CN102842242A - Device for providing driving proposals, and navigator - Google Patents
Device for providing driving proposals, and navigator Download PDFInfo
- Publication number
- CN102842242A CN102842242A CN2012102094911A CN201210209491A CN102842242A CN 102842242 A CN102842242 A CN 102842242A CN 2012102094911 A CN2012102094911 A CN 2012102094911A CN 201210209491 A CN201210209491 A CN 201210209491A CN 102842242 A CN102842242 A CN 102842242A
- Authority
- CN
- China
- Prior art keywords
- street
- map
- plane
- vehicle
- described method
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3819—Road shape data, e.g. outline of a route
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
Abstract
The invention relates to a method for providing driving proposals in a vehicle navigation device. According to the invention, it is advised to use a digital street map (1), a street geometry shape for at least one segment of street is drawn as a digital street plane in a two-dimensionally analytical way in the digital street map. The data (2) stored in the map (1) is extracted to position a vehicle in the digital street plane, and in aid of the other data stored in the map (1) and/or correlated with the current situation, and a best driving path extending in the digital street plane is obtained and extracted to generate the improved driving proposal irrespective with the positioning data (2).
Description
Technical field
The present invention relates to a kind of design and be used in method in the vehicle navigation apparatus, that be used to provide driving recommendations; Wherein be extracted in the data about the street geometric configuration of storing in the digital street map; Be used for vehicle is located on map on the one hand, on the other hand with generating driving recommendations.In addition, the present invention relates to a kind of navigating instrument and a kind of computer program.
Background technology
For example known according to method as described in the preamble by DE 101 46 744 A1.
The digital street map that constitutes current navigational system basis is made up of straight line and curve usually, and these straight lines and curve are described real street geometric configuration with levels of precision more or less.At this, in most of the cases attempt the digitizing of runway center.Also will be through additional attribute, for example track quantity, street type make these digital informations abundanter.
On the basis of these information, will project through the current geographic position that localization method is measured (so-called map match) in the numerical map.Generate driving recommendations by these information simultaneously.At this, driving recommendations in most of the cases is to show the type where driver should turn to and on which track, turn at the parting of the ways with optics and acoustically.
The digitizing in street is more and more accurate.For example need the very process of Exact Numberization owing to promoted driver assistance system in demand following, that ratio is got involved the driver assistance system ADAS (advanced driver assistance system) of the incident of going at present more by force and more automatically.Through these more accurate higher data of resolution, the digital street of one dimension can be transformed in the real plane at present.So the crossroad no longer is simple intersection point, but plane picture.
Therefore through location and map match, can confirm that vehicle is positioned at the position on this plane, digital street, and whether move, in the time will moving towards which side to motion.Sensor/GNSS (GLONASS)/video and similar servicing unit through becoming better and better can be carried out the location in high-resolution numerical map with becoming better and better.
On the other hand, for high-resolution numerical map, as under present digitizing situation, the driving recommendations of the navigation of following form only is provided: be presented at that a street that the crossroad must change over to.Also can provide if possible, should change to which bar track.In the boundary on plane, street of this high resolving power, two dimension, for example in a rotary traffic,, allow the vehicle free movement so far with regard to regard to the driving recommendations of navigating instrument output.
Summary of the invention
The objective of the invention is plane, optimization process aforementioned two-dimensional digital street, to improve the quality of the driving recommendations that provides through navigation.
The object of the invention is able to solve through method according to claim 1, navigating instrument according to claim 10 and computer program according to claim 11.
According in of the present invention, the method that in claim 1, shows; Except characteristic according to preorder; Regulation is used digital street map, and the street geometric configuration that in this numeral street map, will be used for a street at least is depicted as the plane, digital street of two-dimensional analysis, wherein; Try to achieve the position of vehicle in plane, digital street, and the travel digitizing that will in plane, digital street, extend, adapt with respective conditions and it is extracted with generating to drive advise.
