CN102072734A - Method and navigation device for providing additional data in digital road map - Google Patents
Method and navigation device for providing additional data in digital road map Download PDFInfo
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- 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
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Abstract
A method and a navigation device for providing additional data (c1, succ, pred) in a digital road map. The method comprises the acquisition of at least one position (10) from a digital road map, and the position represents the coordinates at the crotches (10, 20) and/or the coordinates at a position with a predefined distance to the crotches of the road (s1, s2, s3) described on the digital road map. The crotch represents the driving possibility of a vehicle entering from a croth putting-in road section into at least one of the first or the second croth putting-off road section. The method comprises the receiving of at least one driving parameter (c1) which represents the driving information associated with the driving of a vehicle entering from the croth putting-in road section into the first croth putting-off road section. The method comprises the acquisition of combined data by combining at least one driving parameter, the acquired position and the data representing the first croth putting-off road section. The method also comprises the storage of the combined data into the digital road map so as to provide additional data in the digital road map.
Description
Technical field
The present invention relates to method according to claim 1, method according to claim 7, guider according to claim 9, computer program according to claim 10 and digital road map according to claim 11.
Background technology
In order in vehicle, to realize automobile navigation as well as possible or driver's navigation, in the vehicle in modern times, adopt digital road map, in described digital road map, show the route that described vehicle should travel.As everyone knows, can be by analysis track trend (for example according to the content among DE10 2,005 019 462 A1) in digital road map, by detection and road path curvature or turnings such as Radar Technology.
After analyzing or measuring, for the existing curvature information in point of crossing self, described curvature information is effective under the situation that the hypothesis vehicle for example continues to travel simply." point of crossing " (being also referred to as " branch fork " in this manual) also is interpreted as the road bifurcated at this, expressway exit or general road junction.In these cases, vehicle can change at least two possible highway sections of continuing to travel (highway section of rolling away from) over to from sailing the highway section into.In the prior art, the basic point from digital road map calculates curvature.This needs calculated amount to a certain degree.When a branch fork had many different continuation running sections, the cost that obtains radius-of-curvature was too high, because must provide such information for each bar in the possible continuation running section.
Summary of the invention
Under this background technology, with introduction of the present invention according to the method for independent claims, adopt guider, corresponding computer programs product and the digital road map of the method in addition in addition.Provide favourable design proposal by separately dependent claims and following instructions.
The present invention has realized being used for providing in digital road map the method for additional data, said method comprising the steps of:
-from digital road map, obtain at least one position, wherein, represent the to diverge mouthful coordinate at place and/or the expression of described position is the coordinate of predefined distance apart from the distance at the branch fork of the road of being described in digital road map, wherein, described fork oral thermometer shows that vehicle sails the highway section into and enters the possibility of travelling that the highway section is rolled at least one first or second fen fork away from from minute fork;
-receiving at least one drive parameter, described drive parameter represents that sailing the highway section into from minute fork with vehicle enters first fen fork and roll the relevant driving information of travelling of highway section away from;
-with described at least one drive parameter and the position that is obtained and represent that the data in the highway section that first fen fork rolled away from combine; And
-binding data is stored in the digital road map, so that additional data is provided in digital road map.
In addition, the present invention has also realized being used to export the method for parameter of travelling, and the described parameter of travelling is stored in the digital road map, wherein, said method comprising the steps of:
-determine the position of vehicle in the zone at the branch fork of road, wherein, described fork oral thermometer shows that vehicle sails the highway section into and sails the possibility of travelling that the highway section is rolled at least one first or second fen fork away from into from minute fork;
-in digital road map, find out and corresponding position, the position of vehicle; And
-reading binding data, described binding data is stored in the digital road map with the position of being found out in combination; And
-from binding data, extract and the output parameter of travelling, wherein, at least one travel parametric representation and vehicle sail the highway section into and enter first fen fork and roll the relevant information of travelling of highway section away from from minute fork.
The present invention has also realized a kind of digital road map, at this point store described binding data among the figure, wherein, described binding data is represented position and at least one combining of parameter of travelling, wherein said position is corresponding to the coordinate at the branch fork (locating) of the road of being described in the digital road map, and, described fork oral thermometer shows that vehicle sails the highway section into and enters the possibility of travelling that the highway section is rolled at least one first or second fen fork away from from minute fork, and wherein said at least one travel parametric representation and vehicle sail the highway section into and enter first fen fork and roll the relevant driving information of travelling of highway section away from from minute fork.
