GB2548395A

GB2548395A - Navigation aid

Info

Publication number: GB2548395A
Application number: GB1604590.8A
Authority: GB
Inventors: Paszkowicz Sebastian; Hardy Robert; Alexander George
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2016-03-18
Filing date: 2016-03-18
Publication date: 2017-09-20
Also published as: GB201604590D0; WO2017157865A1

Abstract

A navigation aid for a navigation system for a vehicle 10, comprises an input arranged to monitor a sensor system, e.g. radar or stereo cameras, being arranged to detect any objects V, F, P in the vicinity of the vehicle. The input also monitors a positioning system, e.g. GPS, to detect a route 56 of the vehicle. A trajectory T of any detected object is determined relative to the vehicle and compared with the vehicle's route. An advice message is output in response to the route being coincident with the trajectory of the object, the advice message usable by the driver to effect a manual route change, e.g. visually displayed alternative route 56. The advice message may depend on a monitored driving condition such as terrain type, weather, vehicle state or occupancy, and traffic density. In alternative embodiments a control signal may be output to a vehicle system when a coincident route and object trajectory is determined.

Description

NAVIGATION AID

TECHNICAL FIELD

The present disclosure relates to a navigation aid and particularly, but not exclusively, to a navigation aid for a land vehicle. Aspects of the invention relate to a navigation aid, to a navigation system, to a vehicle and to a method of providing route information to a driver.

BACKGROUND

Vehicle drivers may often choose to relieve their concentration burden by using a navigation system to display a route or other useful information, especially when travelling to new destinations. A typical navigation system includes a global positioning system (GPS) and a display for mounting on or near a dashboard of the vehicle.

The GPS typically uses satellite communications protocols to determine a current position of the vehicle. In addition, the GPS often includes a database of maps, which maps include information such as road networks. Input functions are often provided to facilitate driver’s inputting a desired destination. The GPS may then determine one or more routes from the current position to the destination using the network of roads between the two.

Oftentimes drivers become too reliant on their GPS and tend not to modify the suggested route in the event of transient anomalies rendering the route less efficient than usual. For instance, in the case of a multilane highway, the GPS may recommend that the driver drives in a middle of three lanes. However, a decelerating vehicle in front, or a slow moving vehicle overtaking a vehicle occupying the inside lane, may require the driver to decelerate to continue on the same suggested route. Accordingly, the proposed route Is no longer as efficient in terms of driving time or fuel efficiency, since the driver will have to accelerate again once the slower vehicle changes lane.

It is an aim of the present invention to address disadvantages associated with the prior art.

SUMMARY OF THE INVENTION

According to an aspect of the present invention there is provided a navigation aid for a navigation system for a vehicle, the navigation aid comprising: an input arranged to monitor a sensor system, the sensor system arranged to detect any object located in front of the vehicle, and the input also being arranged to monitor a positioning system to detect a route of the vehicle; a processor arranged to determine a trajectory of any detected object relative to the vehicle and compare the vehicle’s route to the trajectory of the object; and an output arranged to output an advice message to a user interface in response to the route being coincident with the trajectory of the object, the advice message usable by the driver to effect a manual route change.

By coincident is intended occurring together in both space and time. Advising of the coincidence of the route and the trajectory, action can be taken to divert around the object. In this way, the navigation aid is more fuel efficient since the driver will have more time to anticipate any objects and less likely to have to brake and accelerate again. A manual change in route is beneficial since the driver may choose to ignore the advice message and continue on the initial route rather than forcing the driver to effect automatic change in vehicle state, such as forced braking.

The advice message may be arranged to propose an alternative route to the driver.

The navigation aid may comprise the user interfance, wherein the user interface may comprise a display for visually displaying the advice message. Visually displaying the advice message is more efficient than other forms of communication such as haptic feedback.

The sensor system monitored by the input may be arranged to detect any objects to a rear of the vehicle. This is beneficial for objects travelling faster than the vehicle or for reversing manoeuvres.

The sensor system monitored by the input may be arranged to detect any objects to a side of the vehicle. Objects to the side may eventually become front or rear objects depending on their trajectory and the current route of the vehicle so allowing their detection at the side provides for early detection.

The sensor system may comprise a radar system. Advantageously, radar systems have a relatively long line of sight.

The sensor system may comprise a stereoscopic camera. Stereoscopic cameras provide reliable depth perception, especially for relatively near field objects.

The route may include traffic lane information. In this way, any change in route, or other advice message, can take into account local changes as opposed to changes of route incorporating only road changes.