The present invention is based on following idea: be used for the geometric data in street based on what more and more accurately propose; Use other data that relate to street, traffic or vehicle condition to try to achieve the optimum driving path that in the boundary in the digital street that can freely cross so far, extends; This optimum travel is not to go up possible travel as only describing how much so far simply, but is not directly related with the geometric configuration at edge, street.Thus, the digitized travel that promptly adapts with situation through optimum provides additional information, and this information is used for generating and drives suggestion then, leads especially for the destination.Therefore, data that are used to locate (street geometric configuration and street boundary) and to be used for the data (the digital driving path of optimum proposition or that calculate) of driving recommendations irrelevant are to improve the quality of the driving recommendations that is provided by navigation thus.Optimum travel can obtain by means of data additional, that in numerical map, store and/or data that in vehicle, exist, relevant with situation.
According to the present invention, can keep necessary condition less relatively to the two-dimensional resolution aspect on plane, digital street.In many cases, it is just enough with corresponding street width for example in numerical map, to provide center line.
According to one embodiment of the present invention; Use digital street map, in this numeral street map, adapt with corresponding street situation to plane, predetermined street storage, its form is driving line or running region or to the travel of the operating range at edge, street.Local street situation for complicacy for example crosses crossroad, rotary traffic or turning, can be worth proposing to be used for the excessive data of driving recommendations in this way and it being stored in numerical map.
But more favourable in a lot of situation is not that comprehensive mulched ground proposes to be stored in the map about the additional information of optimum travel and with it, but derives or calculate this additional information to plane, corresponding street respectively.Calculating can be based on a kind of algorithm, in digital street map, stores parameter general and/or that limit according to the plane, street for this algorithm.
According to another particularly advantageous embodiment of the present invention, under the data conditions of using about current traffic and/or vehicle condition, be at least plane, a street with optimum travel digitizing.Advantageously, when local barrier, weather effect or on-coming traffic occurring, can generate the driving recommendations of variation.Especially, according to the improvement of this embodiment, under the condition of using current digital vehicle location, can calculate optimum travel.
Description of drawings
Describe the present invention according to embodiment below.In this accompanying drawing:
Fig. 1 shows the process flow diagram that is used to carry out a kind of embodiment according to the method for the invention;
Fig. 2 and Fig. 3 show the synoptic diagram to the driving recommendations of specific traffic output.
Embodiment
Digital street map 1 has been shown in the block diagram of Fig. 1; This numeral street map illustrates this navigational system directly to relate to square frame and the function of improving driving recommendations here simplifiedly with other parts (for example GPS locating device, travel route are confirmed device, control module and display 8) known navigational system of formation itself.Can the navigation data 2 about the street geometric configuration be provided at vehicle interior or outside.The sensing device that will be used to detect the correspondence of the present situation also only is depicted as square frame 6 simplifiedly, and this sensing device for example can comprise video system and the radar system that is used to locate barrier.As display 8 substitute or additional, can also be provided with loudspeaker, be used for exporting driving recommendations with the mode of acoustics.
In order to locate and, in navigation, to utilize various data, particularly from the variant data of numerical map 1 in order to calculate driving recommendations.Use and the actual relevant information 2 of street boundary location 4, and the generation of driving recommendations utilizes the information relevant with optimum driving path according to the method stage 7.These information can separately propose and be stored in the digital street map 1.But in digital street map 1, often do not preserve or do not preserve the digital travel of the optimization of accomplishing for all planes, street.In these cases, use data 3, particularly parameter, it is used to calculate the additional information with the digital driving path form of optimum with current sensor information 6 in the method stage 5 that is called as " travel of optimization " of Fig. 1.
For be used for additional information optimum travel, that navigational system is relied on when obtaining driving recommendations according to the method stage 7; Unessentially be; Whether the optimum curve that goes is stored in the digital street map as extra digital line, perhaps optimum zone or whether exist with the mode that is kept on the numerical map to the distance at edge, street.But also can only store the parameter that is used for going out optimum travel according to the algorithm computation of definition before.
According to the generation of the driving recommendations in method stage 7 for example use current traffic location, in corresponding street or crossroad current vehicle location, be used to calculate the current sensor information of indication of going about the current information of head-on sailing the vehicle that comes and other; Wherein, these current sensor informations 6 advantageously have been input in the digitizing according to the optimum travel in method stage 5.