In addition, the present invention has also realized a kind of guider, and described guider is configured to be used to carry out or realize the step of the method according to this invention.This enforcement modification by guider form of the present invention can fast and solve the task on formation basis of the present invention effectively.
Here guider can be interpreted as an electric device, its processes sensor signal and output signal in view of the above.Described guider can have can be with hardware mode and/or the port of constructing with software mode.In the structure with example, in hardware, described port for example is the part of so-called ASIC system, and described ASIC system comprises the various functions of guider.Yet also possible is that described port is distinctive, integrated circuit or is made up of separate member at least in part.In the structure with form of software, described port can be the interface software module, and described software module for example is present on the microcontroller that also has other software modules in addition.
The computer program that has program code also is favourable, described program code is stored in such as semiconductor memory, on the machine-readable carrier containing of harddisk memory or optical memory, to be used for when described program is moved, carry out method according to arbitrary embodiment in the aforementioned embodiments on guider.
The present invention is based on following understanding, promptly can sail first fen fork into and roll the parameter of travelling of travelling in highway section away from and combine with position on the digital road map sail the highway section into from minute fork about vehicle, it be the coordinate of predefined distance apart from the distance at described minute fork that wherein said location tables is shown in the coordinate at place, branch fork of the road in the digital road map and/or expression.The binding data that is obtained by described combination can be stored in the digital road map subsequently.By such mode, can be very simple and directly from digital road map, learn the parameter of travelling about vehicle ' on the road apace.Can save the too high calculating of cost of the parameter of travelling thus.Can be as having that the parameter of travelling is used: for example, one and/or a plurality of geometric parameter relevant such as the curvature of trend of road, the gradient, lateral slope with trend of road, such as and/or the specific parameter of a plurality of vehicle of gasoline consumption, and/or such as acceleration behavior, gear shift, turning one of behavior/or the specific parameter of a plurality of driver of taking a shortcut.
The present invention also has another advantage, can on digital road map, also extract relevant parameters fast simply, and the bigger crossing intersection part that also can have two or the possibility that more continues to travel thus at vehicle, the specific parameter of travelling about these different possibilities is provided.This has just alleviated the burden that is used for definite CALCULATION OF PARAMETERS unit that travels accordingly from the running section of digital road map, so that the parameter of travelling not only can be provided apace, can provide smaller calculation in addition.By utilization the method, can use cheaply assembly to analyze digital road map.Can also when using digital road map, replenish other parameter such as the specific parameter of driver, so that by at the driver of vehicle and the personal and digital mileage chart makes additional dirigibility become possibility.
In addition, in favourable embodiment of the present invention, the step of the parameter association that travels that at least one is other can further be set, described parametric representation and vehicle sail the highway section into and sail second fen fork into and roll the relevant driving information of travelling of highway section away from from minute fork, and wherein in described integrating step, described at least one other parameter of travelling is combined with position that is obtained and data, the highway section is rolled at second fen fork of described data representation away from, so that obtain second binding data, and at this, in described storing step, further second binding data is stored in the digital road map.Such embodiment of the present invention provides following advantage, promptly not only provide to enter first fen fork about vehicle and roll first of highway section continue the to travel parameter of travelling of possibility away from, also provide and sail second fen fork into about vehicle and roll second of highway section continue the to travel parameter of travelling of possibility away from.This just makes calculated amount further save becomes possibility, because do not need now to calculate place, branch fork expensively about travel these parameters of travelling of possibility of a plurality of different continuing, just can be fast and provide simply and continue to travel the parameter of travelling corresponding to be used of possibility about hope.Also can exist the 3rd or one or more other branch fork roll the parameter in highway section away from, vehicle sails the highway section into and enters described minute fork and roll the highway section away from from a minute fork.The method that reception is rolled the binding data in highway section away from about the 3rd fen fork or other branch fork is similar to the binding data in highway section is rolled in reception away from about first or second fen fork method.
In described receiving step, first fen fork of expression can be rolled away from the trend in highway section, the data that particularly described first minute fork rolled curvature, the gradient and/or the lateral slope in highway section away from receive as the parameter of travelling as the parameter of travelling and receive, and/or in described associated steps, second fen fork of expression can be rolled away from the trend in highway section, particularly second fen fork rolled the data at curvature, the gradient and/or deflection inclination angle in highway section away from as the other parameter association that travels.Such embodiment of the present invention provides following advantage, and promptly such parameter and vehicle safety of travelling has special relation, particularly under the fast situation of vehicle.For example, article one, it is too fast if the fork in the road is rolled the highway section away from that the vehicle on the branch road enters (first or second), then under the outward-dipping situation under the too small situation of curvature on the track and/or the track in this running section, described vehicle is supported by the track on this running section.If yet can be fast and from digital road map, learn this parameter of travelling simply, can introduce corresponding countermeasure in time, for example, activate the security system of for example ESP system of vehicle.
