen von der Verkehrsbehinderung betroffenen Streckenabschnitt enthält,- Vergleichen der empfangenen Verkehrsmeldungen mit den möglichen Fahrtrouten zur Ermittlung von für eine der möglichen Fahrtrouten des Fahrzeugs relevanten Verkehrsbehinderungen, und, falls eine relevante Verkehrsbehinderung auf einer der möglichen Fahrtrouten des Fahrzeugs ermittelt wurde:- Festlegen eines Zwischenziels auf der von der relevanten Verkehrsbehinderung betroffenen möglichen Fahrtroute, wobei das Zwischenziel auf der möglichen Fahrtroute in Fahrtrichtung des Fahrzeugs hinter dem von der Verkehrsbehinderung betroffenen Streckenabschnitt liegt,- Starten einer Routenberechnung zur Berechnung einer Fahrtroute von der aktuellen Fahrzeugposition oder einer in Fahrtrichtung des Fahrzeugs vor der aktuellen Fahrzeugposition liegenden Position zu dem Zwischenziel unter Vermeidung des von der relevanten Verkehrsbehinderung betroffenen Streckenabschnitts,- Starten einer Zielführungsausgabe und Ausgabe von Zielführungsinformationen zu der berechneten Fahrtroute.
- 2The method of claim 1, characterized, that the only possible route the currently traveled by the vehicle road in the determined Direction of travel is selected. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass als einzige mögliche Fahrtroute die aktuell von dem Fahrzeug befahrene Straße in die ermittelte Fahrtrichtung ausgewählt wird.
- 3The method of claim 1, characterized, that the possible routes based of stored destinations or routes of earlier trips be determined. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die möglichen Fahrtrouten anhand abgespeicherter Ziele oder Fahrtrouten früherer Fahrten ermittelt werden.
- 4The method of claim 1, characterized, that as possible routes in a predetermined angular segment to the direction of travel Vehicle lying routes are determined. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass als mögliche Fahrtrouten in einem vorgegebenen Winkelsegment um die Fahrtrichtung des Fahrzeugs liegende Fahrtrouten bestimmt werden.
- 5Method according to one of the preceding claims,characterized in that the intermediate target is determined automatically. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Zwischenziel automatisch ermittelt wird.
- 6A method according to any one of claims 1 to 5, thereby in that a list possible interim targets shall be prepared and a desired Intermediate target based on the list of possible intermediate targets is selectable. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass eine Liste möglicher Zwischenziele erstellt wird und ein gewünschtes Zwischenziel anhand der Liste möglicher Zwischenziele auswählbar ist.
- 7Method according to one of the preceding claims,characterized in that the output the routing information reaching the Intermediate target is terminated. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Ausgabe der Zielführungsinformationen mit Erreichen des Zwischenziels beendet wird.
- 8Method according to one of the preceding claims,characterized in that traffic information filtered by a distance criterion will. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Verkehrsinformationen nach einem Entfernungskriterium gefiltert werden.
- 9Method according to one of the preceding claims,characterized in that the entrained road map data of a vehicle in the Mass storage is read. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Straßenkartendaten aus einem im Fahrzeug mitgeführten Massenspeicher ausgelesen werden.
- 11A method according to claim 10, characterized that the road map data with the Traffic messages are transmitted. Verfahren nach Anspruch 10, dadurch gekennzeichnet , dass die Straßenkartendaten mit den Verkehrsmeldungen übertragen werden.
- 12Method according to one of the preceding claims,characterized in that the traffic reports through a broadcasting system or a mobile radio system be transmitted. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Verkehrsmeldungen über ein Rundfunksystem oder ein Mobilfunksystem übertragen werden.
Independent claims12
32 paragraphs, as filed
Procedures for the selection and preparation of traffic information
The invention relates to a method for the selection and preparation traffic information for a driver of Motor vehicle.
The driver of a motor vehicle are in many ways Information provided. These include in particular also traffic information, the driver of interference inform the traffic flow. is widespread the transmission of relevant traffic reports on the radio. This may at regular intervals, for example every half hour done. Furthermore, the traffic information are received as a data telegram and are therefore anytime in the vehicle. In particular, the further processed as transmitted traffic information in the vehicle will. In addition, it is also known, Traffic information over a cellular network to a mobile user transferred to.