With under drying regime, compare; Rain with smooth situation under can calculate another and go through the curve that crosses of the optimum at turning with tight turn radius, and so far according to prior art owing to lack data and can not show and optimum cross curve but can only show warning.Fig. 2 has illustrated the traffic with turning, street 9 with synoptic diagram, and vehicle 12 sails this turning into.Under the weather conditions of drying, try to achieve optimum travel, generate driving recommendations 10 (arrow) by this optimum travel.When rainy, try to achieve the optimum travel that adapts with the street situation that exists, generate driving recommendations 11 (arrow) by this optimum travel, can see that this driving recommendations 11 has bigger radius than effective driving recommendations 10 on the runway of drying.
By means of camera or other sensing devices, for example radar or ultrasound wave especially can the cognitive disorders things, correspondingly revise driving recommendations in view of the above.For example often stop that at the edge, street vehicle 15 is arranged, referring to Fig. 3, this makes the track 14 on right side not use.These information can be input in the trying to achieve of optimum runway now, make the destination guiding of vehicle 12 advise the second track 13 (driving recommendations arrow 16) on right side at most and the indication of going is subsequently adapted with this new situation.
Optimum travel and then driving recommendations also can be different for different traffics.Thus, can provide the travel that for example passes the crossroad that need carry out the different optimizations of advising according to traffic density or weather conditions.At this, for example can confirm to locate whether to have on-coming traffic to sail at the parting of the ways according to the video or the radar of vehicle itself.Do not having to cross the crossroad with a turning under the situation of on-coming traffic, and vehicle must continue to sail in the crossroad and ought head-on sail the vehicle that comes and just turn very consumingly through out-of-date in other cases.Two kinds of different indications of going of at the parting of the ways this can be stored in the travel of the optimization that conduct substitutes in the map datum.
Go out optimum travel by all these information calculations, and calculate driving recommendations thus.This result for example projects by means of head-up display and pass on the visible runway of windshield at last.
This improved driving recommendations itself can be used for driver's non-active destination guiding.
Implement the travel route different in the navigational system that is used for truck, also can calculate driving recommendations without a doubt by different way for various vehicles thus with car.
Claims (11)
1. one kind is used to the method that vehicle provides driving recommendations, wherein extracts to be stored in the data about the street geometric configuration in the digital street map, be used for vehicle is located on map on the one hand, and on the other hand with generating driving recommendations,
It is characterized in that,
Use digital street map (1); The street geometric configuration that in this numeral street map, will be used for one section street at least is depicted as the plane, digital street (2) of two-dimensional analysis; Wherein, Try to achieve the position of vehicle (12) in plane, said digital street (2), and wherein try to achieve in plane, said digital street (2) travel that extends, adapt with respective conditions and it is extracted to generate (7) and drive suggestion.
2. according to the described method of claim 1; It is characterized in that; Use numerical map (1), in this numeral street map, adapt with corresponding street situation to the storage of plane, predetermined street at least, its form is driving line (3) or running region (3) or to the travel of the operating range at edge, street.
3. according to the described method of claim 1, it is characterized in that, use numerical map (1), storage is used to calculate the carriage way that adapts with respective conditions to the effective parameter (3) in plane, predetermined street (2) at least in this numeral street map.
4. according to each described method in the claim 1 to 4, it is characterized in that,, under the condition of the information (6) of using current traffic and/or vehicle condition, try to achieve the carriage way that adapts with respective conditions at least to plane, predetermined street (2).
5. according to the described method of claim 4, it is characterized in that, under the condition of using the current position in the street class plane of vehicle, calculate the carriage way that adapts with respective conditions.
6. according to claim 4 or 5 described methods, it is characterized in that, under the condition of using about the information (6) of the partial barriers that recognizes, calculate the carriage way that adapts with respective conditions.
7. according to each described method in the claim 4 to 6, it is characterized in that, under the condition of use, calculate the carriage way that adapts with respective conditions about the information (6) of current mesoclimate.
8. according to each described method in the claim 4 to 7, it is characterized in that, under the condition of use, calculate the carriage way that adapts with respective conditions about the information (6) of on-coming traffic.
9. according to each described method in the claim 1 to 8, it is characterized in that, try to achieve carriage way relevant with vehicle and/or vehicle-state, that adapt with respective conditions.
