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The arbitrary and unregulated use of wheel clamps is costing car and van insurance customers dearly, according to the RAC Foundation.

Unregulated parking is the basis of a significant number of complaints received by the organisation, which is calling for the government to speed up its implementation of promised regulations.

Speaking at the British Parking Association's (BPA) Parking Summit, RAC Foundation director Stephen Glaister explained: "Many drivers have had to pay large so-called penalties out of their own pockets.

"The list of examples is long but what is common to each case is the arbitrary and unregulated way in which charges are imposed and collected."

Currently, only a few clamping firms adhere to the BPA's voluntary code of conduct.

However, the RAC wants the code imposed with a number of additions, including the introduction of an independent appeals service and an industry regulator with the power to remove the licences of operators that flout the rules.

However, Professor Glaister added that regulation needs to go further than just clamping to other forms of enforcement.

"It is important to understand that if this practice is made illegal, or is over-regulated, operatives who work in the margins of the parking industry will simply find another way of getting money from motorists," he said.

Some of the "horror stories" selected by the RAC include an individual that had their car clamped while a passenger was sitting in it and a taxi driver that was clamped while he went into a house to help a customer with a suitcase.

Proposals set out by the Home Office earlier this year to curb rogue vehicle clamping include plans to tackle excessive penalties imposed for the release of clamped cars, and towing vehicles after an unreasonably short period of time.

Currently, an individual wheel clamping must hold a frontline licence from the Security Industry Authority, but the proposals unveiled in April 2009 would require companies themselves to be licensed to ensure they adhere to a set code of conduct.

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