Received traffic information may in particular also at route planning are used in navigation systems. Here, on the one hand, the currently available traffic information considered before starting the journey for route planning will. On the other hand even after considered routing newly added traffic information are, so far as it planned route affect. is known from DE 199 56 108 A1 a method for this purpose dynamic guidance of a motor vehicle under consideration received while driving traffic information known. After initially one route is calculated, and there are routing information calculated to the Route output. During the trip traffic information received and relevant for the calculated route Traffic information filtered out. If the calculated Route while driving traffic information received traffic problems, it is another route calculation started, bypass routes for several turning points are calculated, where a departure from the original Route is possible. The turning points lie between the current position of the vehicle and the reported early traffic obstruction. The driver can Select one of the calculated detour routes and then replaced Route guidance information on this new route.
This method is applicable only when a destination was entered and calculates a route to the destination has been. However Especially with recurrent journeys, Needs such as home-work the driver but no routing information and is therefore mostly on the input of a drive object and on waive the issue of routing information. In these Cases, the known navigation system, the filtering not make traffic information and Driver in the occurrence of traffic congestion on its do not support route, by example, Detour route suggests.
From DE 101 08 994 A1 discloses a method for selecting known traffic information. Here, by the Information Center sent information along with Data on the sections concerned with the information linked. In the terminal equipment in a vehicle, a Filtering the received information based on the current Vehicle position carried out, and only the information issued, the current position of the vehicle affect. Although this way is to filter the traffic information achieved, making it easier for the driver is that possible for him relevant traffic information filter out. done Another driver support However, this is not.
The object of the invention is therefore to provide a method for selecting and preparation of traffic information for a driver develop a motor vehicle such that the Traffic information for a to determine their relevance are filtered for the drivers and the driver on the occurrence relevant traffic delays in the pass of Disability is supported, although not by the driver Destination selected and not carried out a route planning has been.
The object is defined in claim 1 by the resolved method.
With the inventive method, first the vehicle position and the direction determined. The determination the vehicle position in particular by the evaluation from satellite navigation signals, the latitude and to determine the latitude of the current vehicle position can. The determination of the direction of travel by evaluating two successively performed position fixes done. Subsequently, the determined vehicle position a road assigned based on the road map data. This road map data can in varying degrees of accuracy, , To be carried, for example, in the vehicle, for example, on a CD-ROM or on a DVD, or the Road map data can by an external body in the Vehicle are transferred. By comparing the vehicle position with the road map data, the vehicle of a certain Street are assigned. The streets are this usually provided with numbers, with lines of various Category example in Germany an additional letters are distinguishable. About a Receiver for traffic information in the usual Thus, the traffic information received as a data stream. In which Receiver is usually a broadcast receiver or even a mobile device. The traffic reports contain information about a traffic obstruction and affected by the traffic obstruction stretch. The traffic reports are as a data example received by the RDS-TMC standard and can by the Receiving device are evaluated. Subsequently, the Events received with possible routes of Vehicle compared. Here, therefore, the of a possible routes of the vehicle relevant traffic delays determined.
The determination of the possible routes the vehicle can done in different ways. In one embodiment, only one possible route is assumed, and Although the currently traveled by the vehicle in the road Direction which determined as the direction of travel of the motor vehicle has been. This is for example the case of longer motorway journeys a sensible option. If it was determined, for example, that the vehicle on the labeled "A7" drives provided Highway southbound, so only the traffic messages filtered as relevant, by the lying the current vehicle position to the south Sections of the "A7" motorway concern.
In another embodiment, the possible Routes based of stored destinations or routes previous trips determined. If the vehicle, for example, deposited the last five destinations approached, then a Search corridor be established, which the current of the Vehicle position on these various objectives extends. It then only those traffic messages are taken into account, these search corridors concern. Alternatively, all z. B. in removing sense possible Routes between the current location and the previously approached locations for the occurrence of Traffic restrictions are observed. Furthermore, in the vehicle also stored complete routes of earlier trips be such as the route from the place of residence to the workplace, so that exactly the traffic information these stored earlier route concern, as be relevant selected.