The object may be selected from a list including other vehicles, pedestrians, and highway furniture. By highway furniture, we mean any object providing a deviation from the current road surface, such as, but not exclusively, road signs, speed bumps, and barriers. It is beneficial to identify these objects since these objects are most likely to clash with any route proposed to the driver.

The input may be arranged to monitor a driving module for determining a driving condition associated with the vehicle and the advice message may be based on the driving condition. In this way, the feasibility of any proposed route changes can be checked and any advice message can be modified accordingly.

The driving condition may be selected from a list including vehicle speed, vehicle acceleration, terrain type, terrain inclination, weather state, vehicle occupancy, component health of the vehicle, and traffic density. These conditions are not exclusive though provide a flavour for those conditions which may determine route change feasibility. For instance, the vehicle accelerating or traveling at high speeds may determine a turn radius of any proposed route change. The same is true of terrain type and weather state. In addition to turn radius, any proposed braking manoeuvre can take these conditions into account to modify the braking distance accordingly. The vehicle occupancy can also be important for full vehicles, especially those with high centres of gravity. Component health, for instance brake pad wear and/or temperature can also be a factor in determining a route change, as is best illustrated using the scenario of available braking distance. Traffic density can also help determine whether or not to output a route change at all, for instance in a case where the traffic density is above a predetermined threshold, it may be determined that it is appropriate to disable the advice message.

According to a further aspect of the present invention, there is provided a navigation system comprising a sensor system, a positioning system, a user interface and the aforementioned navigation aid.

According to a further aspect of the present invention, there is provided a vehicle including the aforementioned navigation system.

According to a further aspect of the present invention, there is provided a method of providing a driver of a vehicle with information relating to a route of the vehicle, the method comprising; detecting any object located in front of the vehicle; detecting a route of the vehicle; determining a trajectory of any detected object and comparing the trajectory with the route; and generating an advice message in response to the trajectory being coincident with the route, the advice message being usable by the driver to effect a manual route change.

There may be provided a computer storage medium comprising computer-readable instructions for a computer to carry out the aforementioned method.

There may be provided a non-transitory computer-readable storage medium storing executable computer program instructions to implement the aforementioned method when executed by a processor.

In certain embodiments the method comprises: detecting, using a sensor, any object located in front of the vehicle; detecting, using a positioning system, a route of the vehicle; determining, using a processor, a trajectory of any detected object and comparing the trajectory with the route; and generating an advice message, using a processor, the advice message being usable by the driver to effect a manual route change.

According to a yet further aspect of the present invention there is provided a navigation aid for a navigation system for a vehicle, the navigation aid comprising: an input arranged to monitor a sensor system, the sensor system arranged to detect any object located in front of the vehicle, and the input also being arranged to monitor a positioning system to detect a route of the vehicle; a processor arranged to determine a trajectory (T) of any detected object relative to the vehicle and compare the vehicle’s route to the trajectory (T) of the object; and an output arranged to output a control signal to a vehicle system in response to the route being coincident with the trajectory (T) of the object.

The control signal output to the vehicle system may comprise an advice message to a user interface, the advice message being usable by the driver to effect a manual route change.

The control signal may comprise a control signal to a vehicle system arranged to effect an automatic route change. The vehicle system may comprise a steering and/or braking system. A further aspect of the invention extends to a navigation aid/system arranged to carry out the aforedescribed method.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

Figure 1 is a schematic diagram of a vehicle incorporating a navigation system according to an embodiment of the present invention;

Figure 2 is a block diagram of the navigation system from Figure 1;

Figure 3 is a flow chart outlining operation of the navigation system from Figure 2; Figure 4 is a display device from the navigation system from Figure 2 during operation; and

Figure 5 is a similar view to Figure 4 of the navigation system during alternative operation.

DETAILED DESCRIPTION

With reference to Figure 1, a vehicle 10 includes a body 12 driven by wheels 14. The vehicle also includes a navigation system 16, shown in part. Those parts of the navigation system 16 shown in Figure 1 include a navigation aid, or controller, 18 linked to a stereoscopic camera 20, a forwardly pointing radar system 22, a rearwards pointing radar system 24, and a dashboard mounted display 26.

The navigation system 16 is shown in more detail in Figure 2. In summary, the navigation system includes a sensor system, which is embodied as the stereoscopic camera 20 and the radar systems 22, 24, though shown only as a single item in Figure 2 for brevity. The navigation system 16 also includes a driving module 27 for determining a driving condition associated with the vehicle 10 (Figure 1). A positioning system 28 is also provided as part of the navigation system. The sensor system, driving module 27 and positioning system 28 are all monitored by an input 30 of the navigation aid 18. The navigation aid also includes a processor 32, a data store 34, and an output 36 for sending advice messages to a user interface in the form of the display 26.