10. navigating instrument, this navigating instrument can be implemented according to each described method in the claim 1 to 9.
11. computer program; This computer program has the control signal that can read with the mode of electronics; These control signals can with programmable computer system, particularly navigating instrument acting in conjunction, thus implement according to each described method in the claim 1 to 9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011077948A DE102011077948A1 (en) | 2011-06-22 | 2011-06-22 | Method for providing driving recommendations for vehicle, involves consulting digital road map stored data for road geometry on one hand for detection of vehicle on map and on other hand for generation of driving recommendations |
| DE102011077948.5 | 2011-06-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102842242A true CN102842242A (en) | 2012-12-26 |
| CN102842242B CN102842242B (en) | 2016-01-20 |
Family
ID=46832896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210209491.1A Active CN102842242B (en) | 2011-06-22 | 2012-06-20 | For providing method, the navigating instrument of driving recommendations |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN102842242B (en) |
| DE (1) | DE102011077948A1 (en) |
| FR (1) | FR2977024B1 (en) |
| IT (1) | ITMI20121051A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7365939B2 (en) * | 2020-03-04 | 2023-10-20 | 日立Astemo株式会社 | Electronic control device, control method and automatic driving system |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1147628A (en) * | 1995-05-29 | 1997-04-16 | 索尼公司 | Navigation apparatus for displaying map by limit information |
| JP2001050764A (en) * | 1995-10-17 | 2001-02-23 | Matsushita Electric Ind Co Ltd | On-vehicle navigation system |
| US6230083B1 (en) * | 1998-07-10 | 2001-05-08 | Honda Giken Kogyo Kabushiki Kaisha | Road shape predicting method and vehicle controlling method |
| US20010008991A1 (en) * | 2000-01-19 | 2001-07-19 | Hiroyuki Hamada | Navigation device |
| DE10146744A1 (en) * | 2001-09-22 | 2003-04-17 | Bosch Gmbh Robert | Method and system for providing lane recommendations |
| EP1544577A1 (en) * | 2003-12-18 | 2005-06-22 | Delphi Technologies, Inc. | Intersection route display in a navigation system for a motor vehicle |
| CN1714275A (en) * | 2003-07-16 | 2005-12-28 | 哈曼贝克自动系统股份有限公司 | Transmission of special routes to a navigation device |
| CN1918453A (en) * | 2004-03-29 | 2007-02-21 | 株式会社日立制作所 | Navigation system and course guiding method |
| CN101322012A (en) * | 2005-12-01 | 2008-12-10 | 罗伯特·博世有限公司 | Device and method for outputting routing information of a navigation system |
| CN101324440A (en) * | 2008-07-29 | 2008-12-17 | 光庭导航数据（武汉）有限公司 | Map-matching method based on forecast ideology |
| CN101374691A (en) * | 2006-02-15 | 2009-02-25 | 宝马股份公司 | Method of aligning a swivelable vehicle sensor |
| CN101421587A (en) * | 2006-03-31 | 2009-04-29 | 大众汽车有限公司 | Navigation assembly and navigation method for a motor vehicle |
| CN101487713A (en) * | 2008-01-14 | 2009-07-22 | 英华达（上海）科技有限公司 | Vehicle satellite navigation apparatus and method |
| CN102032915A (en) * | 2009-09-30 | 2011-04-27 | 通用汽车环球科技运作公司 | Navigation device and method for vehicle |
-
2011
- 2011-06-22 DE DE102011077948A patent/DE102011077948A1/en not_active Withdrawn
-
2012
- 2012-06-18 IT IT001051A patent/ITMI20121051A1/en unknown
- 2012-06-20 FR FR1255773A patent/FR2977024B1/en active Active
- 2012-06-20 CN CN201210209491.1A patent/CN102842242B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1147628A (en) * | 1995-05-29 | 1997-04-16 | 索尼公司 | Navigation apparatus for displaying map by limit information |
| JP2001050764A (en) * | 1995-10-17 | 2001-02-23 | Matsushita Electric Ind Co Ltd | On-vehicle navigation system |
| US6230083B1 (en) * | 1998-07-10 | 2001-05-08 | Honda Giken Kogyo Kabushiki Kaisha | Road shape predicting method and vehicle controlling method |