In another alternative embodiment, be as a possible Routes those roads determined that in a predetermined angular segment to the direction of travel of the vehicle lie. For this, no further information about stored Objectives or earlier used routes needed however, the detection range is, however, currently on the extended busy street. About the size of the predetermined Angular segment, the degree of reduction of the received Traffic messages are defined.
In another embodiment, the possible routes are determined on the basis of a statistical observation Road. This road observation may, for example on reflect how often the driver a particular stretch has traveled when the stretch last sail was or how frequently travel the route has been. Based on these statistics, a probability space be clamped, so that a reduction in the Traffic information based on the determined probabilities can be achieved. Thus, for example, set be that all traffic information as relevant be viewed lying on streets, at least on average all y days are busy and maximum x kilometers are removed. Alternatively, all the traffic information be selected relating to road segments not further from the current vehicle position as a default value are removed. By collecting this statistical Data can precisely tailored to the customer criteria be determined. In particular, this can by the Users themselves are parameterized.
If a relevant traffic conditions on one of the possible detected routes of the vehicle, as is now According to the invention an intermediate goal on the relevant of the fixed traffic obstruction concerned possible route, wherein the intermediate destination on the possible route in Direction of the vehicle behind the traffic obstruction affected stretch is. The intermediate target thus is a point where a detour route behind of traffic conditions back to the original as possible Route route, regarded returns. Climbs the Vehicle for example, the highway "A7" between junctions No. 34 and no. 35, wherein in direction of travel Vehicle ahead of the vehicle between junctions No. 37 and no. 38 of roadway blocking has been reported, it would the junction no. 38, the first possible intermediate target, on the back perform a bypass route back to the "A7" motorway could. In addition, all further subsequent connection points, so the junctions no. 39, no. 40, no. 41, ..., possible intermediate targets. Of the possible Intermediate targets can be automatically selected one. Alternatively, however, a list of possible intermediate targets be created, whereby a desired intermediate destination is selected based on the list of possible intermediate targets. While in the first variant, an intervention by the driver to select the intermediate target is not required, in the second variant the driver an agency with respect to the point at which he original on the wants to return route, granted.
After determination of the interim target is now for the first time a Route calculation starts. When you select this route calculation a route from the current vehicle position to the Intermediate target calculated using the relevant of the traffic obstruction road section affected is shunned. The calculated route is thus a detour route with respect the considered traffic obstacle. As an alternative to the Set the route from the current vehicle position from, the route by a same direction as the Vehicle ahead of the current vehicle position position are calculated from to the intermediate target. This variant is advantageous for example when the vehicle is still relatively is far from the reported traffic obstruction and for a certain time on the road currently being driven can continue. In this case, the detour route example of a connection point from are calculated, they exit the vehicle, the current highway , in order to use the detour route.
As the driver, although in many cases knows the main routes, where it moves, but with possible detour routes is less familiar for certain sections, is finally a guidance output started, and there are route guidance information to the calculated route, that is, the detour route output. The output the routing information may, in particular with achieving the interim target to be terminated again, since the driver then is back on the original traffic road.
The invention thus a method is provided, the first, from the incoming traffic reports the relevant traffic information filters out even when the driver an existing navigation system exists uses guidance. In contrast to known navigation method be the route planning and the issue of routing information only started when during the Drive enters into a relevant traffic message. A driver who running on a him known route and therefore deliberately dispensed route guidance by a navigation system, then gets but in case of a necessary detour route the required routing information to the then calculated detour route.
In one embodiment of the process the traffic information filtered by a distance criterion. This can, for example, traffic information, Although related to the currently traveled route, however, an even more distant stretch relate, disregarded remain, so that the number of traffic information is reduced.
The road map data can in particular of a vehicle in the entrained mass storage, such as a CD-ROM or a DVD is read. Alternatively, it is also possible the road map data from an external body in the transfer vehicle, for example by means of a cellular connection. In a specific embodiment, the transmitted road map data with the traffic reports will. In this case, a traffic message Straβenkartendaten the respective traffic message area transmitted and may, for example, for the calculation of Detour route will be used.