In addition advantageously, if in this external described integrating step, at least one parameter of travelling is combined with the other data that the highway section is sailed at expression branch fork into, and/or in described integrating step, the parameter of travelling that at least one is other combines with the other data that the highway section is sailed at expression branch fork into.Such embodiment of the present invention is given provides following advantage, and promptly binding data is obviously described vehicle more accurately in the possibility of travelling that minute place, fork relates to.That is, if the highway section form of the curvature in this highway section (for example with) is sailed at the branch fork of considering together into, then for example data vector can be combined with the position, described data vector has the more wide in range database relevant with travel route.For example, can sail the curvature (sailing the data in highway section as minute fork into) of drive route in the highway section and curvature that the highway section is rolled at first and/or second fen fork away from into and obtain the smoothness that the curved transition of the route that will travel is located at the branch fork by considering branchs fork.This for example can cause, the jump of curvature characteristic in the time of can avoiding sailing into from minute fork the highway section and carry out the transition to the branch fork and roll the highway section away from.If the curvature characteristic that adopts interpolation from digital road map on the contrary the jump of curvature characteristic may occur, and may cause the problem about the triggering of automobile navigation or personal security device to be used to controlling automobile navigation or personal security device.
In yet another embodiment of the present invention, can in described obtaining step, from digital road map, obtain the position, its comprise about minute fork sail on the highway section the information in track.Such embodiment among the present invention provides following advantage, and the promptly feasible parameter of will travelling is distributed to corresponding track more accurately becomes possibility.For example, if vehicle is in left turn lane before minute fork or at a minute fork, this can be identified by corresponding accurate guider, in case of necessity by other sensor such as camera, and under these circumstances, corresponding accurate guider can also obtain the parameter of travelling (for example curvature value) of the route that will travel under the left-hand rotation situation from digital road map, the described parameter of travelling is effective for driving path when vehicle is in so-called left turn lane.On the contrary, for before minute fork or the branch fork be positioned at the vehicle of right-turn lane, another parameter of travelling (for example curvature value) can be effective for the route that will travel now, because now vehicle will be turned right and continued to travel (this means sail second fen fork into roll the highway section away from).Comprise the information of sailing the track on the highway section about minute fork into if get access to, then can consider described information together, so that be stored in additional data in the digital road map about subsequently the travel route of selecting being become more accurate about the track for described binding data.
Equally in described receiving step, can realize obtaining the travel parameter of vehicle during travelling on the highway section rolled at first fen fork away from, perhaps in described integrating step, can realize obtaining the other parameter of travelling during vehicle the travelling when the fork was rolled away from the highway section in second minute.Such embodiment of the present invention provides following advantage, and it is possible promptly upgrading digital road map when rolling a running section away from, and new digital road map that will guider manufacturer is related and download in the guider.On the contrary, can upgrade existing digital road map by additionally storing binding data, described binding data comprises travel parameter and/or the other parameter of travelling.
In order to improve occupant's security, the step that triggers safety device of vehicle can further be set, wherein realize the triggering of described safety feature based on the additional data of being exported.For example, roll the curvature in highway section away from and be delivered to safety feature, then can and/or turn to the analysis of behavior to draw described vehicle and whether break away from the conclusion that the track in highway section is sailed at the branch fork into by travel speed if will come from the branch fork of additional data.In this case, can activate corresponding suitable erecting device (for example air bag or belt pretensioner) in time, so that avoid driver and crew's injury or reduce extent of injury at least to driver and crew.
Description of drawings
To exemplarily further explain the present invention according to appended accompanying drawing below.
In the accompanying drawing:
Fig. 1 shows the synoptic diagram of numerical map according to an embodiment of the invention, wherein comprises the additional data about the parameter of travelling, and its position with the branch fork combines;
Fig. 2 shows the synoptic diagram of numerical map according to another embodiment of the invention, wherein comprises the additional data about the parameter of travelling, its with the branch fork near the position combine;
Fig. 3 shows the synoptic diagram of the numerical map of an alternative embodiment of the invention, wherein comprise about the parameter additional data that travels, its with the branch fork near the position combine;
Fig. 4 shows the process flow diagram of the present invention as the embodiment of method;
Fig. 5 shows the process flow diagram of the present invention as another embodiment of method;
Fig. 6 shows the circuit block diagram of vehicle, has realized the embodiment of the present invention as guider in described vehicle.