| US20010008991A1 (en) * | 2000-01-19 | 2001-07-19 | Hiroyuki Hamada | Navigation device |
| DE10146744A1 (en) * | 2001-09-22 | 2003-04-17 | Bosch Gmbh Robert | Method and system for providing lane recommendations |
| CN1714275A (en) * | 2003-07-16 | 2005-12-28 | 哈曼贝克自动系统股份有限公司 | Transmission of special routes to a navigation device |
| EP1544577A1 (en) * | 2003-12-18 | 2005-06-22 | Delphi Technologies, Inc. | Intersection route display in a navigation system for a motor vehicle |
| CN1918453A (en) * | 2004-03-29 | 2007-02-21 | 株式会社日立制作所 | Navigation system and course guiding method |
| CN101322012A (en) * | 2005-12-01 | 2008-12-10 | 罗伯特·博世有限公司 | Device and method for outputting routing information of a navigation system |
| CN101374691A (en) * | 2006-02-15 | 2009-02-25 | 宝马股份公司 | Method of aligning a swivelable vehicle sensor |
| CN101421587A (en) * | 2006-03-31 | 2009-04-29 | 大众汽车有限公司 | Navigation assembly and navigation method for a motor vehicle |
| CN101487713A (en) * | 2008-01-14 | 2009-07-22 | 英华达（上海）科技有限公司 | Vehicle satellite navigation apparatus and method |
| CN101324440A (en) * | 2008-07-29 | 2008-12-17 | 光庭导航数据（武汉）有限公司 | Map-matching method based on forecast ideology |
| CN102032915A (en) * | 2009-09-30 | 2011-04-27 | 通用汽车环球科技运作公司 | Navigation device and method for vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| ITMI20121051A1 (en) | 2012-12-23 |
| FR2977024A1 (en) | 2012-12-28 |
| CN102842242B (en) | 2016-01-20 |
| FR2977024B1 (en) | 2019-08-09 |
| DE102011077948A1 (en) | 2012-12-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3673407B1 (en) | Automatic occlusion detection in road network data | |
| US20220397402A1 (en) | Systems and methods for determining road safety | |
| US10409288B2 (en) | Systems and methods for projecting a location of a nearby object into a map according to a camera image | |
| US10955854B2 (en) | Method and system for determining the position of a vehicle | |
| JP4861850B2 (en) | Lane determination device and lane determination method | |
| US20170343374A1 (en) | Vehicle navigation method and apparatus | |
| US20220383545A1 (en) | Crowd-sourced 3d points and point cloud alignment | |
| JP5482167B2 (en) | Vehicle travel guidance device, vehicle travel guidance method, and computer program | |
| US11782129B2 (en) | Automatic detection of overhead obstructions | |
| US20210031831A1 (en) | System and method for calibrating a steering wheel neutral position | |
| CN103884342A (en) | Method and control device for providing a street layout ahead | |
| JP2018529087A (en) | System and method for matching road data objects to generate and update an accurate road database | |
| US20130124083A1 (en) | Method for position determination | |
| EP3137850A1 (en) | Method and system for determining a position relative to a digital map | |
| CN104422462A (en) | Vehicle navigation method and vehicle navigation device | |
| US20170082454A1 (en) | Method and Device for Operating a Vehicle and Driver Assistance System | |
| US20220277163A1 (en) | Predictive shadows to suppress false positive lane marking detection | |
| JP2008196968A (en) | Lane determining device, lane determining method, and navigation device using it | |
| US20230236037A1 (en) | Systems and methods for common speed mapping and navigation | |
| US20220371583A1 (en) | Systems and Methods for Selectively Decelerating a Vehicle | |
| JP2008298699A (en) | Own vehicle position recognition device and own vehicle position recognition method | |
| JP2018073010A (en) | Mobile body control device, mobile body control method, and program for mobile body control device | |
| JP2018067034A (en) | Mobile body control device, mobile body control method, and program for mobile body control device | |
| CN113063415A (en) | Vehicle, navigation method thereof, inertial navigation system correction method, and storage medium | |
| US20230136710A1 (en) | Systems and methods for harvesting images for vehicle navigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |