CN102842242B - For providing method, the navigating instrument of driving recommendations - Google Patents
For providing method, the navigating instrument of driving recommendations Download PDFInfo
- Publication number
- CN102842242B CN102842242B CN201210209491.1A CN201210209491A CN102842242B CN 102842242 B CN102842242 B CN 102842242B CN 201210209491 A CN201210209491 A CN 201210209491A CN 102842242 B CN102842242 B CN 102842242B
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- China
- Prior art keywords
- street
- map
- digital
- vehicle
- plane
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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 present invention relates to a kind of be used in vehicle navigation apparatus, for providing the method for driving recommendations.According to the present invention, suggestion uses digital street map (1), in this digital street map, the street geometric configuration being at least used for one section of street is depicted as digital street plane in the mode of two-dimensional analysis.The data (2) be stored in map (1) in extraction are used for while vehicle location (4) is in digital street plane, by means of other, store in map (1) and/or the data relevant to the present situation try to achieve the optimum travel that extends in digital street plane and extract this optimum travel and be used for generating that (7) improve, irrelevant with locator data (2) driving recommendations.
Description
Technical field
The present invention relates to a kind of design be used in vehicle navigation apparatus, for providing the method for driving recommendations, wherein be extracted in the data about street geometric configuration stored in digital street map, be used for vehicle to locate on map on the one hand, be used on the other hand generating driving recommendations.In addition, the present invention relates to a kind of navigating instrument and a kind of computer program.
Background technology
Such as known by DE10146744A1 according to method as described in the preamble.
The digital street map forming Present navigation system-based is made up of straight line and curve usually, and these straight lines and curve describe real street geometric configuration with levels of precision more or less.At this, in most of the cases attempt runway center number.Also will by additional attribute, such as track quantity, street type, make these digital informations abundanter.
On the basis of these information, the current geographic position measured is projected (so-called map match) in numerical map by localization method.Generate driving recommendations by these information simultaneously.At this, driving recommendations is in most of the cases at the parting of the ways should to the type of where turning and turning on which track with optics and acoustically display driver.
The digitizing in street is more and more accurate.Such as due to following, than at present more by force and more automatically get involved the demand driving of the driver assistance system ADAS (advanced driver assistance system) of traveling event driver assistance system and need digitized processes very accurately.By the data that these more accurate resolution are higher, the digital street of current one dimension can be transformed in real plane.So crossroad is simple intersection point no longer just, but plane picture.
Therefore by location and map match, can determine that vehicle is positioned at the position of this digital street plane, and whether move, move towards which direction when moving.Location in high-resolution numerical map can be performed with becoming better and better by sensor/GNSS (the GLONASS (Global Navigation Satellite System))/video of becoming better and better and similar servicing unit.
On the other hand, for high-resolution numerical map, as under current digitizing situation, only provide the driving recommendations of the navigation of following form: be presented at that a street that crossroad must proceed to.Also can provide if possible, which bar track should be changed to.In the boundary of the street plane of this high resolving power, two dimension, such as, in a rotary traffic, with regard to the driving recommendations exported by navigating instrument, allow vehicle free movement so far.
Summary of the invention
The object of the invention is optimization process aforementioned two-dimensional digital street plane, to improve the quality by the driving recommendations provided that navigates.
Object of the present invention is solved by method according to claim 1, navigating instrument according to claim 10 and computer program according to claim 11.
According in method that is of the present invention, that show in claim 1, except according to except the feature of preorder, regulation uses digital street map, the street geometric configuration being at least used for a street is depicted as the digital street plane of two-dimensional analysis in this digital street map, wherein, try to achieve the position of vehicle in digital street plane, and by extend in digital street plane, the travel digitizing that adapts with respective conditions being extracted advises for generating to drive.
The present invention is based on following idea: based on more and more accurately propose for the geometric data in street, use other to relate to street, the data of traffic or vehicle condition try to achieve the optimum driving path extended in the boundary of the digital street that can freely cross so far, this optimum travel is not as only described geometrically possible travel simply so far, but not directly related with the geometric configuration at edge, street.Thus, by the digitized travel namely adapted with situation of optimum, provide additional information, then this information drives suggestion for generating, and leads especially for destination.Therefore, for the data (street geometric configuration and street boundary) of locating and the data (proposition or the digital driving path of optimum that calculates) for driving recommendations irrelevant, to improve thus by the quality of the driving recommendations provided that navigates.Optimum travel can by means of data that are additional, that store in numerical map and/or exist in vehicle, relevant to situation data acquisition.
According to the present invention, can the necessary condition of the two-dimensional resolution aspect to digital street plane be kept relatively little.In many cases, the street width such as providing center line and correspondence in numerical map is just enough.
According to one embodiment of the present invention, use digital street map, in this digital street map for predetermined street plane store adapt with corresponding street situation, its form is the travel of driving line or running region or the operating range to edge, street.For the local street situation of complexity, such as, cross crossroad, rotary traffic or turning, the excessive data that proposes in this way for driving recommendations can be worth and be stored in numerical map.
But more favourable in a lot of situation is not that comprehensive mulched ground proposes the additional information about optimum travel and is stored in map, but derives for corresponding street plane respectively or calculate this additional information.Calculating can based on a kind of algorithm, stores general and/or according to the parameter of street planes bound for this algorithm in digital street map.
According to another particularly advantageous embodiment of the present invention, when using the data about Current traffic and/or vehicle condition, be at least a street plane by optimum travel digitizing.Advantageously, when there is barrier locally, weather effect or on-coming traffic, the driving recommendations of change can be generated.Especially, according to the improvement of this embodiment, under the condition using current digital vehicle position, optimum travel can be calculated.
Accompanying drawing explanation
Describe the present invention according to embodiment below.In this figure:
Fig. 1 shows the process flow diagram for performing a kind of embodiment according to method of the present invention;
Fig. 2 and Fig. 3 shows the schematic diagram of the driving recommendations exported for specific traffic.
Embodiment
Digital street map 1 is there is shown at the frame of Fig. 1, this digital street map navigational system that formation itself is known together with other parts (such as GPS locating device, travel route determining device, control module and display 8), illustrates this navigational system with the square frame and function that are directly involved in improvement driving recommendations here simplifiedly.Navigation data 2 about street geometric configuration can be provided at vehicle interior or outside.The sensing device being used for the correspondence detecting the present situation is also only depicted as square frame 6 simplifiedly, and this sensing device such as can comprise video system and the radar system for locating barrier.Substituting or adding as display 8, can also be provided with loudspeaker, export driving recommendations for the mode with acoustics.
In order to locate and in order to calculate driving recommendations, utilize various different data in navigation, particularly from the variant data of numerical map 1.Location 4 uses the information 2 relevant with actual street boundary, and the generation of driving recommendations utilizes the information relevant with optimum driving path according to the method stage 7.These information separately can propose and be stored in digital street map 1.But the digital travel of the optimization of often not preserving in digital street map 1 or do not preserved for all street planes.In these cases, usage data 3, particularly parameter, its being called as in the method stage 5 of " travel of optimization " for calculating with the additional information of the digital driving path form of optimum at Fig. 1 together with current sensor information 6.
For for optimum travel, additional information that navigational system relies on when obtaining driving recommendations according to the method stage 7, unessentially be, whether optimum traveling curve is stored in digital street map as extra digital line, or the region of optimum or whether exist in the mode be kept on numerical map to the distance at edge, street.But also can only store the parameter being used for calculating optimum travel according to the algorithm defined before.
Current traffic location, current vehicle location in corresponding street or crossroad is such as used, about head-on sailing the current information of the vehicle come and other are for calculating the current sensor information of driving instruction according to the generation of the driving recommendations in method stage 7, wherein, these current sensor informations 6 have advantageously been input in the digitizing according to the optimum travel in method stage 5.
Compared with under drying regime, when rain and smooth can calculate that another travels optimum through turning with tight turn radius cross curve, and optimum crossing curve but can only warning be shown can not be shown according to prior art owing to lacking data so far.Fig. 2 show in a schematic the traffic with turning, street 9, 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, the optimum travel that the street situation of trying to achieve and exist adapts, generate driving recommendations 11 (arrow) by this optimum travel, can see that this driving recommendations 11 has larger radius than effective driving recommendations 10 on the runway of drying.
By means of camera or other sensing devices, such as radar or ultrasound wave, especially can cognitive disorders thing, correspondingly revises driving recommendations accordingly.Such as often stop there is vehicle 15 at edge, street, see Fig. 3, this makes the track 14 on right side not use.These information can be input in trying to achieve of optimum runway now, make the destination of vehicle 12 guiding advise the Article 2 track 13 (driving recommendations arrow 16) on right side at most and correspondingly make driving instruction subsequently and this new situation adapt.
Optimum travel and then driving recommendations also can be different for different traffics.Thus, the travel such as passing crossroad of the optimization need carrying out different suggestion can be provided according to traffic density or weather conditions.At this, such as, can determine to locate whether have on-coming traffic to sail at the parting of the ways according to the video of vehicle itself or radar.Cross crossroad when there is no on-coming traffic with a turning, and vehicle must to continue to sail in crossroad and head-on ought sail the vehicle come and just turns through out-of-date strongly in other cases.These two kinds at the parting of the ways different driving instructions can be stored in map datum the travel of optimization as an alternative.