Embodiment
Identical or similar element is represented by identical or similar Reference numeral in the accompanying drawings, no longer is repeated in this description at this.In addition, the explanation of the figure in the accompanying drawing, figure and claim comprise a lot of features of combination.This it will be clear to someone skilled in the art that can consider individually these features or with its be combined into other, in this combination of not describing in detail.In addition, in the following description, adopt different tolerance and size to explain the present invention.Wherein should not be limited to this tolerance and size and understand the present invention.In addition, steps of a method in accordance with the invention can repeatedly be carried out and be carried out to be different from described order.If embodiment between first features/steps and second features/steps, comprise " with/or " combine, this can so understand, promptly both had first feature/first step and also had second feature/second step, and only had first features/steps or only have second features/steps according to other embodiment according to the embodiment of embodiment.
An embodiment according to invention, storing one or more curvature value for a point in the digital road map will (as the parameter of travelling), so that the turning situation for (i.e. branch fork) or fork in the road (being called as " branch fork " equally at this) in the intersection can provide accurate curvature information for each bar possible (continuation) running section.For example, can store left curvature (under the left-hand rotation situation), right curvature (under the right-hand rotation situation) a point of crossing according to running section or not store curvature (this means that curvature value is 0 under the craspedodrome situation), perhaps these all have been stored in digital road map and have suffered.For example on which highway section, arrive curvature points, and on which path, leave curvature points, around the point of crossing, be suitable for different curvature according to vehicle.At this, be in the intersection or divide near the position of prong can both be considered the position, tell a plurality of branches at the branch fork of this road.Similarly observe and be applicable to that gasoline consumption is as travelling parameter, described gasoline consumption almost is constant under the craspedodrome situation in the zone, intersection, and under the situation of before the intersection, turning, described gasoline consumption reaches 0 (corresponding to the braking of coupling) nearly, and rises again in acceleration subsequently.
The parameter of travelling possible, that will be stored in the digital road map can be divided into:
-geometric parameter, for example
● curvature
● the gradient
● lateral slope
-vehicle special parameter, for example
● the vehicle gasoline consumption
-driver special parameter, for example
● the behavior of giving it the gun
● gearshift
● the turning behavior percentile growth of sweep (for example by) of taking a shortcut
Special aspect of the present invention is, might store one or more and depend on the parameter place, that depend on local running section or depend on the point of crossing that (stomion promptly diverges, in the following description, synonym uses " point of crossing " and " fork stomion ") the parameter value (for example, curvature value) of different driving paths on every side.Relevant driving path by the parametric description that travels can be made up of a plurality of parts (highway section) at this.
These are stored as the parameter of travelling in digital road map, can be static and/or dynamically be stored in the digital road map about the additional data of the travel route of vehicle.The special form of expression of the digital road map of these variations can be in the storage on the data carrier and/or be the storages of data in the information system for driver of moving, to be used to improve or the database of personal and digital mileage chart.To exemplarily explain thought of the present invention in detail by the parameter road curvature below.
In another embodiment of the present invention, for example curvature value c is recorded as the parameter of travelling (it is usually corresponding to the inverse of radius of curvature R) by rolling relevant road segments away from, for example, the velocity of rotation ω by registration of vehicle and speed v (c=1/R=ω/v) (the optional smoothness that has value is to be used for filtration of overtaking process or the like).Recorded data and the data that derive thus such as curvature value are stored in subsequently in the digital road map and (have optionally and the fusion of the value of before having stored).
When the value of storage road curvature, for example can consider following storage possibility and/or in conjunction with possibility:
In one embodiment of the invention, realize that storage depends in minute parameter of travelling in each track (replacing total track) at place, fork.Therefore, for example may c=0/m be arranged, right-turn lane is had c=0.08/m, first left turn lane is had c=-0.04/m and second left turn lane is had c=-0.046/m Through Lane in big intersection.If there is not other intersection nearby, the parameter of travelling of the possible turning route of this vehicle can clearly be described.If the track presents for example Through Lane and turning roadway simultaneously, should be this track and store a plurality of values.This can so realize, promptly at the position in this track, a plurality of curvature values is stored in the digital road map as the parameter of travelling.
In another embodiment of the present invention, realize being stored in point of crossing (fork stomion) is located and/or digital road map near the point of crossing a plurality of curvature values (as the parameter of travelling) at other basic point place.At each curvature value, will the explanation of previous highway section (promptly sailing the highway section into) and/or follow-up highway section (promptly rolling the highway section away from) be stored in the digital road map subsequently.