The invention is described using an exemplary embodiment and the drawing explained. Show it:<dl tsize="7"><dt>figure 1</dt><dd>a flow chart of the method according to the invention;</dd><dt>figure 2</dt><dd>a road map section for explaining the The inventive method;</dd><dt>figure 3</dt><dd>sorting or display possible interim targets and its road sections;</dd><dt>figure 4</dt><dd>the essential components of a navigation system for performing the method according to the invention.</dd></dl>
In Figure 4 are the components of a to carry out the The inventive method suitable navigation system shown schematically for motor vehicles. A central component the navigation system, the computing unit 1. By the arithmetic unit 1 is an operating unit 2 is connected, via the entries may be made. With the arithmetic unit 1 is an optical output unit 3, via which, for example, a selection list to select a interim target or route guidance information is output can. The routing information may continue over a loudspeaker 4 is announced. The input unit 2 and the output unit 3 may also, as a combined Input / output unit in the form of a touch screen be. In such a configuration, for example, Objectives or milestones directly by touching the screen can be selected.
The computation unit 1 is further connected to a database 5, containing the map data. In the embodiment, the map data stored on a DVD and be read out from a DVD-reading device and to the computing unit 1 sent. Based on the map data can be from the Computer unit 1 at a known starting point and destination, a route calculation be performed.
To determine the current vehicle position includes the navigation system Furthermore a receiver 6 for receiving satellite navigation signals. To an independent satellite to carry out position determination containing Navigation system also has a direction sensor 7 and a Displacement sensor 8, which is also connected to the computation unit 1 are such that with the aid of a suitable computer program with these signals, a position determination is possible. Further, the arithmetic unit 1 is equipped with a radio receiver 9 connected, the configured to receive RDS-TMC signals is. Thus, received traffic information from the radio receiver 9 forwarded to the computation unit 1, and as in known navigation systems for consideration at the Route planning can be used. Such dynamic Navigation system is so far known.
In the known navigation systems always need a calculated Route exists to consider traffic information to. The invention provides a method of contrast Available with which selects the relevant traffic information be and a route calculation and the issue of Driving instructions will only start if relevant traffic information present. The inventive method is implemented as a computer program and runs on the computing unit from. 1
Based on the figure 1, the process is now in its essential Steps described. The starting point here is the situation, that a driver is traveling with his vehicle a navigation system, as described in Figure 4 comprises. The driver, since he knows the driving distance, no Destination entered into the navigation system. Consequently, initially also calculated a route from the navigation system, and there are no directional information to the driver output. The navigation system is turned on, however. The navigation system determines in step S1, the position of the vehicle based on the received by the receiver 6 Satellite navigation signals. From two consecutive Location measurement is beyond the direction of travel determined. In step S2, the vehicle position is a street assigned. For this, the position data with the map data, which are stored in the database 5, compared. In this way it is known which road to the vehicle is and in what direction it is traveling.
About the radio receiver 9, in step S3 RDS-TMC data received the information about traffic conditions contain. This information includes, among other details to the distance that affected by the traffic congestion is. By comparing these data with the vehicle Major road and the road map data can in Step S4 to determine whether the traffic announcement current road is relevant. this is not the Case, steps S1 to S4 are in a loop continuously repeated.
If it is determined in step S4 that the traffic reports is relevant to the current road, so in step S5, an intermediate target is set. To this end, is in an automated process involving the transmitted by the traffic information location and length the traffic event the next possible ramp onto current road determined after the traffic event. This is done by in the database of the storage path is followed until the accumulation path was abandoned and a new entry is found. When ambiguities, for Example of a motorway junction, the highway is followed, where the traffic event is. In an alternative Process variant can set Auffahrmöglichkeiten calculated on the busy road and on the display unit 3 provided for selection. The driver then select the desired drive as an intermediate target. Instead of a list of possible entrances to the entrances on a map display on the display unit 3 highlighted. In the case of touch screens the driver then the desired driveway through simple Select Tapping.
After an interim target selected automatically or manually has been set, in step S6, a route from the current Position to this interim destination, so a driveway on previously traveled road calculated. The calculated route is thus a detour route with respect to the traffic obstacle. In step S7, then driving instructions are at the Driver issued with respect to this proposed route.
In a modified embodiment also may first calculated more detour routes to different intermediate targets and on the optical output unit 3 for selecting are displayed. In this case, the driver can directly a Select the detour routes without first specifying a waypoint to have to.