Calculate optimum travel by all these information, and calculate driving recommendations thus.This result finally such as projects through on the visible runway of windshield by means of head-up display.
The driving recommendations of this improvement itself may be used for the non-active destination guiding of driver.
In for the navigational system of truck, implement the travel route different from car, also can calculate driving recommendations by different way without any problems for various vehicle thus.
Claims (9)
1. for by navigation for vehicle provides the method for driving recommendations, wherein extract the data about street geometric configuration be stored in digital street map, be used for vehicle to locate on map on the one hand, be used on the other hand generating driving recommendations,
It is characterized in that,
Use digital street map (1), the street geometric configuration being at least used for one section of street is depicted as the digital street plane (2) of two-dimensional analysis in this digital street map, wherein, try to achieve the position of vehicle (12) in described digital street plane (2), and wherein try to achieve in described digital street plane (2) extend, the travel adapted with respective conditions is also extracted and drives advise to generate (7), and at least for predetermined street plane (2), the carriage way adapted with respective conditions is tried to achieve under the condition of information (6) using Current traffic and/or vehicle condition.
2. in accordance with the method for claim 1, it is characterized in that, use digital street map (1), in this digital street map at least for predetermined street plane store adapt with corresponding street situation, its form is the travel of driving line (3) or running region (3) or the operating range to edge, street.
3. in accordance with the method for claim 1, it is characterized in that, use digital street map (1), store in this digital street map at least for the effective parameter (3) in predetermined street plane (2) for calculating the carriage way adapted with respective conditions.
4. in accordance with the method for claim 1, it is characterized in that, under the condition using the current position in street class plane of vehicle, calculate the carriage way adapted with respective conditions.
5. according to the method described in claim 1 or 4, it is characterized in that, using under the condition about the information (6) of the partial barriers recognized, calculating the carriage way adapted with respective conditions.
6. according to the method according to any one of Claims 1-4, it is characterized in that, using under the condition about the information (6) of current mesoclimate, calculating the carriage way adapted with respective conditions.
7. according to the method according to any one of Claims 1-4, it is characterized in that, using under the condition about the information (6) of on-coming traffic, calculating the carriage way adapted with respective conditions.
8. according to the method according to any one of Claims 1-4, it is characterized in that, try to achieve carriage way that is relevant to vehicle and/or vehicle-state, that adapt with respective conditions.
9. a navigating instrument, this navigating instrument can implement method according to any one of claim 1 to 8.
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 CN102842242A (en) | 2012-12-26 |
| CN102842242B true 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 |
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| CN1147628A (en) * | 1995-05-29 | 1997-04-16 | 索尼公司 | Navigation apparatus for displaying map by limit information |
| US6230083B1 (en) * | 1998-07-10 | 2001-05-08 | Honda Giken Kogyo Kabushiki Kaisha | Road shape predicting method and vehicle controlling method |
| 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 |
| 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 |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3476751B2 (en) * | 1995-10-17 | 2003-12-10 | 松下電器産業株式会社 | In-vehicle navigation device |
| JP3717045B2 (en) * | 2000-01-19 | 2005-11-16 | 松下電器産業株式会社 | Navigation device |
| EP1537383B1 (en) * | 2003-07-16 | 2019-06-19 | Harman Becker Automotive Systems GmbH | Transmission of special routes to a navigation device |
| DE102006006850B4 (en) * | 2006-02-15 | 2022-12-29 | Bayerische Motoren Werke Aktiengesellschaft | Method of aligning a pivotable vehicle sensor |
| DE102009043764A1 (en) * | 2009-09-30 | 2011-04-07 | GM Global Technology Operations, Inc., Detroit | Navigation device and navigation method for a 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 CN CN201210209491.1A patent/CN102842242B/en active Active
- 2012-06-20 FR FR1255773A patent/FR2977024B1/en active Active
Patent Citations (9)
| 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 |
| US6230083B1 (en) * | 1998-07-10 | 2001-05-08 | Honda Giken Kogyo Kabushiki Kaisha | Road shape predicting method and vehicle controlling method |
| 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 |
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| ITMI20121051A1 (en) | 2012-12-23 |
| DE102011077948A1 (en) | 2012-12-27 |
| FR2977024A1 (en) | 2012-12-28 |
| CN102842242A (en) | 2012-12-26 |
| FR2977024B1 (en) | 2019-08-09 |
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