In another embodiment of the present invention, realize being stored in a plurality of curvature values at place, point of crossing, described curvature value both had been applicable to point of crossing self, was applicable near the other basic point the point of crossing again.At this, should realize explanation (for example, with the section ID that distributes to correspondent section and with possible compensation) to previous highway section and/or follow-up highway section.In this manual, the part highway section in route vehicle is to be travelled is considered as " section " in the travel route.
In another embodiment of the present invention, with the related point of road segment segment and/or track on realize single " standard value " can be stored in the digital road map.Here " standard value " for example be keep straight on roll away from, identical link name, identical path number and/or the path of the category of roads of the entrance and exit that is higher than the branch fork is arranged.Path modification with " particular value " is separated storage, for example, is stored in the overlapped data layer in the subpath.
In order to save storage space, also can the addressing global information table.For example, described global information comprises a plurality of parameters about the position of expression standard intersection.Equally, in other embodiment of the present invention, in order to save storage space, do not store the parameter of travelling of the turning modification of forbidding at traffic law, perhaps craspedodrome curvature is assumed to be implicit also therefore not being stored in the digital road map with the parameter of travelling of being distributed.
In another example of the present invention, by using curvature value as travelling parameter, can will determine locational curvature value (its for example the inverse of the radius by road segment segment represent) and/or be stored in the digital road map about the functional parameter in the zone determined (for example splines, clothoid etc.).
According to one embodiment of present invention, about the information of one or more parameter of travelling by each travel direction separate storage or be stored in the data vector together.Under the situation of curvature value as the parameter of travelling, the value of two travel directions is normally identical, (proofreading and correct with the width in half bar track when needing), and average velocity (it is used as the parameter of travelling in another embodiment of the present invention) often is assumed to be and depends on travel direction.
Following accompanying drawing shows the synoptic diagram of the digital road map that stores binding data, wherein, in described binding data, comprises at least one curvature value as travelling parameter about a branch fork.These accompanying drawings are relevant with the 9th page of the 16th embodiment that walks in 20 row.Similar accompanying drawing is for from other the 9th page of described storage possibility and/or drawing in conjunction with possibility.At this, can be stored in the electronics storage medium as digital form with electronic form about the information of node and the circuit that is connected with node.
Having described the synoptic diagram of the part of digital road map 1 in Fig. 1, in described digital road map, is to combine with the position at the branch fork of road about the additional data of the parameter of travelling.At this, mark the branch fork (10,11,13 and 14) of road among Fig. 1 by big circle.Can select through sailing highway section s1 into from a minute fork to the point of crossing or fork stomion 10 at the vehicle (representing) at fork stomion place, and continue to sail into the travel route that highway section s2 is rolled at first fen fork away from by little black color dots.For the such travel route at 10 places, minute fork, vehicle may cross crooked (always) travel route, and its curvature at 10 places, minute fork is described by the c1 value.At this, described minute fork sailed highway section s1 into and led to fork stomion 10 from previous node 11 through a plurality of road basic points 12 (representing by small circle).For example, these road basic points 12 can be geographical basic points, and it digitally is stored in the electronic chart, and are marked at the trend of road in the s1 zone, highway section of sailing into of fork.Described first minute fork roll away from highway section s2 from the point of crossing or fork stomion 10 lead to first descendant node 13 through an other basic point 12, described descendant node is for example also represented point of crossing or branch fork.
Possible in addition is, vehicle shown in Figure 1 is selected to sail into from minute fork highway section s1 and entered the travel route that highway section s3 is rolled at second fen fork away from, and crosses the travel route of another bending at this, and its curvature at 10 places, minute fork is described by the c2 value.Described second minute fork rolled highway section s3 away from and passed through basic point 12 (this basic point 12 is marked at the trend that the road in the zone, highway section is rolled at described second minute fork away from) again and lead to second descendant node 14, described descendant node 14 equally also represent the intersection or another minute the fork.