Figure 2 shows a section of a road map, the The inventive method further clarified. A vehicle 20 goes on highway designated by "A90". A Route planning was not conducted, and no Guidance notes issued. An incoming traffic report signals a traffic jam on the busy highway "A90" between the starting point 21 and end point 22, the Navigation system then selects automatically as an interim destination the point 23, which is on the first driveway the "A90" highway behind the traffic jam is. The navigation system then calculates a detour route 24 from the current Position of the vehicle 20 to the intermediate target 23. Then, be the driver driving instructions regarding Umleitroute 24 output. The driving instructions are issued, until the vehicle has reached the intermediate target 23 wherein the driver back to the original busy highway "A90" is.
In the embodiment, the currently traveled street was selected as the only possible route. Apart from can of course several routes as possible routes are selected, as has already been described above.
In addition to the automatic selection of the interim target can Drivers are also more intermediate targets to choose from. This can then be distinguished on which Street are the individual milestones. figure 3a shows this sort, in the intermediate targets, the belong to different streets, found in a simple manner and can be selected. The vehicle 20 is located here on the highway "A5" in the direction of travel 'Kassel' (Fig. 3b). In the direction of travel, there is a traffic jam, the bypass shall be. Behind the storage but will be in short Intervals two motorway junctions, where the highway "A5" intersects with the "A66" or the "A648" Motorway Motorway. In a first list 31 are now the various driveways on the highway "A5" in the direction of travel 'Kassel' behind the Buffer zone listed. In the lists 32, 33 are ramps on the "A66" highway starting from the junction with the motorway "A5" listed, namely the direction of travel 'Fulda' in List 33 and the direction of travel 'Wiesbaden' in List 32. In the lists 34, 35 are the possible entrances to the motorway "A648", starting from the intersection with the highway "A5" listed, again separated into the both directions. The driver can initially one of the Select lists, depending on whether his trip to the storage continue on the "A5" in the direction of 'Kassel' or on the is to take place "A66" or the "A648". In this way, ensures that a suitable driveway as an interim destination is used for route calculation, although a destination not entered into the navigation system by the driver previously has been.
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| DE102012212815A1 | Cited by | Germany | – | Applicant | – |
| CN113865609A | Cited by | China | – | Search report | – |
| WO2010000239A2 | Cited by | World Intellectual Property Organization (WIPO) | – | Applicant | – |
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| WO2009033864A1 | Cited by | World Intellectual Property Organization (WIPO) | – | International search | – |
| DE102012212815A1 | Cited by | Germany | – | Search report | – |
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| US9739632B2 | Cited by | United States of America | – | Applicant | – |
| DE102009031480A1 | Cited by | Germany | – | Applicant | – |
| DE102012212815B4 | Cited by | Germany | – | Applicant | – |
| CN101852621A | Cited by | China | – | Search report | – |
| US10612935B2 | Cited by | United States of America | – | Applicant | – |
| RU2677122C1 | Cited by | Russian Federation | – | Search report | – |
| EP1914514A1 | Cited by | European Patent Office (EPO) | – | Search report | – |
| DE19535576A1 | Cites | Germany | Y | Search report | 1,3,6,12 |
| DE19956108A1 | Cites | Germany | DY | Search report | 1,3,6,12 |
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- Application, DOCDB
- 04105269
- Application, EPODOC
- EP20040105269
Titles3
- German
- Verfahren zur Auswahl und Aufbereitung von Verkehrsinformationen
- English
- Method for selecting and processing traffic information
- French
- Procédé pour sélectionner et traiter de l'information de circulation
Classification
- CPC, 4
- G08G1/0969
- G01C21/3492
- G08G1/091
- G08G1/096844
- IPC, 4
- G01C21 34
- G08G1 09
- G08G1 0968
- G08G1 0969
Designated states33
- Contracting states, 28
- Austria
- Belgium
- Bulgaria
- Switzerland
- Cyprus
- Czechia
- Germany
- Denmark
- Estonia
- Spain
- Finland
- France
- United Kingdom
- Greece
- Hungary
- Ireland
- Italy
- Liechtenstein
- Luxembourg
- Monaco
- Netherlands (Kingdom of the)
- Poland
- Portugal
- Romania
and 4 moreShow fewer
- Sweden
- Slovenia
- Slovakia
- Türkiye
- Extension states, 5
- Albania
- Croatia
- Lithuania
- Latvia
- North Macedonia