With reference to both Figures 1 and 2, the stereoscopic camera 20 is mounted at an upper part of the vehicle 10 in the vicinity of a rear view mirror (not shown). The camera 20 includes two lenses in order to provide a degree of depth perception for obtaining three dimensional representations of any objects detected in the field of view. The camera 20 is digital and arranged to output electronic data to the input 30 of the navigation aid.

Each radar system 22, 24 includes an emitter and a receiver. The emitter emits radio waves from the front 22 and rear 24 of the vehicle. Radio waves are projected to scan all directions and span respective sides of the vehicle. The receiver detects any reflections from the emitted waves and a filter is used to discriminate between those emitted waves and waves due to noise.

Any objects detected by either the stereoscopic camera 20 or the radar systems 22, 24 are processed by the navigation aid. The objects detectable by these sensor systems include, but are not limited to, vehicles, pedestrians, and highway furniture. By highway furniture, we mean road signs, barriers, speed bumps, and other such structures which are different in size and shape relative to the current driving surface. The sensor systems can detect these objects in all directions from the vehicle 10 including to the front, to the rear, and even to the side. With brief reference to Figures 4 and 5, the object(s) detected to the front (Figure 4) includes another vehicle (V), to the sides include highway furniture (F), in the form of a road sign, and a pedestrian (P), and to the rear (Figure 5) includes an overtaking vehicle (0).

The positioning system 28 is a global positioning system (GPS) arranged to determine a current position of the vehicle 10. The GPS 28 also includes a database of maps, which maps include road networks and other such information. A destination entry function is also provided for the provision of entering a destination. The GPS 28 uses the road network between the current location and the destination to determine a route for the driver to use when driving the vehicle 10 between the two. The route includes information such as the number highway lanes available to the driver. Again, the GPS 28 output is sent as electronic data to the input 30 for use by the navigation aid. In fact, the GPS’ 28 link to the input 30 is two way allowing for polling by the navigation aid, in-use.

The driving module 27 is shown as a single element in Figure 2, though in practice this element may be replaced by several independent systems. In summary, the driving module 27 generates information relating to one or more driving conditions associated with the vehicle 10. The driving conditions of interest include, though are not limited to, vehicle speed, vehicle acceleration, terrain type, terrain inclination, weather state, vehicle occupancy, component health of the vehicle, and traffic density.

For determining the vehicle speed, the driving module 27 may be in communication with a speed sensor, for instance a sensor provided on a side shaft linked to a wheel and arranged to determine the vehicle’s speed by revolution counting. Vehicle speed information may alternatively be provided using the rate of change of position in the GPS 28. Vehicle acceleration may also be determined using these components.

Terrain type can be determined using a terrain detection system. The terrain detection system works by determining the texture of the driving surface based on factors such as a degree of wheel slip during acceleration and deceleration.

Terrain inclination can be determined using the stereoscopic camera 20 or the forward facing radar system 22. In this way, the same data can be processed by the navigation aid to determine multiple parameters.

Weather state can be determined in multiple ways such as by using a rain detector or also using a type of terrain response by determining a surface coefficient associated with the driving surface by understanding a degree of wheel slip during various manoeuvres. In the case of the former, the rain detection system works by a light beam directed at a windshield of the vehicle 10 and observing a degree of reflected light versus refracted light using a light sensor. The light is either reflected or refracted based on the refractive index of the material on which the light is incident.

Vehicle occupancy is determined using weight sensors associated with each seat of the vehicle 10. When the weight exceeds a threshold value, it is determined that the seat is occupied by a single person.

Component health can be monitored using diagnostic testing equipment. Components of particular interest includes brake pads, both in terms of the amount of wear and associated temperature, tyre inflation level, oil level and quality, power steering fluid level, etc.

Traffic density is determined using an inter-car communication (ICC) system. The ICC corresponds with other vehicles fitted with the same using a communication protocol such as 3G, 4G, or even a designated protocol specific to highway vehicles. The ICC system may determine traffic density in numerous ways such as by polling other ICC systems in the area and determining the traffic density based on the number, locality and orientation of the responding vehicles. Alternatively, the radar system 22, 24 may be used to detect traffic density.