For make the vehicle that 10 places, branch fork are to be travelled the turning behavior needn't by sail at minute fork basic point 12 among the s1 of highway section and first fen fork roll away among the s2 of highway section one or more basic points and/or and the interpolation rolled away between one or more basic point among the s3 of highway section of second fen fork obtain, data can be provided and be stored in the digital road map relatively with the position at 10 places, minute fork.Such data for example can be stored in the form of data vector 15 in the digital road map, and described data vector makes that reading the various parameters of travelling (such as the curvature at this different possible travel route) from digital road map simply becomes possibility.In addition, reference point d for example is set in data vector 15, described reference point d represents the position (for example, geographic coordinate) at branch fork 10.In addition, first curvature value c1 and torsion value c2 reference point d therewith combine, so that obtain binding data, described binding data is stored in the digital road map after being provided.In addition, in Fig. 1, be stored in the data vector 15 about the information of travel route, described travel route has curvature value separately.For example, about first curvature value storage c1, this curvature value is applicable to that vehicle sails highway section s1 (previous highway section pred) into and continues to drive towards when highway section s2 (follow-up highway section succ) was rolled at the fork away from first minute from minute fork in digital road map.Equally, about torsion value storage c2, this curvature value is applicable to that vehicle sails highway section s1 (previous highway section) into and continues to drive towards second fen fork and roll highway section s3 (as follow-up highway section succ) away from when rolling away from from minute fork in digital road map.
In data vector 15, realize in conjunction with after the suitable running section of the described parameter of travelling of reference point d and at least one travel parameter and vehicle, corresponding data vector 15 can be stored in the digital road map 1, and when using the digital road map of dividing in 10 zones, fork, provide additional information thus.
Be suitable for curvature c1 (route selection of its expression " left-hand rotation continues to travel ") or c2 (route selection of its expression " right-hand rotation continues to travel ") according to the turning modification selected in road turnoff as shown in Figure 1.In both cases, vehicle is from the direction of highway section s1.
For replacing the curvature value of trend of road to be travelled as the parameter of travelling with average velocity v or gasoline consumption f, may provide similar figure (v1, v2) or (f1, f2), perhaps depend on the parameter place, that depend on local running section, also have similar figure for other.
Fig. 2 shows the part of digital road map 1, wherein will combine with the position of describing complicated intersection about the additional data of at least one parameter of travelling equally, described point of crossing is represented by 4 (virtual basically) fork stomions (20,21,22 and 23).Figure 2 illustrates the branch fork at this and sail position on the highway section into, described position be positioned at node 20 near.At these node 20 places, for vehicle, exist and roll highway section s11 (right-hand bend) away from, roll highway section s10+s9 (craspedodrome highway section) away from, roll highway section s10+s8+s2 (left-hand bend) away from and roll the possibility that highway section s10+s8+s4+s3 (tune) continues to travel away to the 4th fen fork to the 3rd fen fork to second fen fork to first fen fork.The 3rd fen fork rolled highway section s7 away from and led to Section Point 21, and second fen fork rolled highway section s10 away from towards the 3rd node 22.At the 3rd node 22 places, highway section s12 is rolled at branch fork in addition away from, and s9 and s8 continue to extend.The branch fork of the 3rd node 22 is rolled highway section s8 away from and is led to the 4th node 23, and branch fork is in addition rolled highway section s4 (leading to Section Point 21), s2 away from and s5 leaves from described the 4th node 23.The branch fork is rolled highway section s7 (leading to first node 20), s3, s1 and s4 (leading to the 4th node 23) away from and is left from described Section Point 21.
Therefore, the description among Fig. 2 can be regarded as for having the multiple example of rolling big (master) intersection of possibility away from.If vehicle sails highway section s6 into from a minute fork and drives towards node 20 now, described node 20 constitutes the branch fork of road, can select fetch bit nearby and put 10, has stored the different curvature of the various travel routes of different turning modification on described position 10.For example, vehicle can continue to travel to highway section s9 through highway section s10 from highway section s6 as the crow flies, so can be in the position 10 be this travel route storage curvature 0.In addition, vehicle can change highway section s11 over to from highway section s6, wherein, has curvature value c2 by such travel route.Vehicle also can change highway section s2 over to through highway section s10 and s8 from highway section s6, and wherein, the turning modification for such draws the travel route with curvature value c3.At last, vehicle can also be selected from highway section s6 to highway section s10, highway section s8, highway section s4 and highway section s3 (corresponding to turning around at the main crossings crossing), wherein for such travel route, draws curvature value c4.
For single turning modification, aforementioned curvature value c1 to c4 for different travel routes can link or combine subsequently with position 10, and is stored in the digital road map 1 as data vector 15 relatively with the coordinate of position 10.By the method, when reading the digital road map at 10 places, position, can use the corresponding curvature value that is used for the aforementioned modification of travelling very simply.In addition, in data vector 15, provide the highway section of using as the previous highway section or the part highway section of mentioned travel route in the digital road map.In data vector 15, no longer need to mention follow-up highway section s3 for the binding data of c4, because its unique follow-up highway section that is allowed that is s4.
According in the selected turning modification of road junction, in Fig. 2, be suitable for curvature or curvature value c1 (craspedodrome), c2 (right-hand rotation), c3 (left-hand rotation) or c4 (tune).In all cases, the previous highway section of current highway section (s6) is unessential, and this is because of the s6 long enough, so that the possible different previous highway section of s6 does not have the influence about curvature on point 10.May provide similar figure (v1 for average velocity v, v2), wherein here if desired may be than when parameter is travelled in the curvature conduct, needing more previous highway section or follow-up highway section, for example whether may begin to travel or whether may turn from s6 at s6 with high speed (craspedodrome), consequently may also not reaching the top speed that is allowed fully at point 10 or 20 places, is very important.
Fig. 3 is at the synoptic diagram of the part of the electronic chart 1 at (master) road junction place, and for described intersection, independent part highway section and node are corresponding to part highway section and node among Fig. 2.Yet, be different from the statement among Fig. 2, observe the position 10 among the part s10 of highway section now.In this position 10, store on the one hand the coordinate d and the corresponding additional information of this position 10, as the parameter of travelling of vehicle, its be vehicle for different turning modification needed or have.Therefore, in digital road map, again will about position 10 with near the highway section between the binding data that combines be stored in the data vector 15.In this data vector 15, for example indicate the curvature value of running section, vehicle must be considered described curvature value via different travel routes by (master) road junction described in Fig. 3.If for example vehicle is kept straight on forward to part highway section s9 (rolling highway section succ away from as a minute fork) and from part highway section s6 (sailing highway section pred into as a minute fork) in-position 10 from part highway section s10, then obtain curvature value c1=0, wherein, for this modification of travelling, curvature value c1 combines with the geographic coordinate d of position 10 or this position 10.If yet the vehicle at 10 places, position is from part highway section s6 (before having sailed the highway section into as minute fork), node 20 and part highway section s10 (sailing the highway section into as a minute fork), drive towards part highway section s8 (rolling the highway section away from) and part highway section s4 (as the follow-up highway section of rolling away from, minute fork) as a minute fork at the 3rd node 22 places, then, can in data vector 15, store curvature value c2 for the such running section in 10 places in the position.If vehicle is from part highway section s6 and drive towards (10 go out by the 3rd node 22 in the position) part highway section s8 (rolling the highway section away from as minute fork) and the direction of part highway section s2 (as the follow-up highway section of rolling away from, minute fork), then curvature value c3 is combined with position 10 (promptly with coordinate d), described curvature value represent vehicle from part highway section s6 to curvature towards the running section of part highway section s8 and s2.
And on the contrary, if arrive the branch fork at node 20 places from part highway section s1 (before having sailed the highway section into) and part highway section s7 (sailing the highway section into) at the vehicle at 10 places, position at coordinate d place as minute fork as minute fork, and arrive the position 10 at coordinate d place from part highway section s10, wherein coordinate d represents the 3rd node 22, and change part highway section s9 (rolling the highway section away from) subsequently over to as a minute fork, then, in data vector 15, store curvature value c4 for such modification of travelling.If vehicle is from part highway section s1 and s7, arrive node 20 and part highway section s10, and drive towards part highway section s8 (rolling the highway section away from) and part highway section s2 (as the follow-up highway section of rolling away from, minute fork) at the 3rd node 22 places as a minute fork, then, in data vector 15, store curvature value c5 for such travel route.In addition, 10 places also can consider the travel route of vehicle in the position, if at the vehicle at coordinate d place from part highway section s4 (before having sailed the highway section into) and part highway section s7 (sailing the highway section into) as a minute fork as minute fork, arrive the branch fork at node 20 places, and arrive to lead to the position 10 at coordinate d place from part highway section s10, wherein coordinate d represents the 3rd node 22, and then changes part highway section s9 (rolling the highway section away from as a minute fork) subsequently over to.For such modification of travelling, storage curvature value c6 (moving to the s9 tune) in data vector 15 by s5.
As can be seen from Figure 3,, indicate together in data vector 15 that the highway section is sailed at the branch fork into and the highway section is rolled at the branch fork away from for the different modification of travelling in 10 places, position.In addition also can for travel modification storage about one or more minute the fork before sailed the follow-up information of rolling the highway section away from highway section and/or one or more minute fork into and all can be stored.Usually, this is necessary for better differentiation, and particularly for the big intersection with a plurality of turning modification, described a plurality of turning modification have only usually by considering that together a plurality of parts highway section could distinguish.