The navigation aid, or controller, 18 is provided on a computer of the vehicle. The data store 34 is a memory component of the computer in the form of a non-volatile memory unit for storing electrical data to be processed by the processor 32. The electronic data includes all of the instructions executed when carrying out the various functions of the navigation system, which functions will be described in more detail below. However, in principle the processor generates an advice message based on all of the inputs and sends the advice message to the user interface 26, via the output 36.

As described above, the user interface 26 is a display mounted on the dashboard of the vehicle in or near the driver’s line of site. The display 26 includes a touchscreen forming a flat panel monitor for both displaying images and for the provision of inputs received from a driver. A microphone may also be provided for complementing the images with sound bites.

Operation of the navigation system is best described with reference to the flow chart shown in Figure 3.

The system initiates at step 100 by a driver requesting navigation using an input on the user interface. Step 102 represents the periodic monitoring of inputs, specifically, object detection as shown at step 104, driving condition detection as shown at step 106, and route consultation as shown at step 108.

Using the inputs, step 110 shows a high level step of determining a trajectory of any detected objects. For the avoidance of doubt, the object’s trajectory is the trajectory relative to the vehicle. An algorithm stored on the data store 24 is used to determine the trajectory by estimating a velocity and direction of the object based on the position of the object in successive frames (observed by the camera) or radar pulses, and the time between frames. More sophisticated elements of the algorithm use imaging data to determine the type of object using a look up table, which includes a database of standard objects including human beings and various vehicles, etc. The trajectories of the aforementioned objects are represented by broken arrow lines in Figures 4 and 5 and referenced (T).

Next, at step 112, the trajectories are compared to the route. In particular, the algorithm is aimed at determining if the route coincident with any of the estimated trajectories if those objects continue on their respective courses. This is achieved by assigning coordinate positions to the detected objects at their present location and at estimated future locations. The same is done for the route. For any coordinates which match, a point of coincidence is determined. This consideration is shown graphically as step 114.

In the affirmative case, step 116 looks into the possibility of any alternative routes. Alternative routes are understood by polling the GPS. Specific scenarios are shown in Figures 4 and 5, though in general terms, if any alternative routes are available, the process loops back to comparing the alternative route to the trajectory of any detected objects at step 112. In the case of there being no alternative routes, an advice message is generated at step 118 and sent to the display 26 to advise the driver to modify the driver accordingly.

In the negative case of there being no coincidence of the route and a trajectory of a detected object, due to no matching coordinates, the process proceeds to step 120.

At step 120, the driving conditions are analysed by the navigation aid to consider the feasibility of the alternative route. Some specific scenarios are outlined below but in one instance, it may be adjudged that the alternative route is only feasible for certain weather conditions or on certain terrain types. In the event that the route is not adjudged to be suitable for the driving condition, the process diverts to step 116 to seek any potential alternative routes. However, in the event that the proposed alteration to the route is deemed to be suitable for the current driving conditions, the navigation aid sends an advice message to the display device to advise the driver of the potential route change. In this way, the advice message is output to the display device based on the driving condition. Upon viewing the advice message, the driver can manually effect a route change if desired.

Two specific scenarios are outlined below in terms of how the navigation system may be implemented in practice. These scenarios are non-limiting and are provided here for illustrative purposes.

With reference to Figure 4, the display 26 shows a road 50, including two lanes 52, and 54, obtained from the GPS. The vehicle 10 is shown together with three detected objects, specifically a pedestrian (P), a vehicle (V) and a road sign (F). The trajectories (T) of each of these objects are also shown together with their respective directions. In general, the trajectories are shown pointing rearwards to indicate that their velocity relative to the vehicle 10 is negative due to the vehicle 10 travelling fast, the road sign (F) being stationary, the pedestrian (P) travelling slowly and the vehicle (V) moving slowly (i.e. more slowly than the vehicle 10). The route 56 is also shown as an arrow pointing directly forwards.

Upon detecting the slow moving vehicle’s (V) trajectory, the navigation system compares it (step 112) to the route 56. Since there is a point of incidence between the two ahead, the navigation system polls the positioning system to obtain an alternative route (step 116). The alternative route is proposed as a diversion to the outside lane 54. The trajectories (T) of the objects (V), (F), and (P) are compared to the alternative route and deemed that there is no overlap, or coincidence. Accordingly, the alternative route 58 is sent (step 118) to the display 26 and displayed as an arrow pointing to the outside lane 54. In this way, the driver can manually effect a route change by steering to the outside lane 54 to avoid the slow moving vehicle (V). This is advantageous since without the alternative route, the driver may merely follow the initially proposed route 56 and have to decelerate. In this way, the alternative route is more efficient both in terms of driving time and fuel efficiency since the driver will not have to increase speed again to restore the vehicle to its original speed prior to encountering the vehicle (V).

An alternative scenario is shown in Figure 5. Figure 5 again shows the display 26, which shows a road 150 including three lanes of traffic 152,154, and 155. The objects detected in this scenario include a vehicle (V) to the front and an overtaking vehicle (0) to the rear. Specifically, the vehicle 10 and the vehicle (V) in front both occupy the middle lane 154. The overtaking vehicle (0) occupies the outside lane 155. The vehicle (V) in front is again shown with a rearward facing trajectory (T) since the vehicle (V) is slow moving relative to the driver’s vehicle 10. The overtaking vehicle (0) has a forward facing trajectory since it is moving faster than the driver’s vehicle 10. The route 156 is again shown as an arrow directing the driver forwards maintaining the position in the middle lane 154.

The navigation system compares the route 156 to the trajectory of the vehicle (V) and determines that there is a point of incidence between the two up ahead. In response, the navigation aid polls the positioning system to determine if there are any alternative routes available. The positioning system returns with a proposed alternative route to direct the driver to the outside lane 155. The navigation aid compares the alternative route to the trajectory (T) of the overtaking vehicle (0) and decides again that there is a point of incidence between the two, since the positional coordinates of the two match at a future point in time. The navigation aid further polls the positioning system to obtain a further alternative route, which positioning system returns with a proposal to divert the driver to the inside lane 152. The navigation aid compares the new alternative route proposal to the trajectories (T) and determines that there is no point of incidence at a future point in time. In response, the output outputs an advice message to present the alternative route 158 to the driver on the display 26. In this way, the driver can manually effect a route change by steering the vehicle 10 around the vehicle (V) in front and without moving into the path of the overtaking vehicle (V). This scenario realises the same benefits as those outlined above for the other illustrative scenario.

Many modifications may be made to the above examples without departing from the scope of the present invention as defined in the accompanying claims.

Claims

1. A navigation aid for a navigation system for a vehicle, the navigation aid comprising: an input arranged to monitor a sensor system, the sensor system arranged to detect any object located in front of the vehicle, and the input also being arranged to monitor a positioning system to detect a route of the vehicle; a processor arranged to determine a trajectory of any detected object relative to the vehicle and compare the vehicle’s route to the trajectory of the object; and an output arranged to output an advice message to a user interface in response to the route being coincident with the trajectory of the object, the advice message usable by the driver to effect a manual route change.

2. The navigation aid of Claim 1 wherein the advice message is arranged to propose an alternative route to the driver.

3. The navigation aid of Claim 1 or Claim 2 comprising the user interface, wherein the user interface comprises a display for visually displaying the advice message.

4. The navigation aid of any preceding claim wherein the sensor system monitored by the input is arranged to detect any objects to a rear of the vehicle.

5. The navigation aid of any preceding claim wherein the sensor system monitored by the input is arranged to detect any objects to a side of the vehicle.

6. The navigation aid of any preceding claim wherein the sensor system monitored by the input comprises a radar system.

7. The navigation aid of any preceding claim wherein the sensor system monitored by the input comprises a stereoscopic camera.

8. The navigation aid of any preceding claim wherein the route includes traffic lane information.

9. The navigation aid of any preceding claim wherein the object is selected from a list including other vehicles , pedestrians, and highway furniture.

10. The navigation aid of any preceding claim wherein the input is arranged to monitor a driving module for determining a driving condition associated with the vehicle and wherein the advice message is based on the driving condition.

11. The navigation aid of Claim 10 wherein the driving condition is selected from a list including vehicle speed, vehicle acceleration, terrain type, terrain inclination, weather state, vehicle occupancy, component health of the vehicle, and traffic density.

12. A navigation system comprising a sensor system, a positioning system, a user interface and the navigation aid of any preceding claim.

13. A vehicle comprising the navigation system of Claim 12.

14. A method of providing a driver of a vehicle with information relating to a route of the vehicle, the method comprising; detecting any object located in front of the vehicle; detecting a route of the vehicle; determining a trajectory of any detected object and comparing the trajectory with the route; and generating an advice message in response to the trajectory being coincident with the route, the advice message being usable by the driver to effect a manual route change.

15. A navigation aid, a navigation system, a vehicle, or a method of providing a driver of a vehicle with information relating to a route of the vehicle substantially as described herein, and/or as illustrated in any one of the accompanying figures.