Pass through the method, as seen from Figure 3, be stored in additional information in the digital road map and not only need to comprise part highway section before the branch fork and the part highway section behind the branch fork, can also realize the parameter of travelling of long travel route of store car, wherein, many continuous part highway sections of travelling that will travel of this travel route extend past.In the case, for each the parameter of travelling in travel modification or the travel route, except sailing the highway section in a minute fork, consider together that also before the highway section is sailed at minute fork into one or many minutes forks before sailed highway section and/or one or the follow-up highway section of rolling away from, many minutes forks after the highway section is rolled at minute fork away from into, and these information are stored in the data vector together.
Therefore Fig. 3 shows, and is suitable for the different curvature of the travel route of vehicle according to selected turning modification, wherein at this, the previous highway section of current highway section s10 (highway section of determining by the coordinate d of position 10) also be concerned about.If vehicle is from direction s6, be curvature storage c1 value (keeping straight on) in digital road map to s9, if vehicle from direction s1 and s7, and realization continues to travel to the direction of highway section s9, vehicle is turned left, wherein, curvature value c4 is stored in the data vector 15.
Therefore the present invention generally includes from for example being stored in the digital road map or the described parameter of extraction from digital road map at the road curvature at the branch fork of road or the parameter of (on average) gasoline consumption.Generally speaking, notion " parameter " means the parameter in all places that is applicable to definite locality (as the position), and wherein, value to be stored depends on which bar road observed position arrives and/or it from which bar highway section leaves again.
Fig. 4 shows the present invention as the process flow diagram of embodiment that is used for providing in digital road map the method 40 of additional data, wherein said method comprises the obtaining step 42 that obtains at least one position from digital road map, the coordinate at the branch fork of the shown road that goes out in the described location tables registration word mileage chart, wherein, described fork oral thermometer shows that vehicle sails the highway section into and sails the possibility of travelling that the highway section is rolled at least the first or second fen fork away from into from minute fork.In addition, described method has the receiving step 44 that receives at least one parameter of travelling, and described travel parametric representation and vehicle sail the highway section into and sail first fen fork into and roll the relevant driving information of travelling of highway section away from from minute fork.Described method also comprises the integrating step 46 that at least one parameter of travelling is combined with position that is obtained and data, and the highway section is rolled at first fen fork of described data representation away from, so that obtain binding data.At last, described method has also comprised binding data has been stored in storing step 48 in the digital road map, so that additional data is provided in digital road map.
Fig. 5 shows the process flow diagram of the present invention as the embodiment of the method 50 that is used to export additional data, described additional data is stored in the digital road map, wherein said method comprises the step of determining in the position of the vehicle at place, the branch fork of road 52, and described fork oral thermometer shows that vehicle sails the highway section into and sails the possibility of travelling that the highway section is rolled at least one first or second fen fork away from into from minute fork.In addition, described method also is included in the step of finding out in the digital road map with the corresponding position, determined position of vehicle 54.Described method also has the step 56 that reads binding data, and described binding data is stored in the digital road map in combination with the position of being found out.At last, described method also comprises the step 58 of extracting and provide additional data from binding data, described binding data represents that at least one and vehicle sail the highway section into and sail first fen fork into and roll the relevant parameter of travelling of travelling of highway section away from from minute fork, so that the output additional data.
Fig. 6 shows the circuit block diagram of vehicle 60, in described vehicle, has realized the embodiment of the present invention as guider 62.Guider 62 is configured to be used for for example additional information is stored in digital road map 1.In order to make additional information can be stored in the digital road map 1, vehicle has locating device 64 in addition, with the current location (being geographic coordinate) that is used to obtain vehicle, and has device 66, to be used to obtain the parameter of travelling.For example locating device 64 can be the Satellite Navigation Set that is used for the Current GPS coordinate of definite vehicle.Subsequently, the coordinate that is obtained is transferred to guider 62.Be used for obtaining the device 66 of parameter of travelling, the described parameter of travelling for example is the curvature value at the turning crossed, and the data of being obtained (being the radius-of-curvature of the current running section that has crossed) are transferred to guider 62.In guider 62, the coordinate of position and the parameter of being obtained of travelling are combined into binding data such as aforementioned data vector 15, and this binding data is stored in the digital road map 1.In addition, if carry out the aforementioned method that is used to export corresponding data, then can realize the branch fork data that will from digital road map 1, read display device 68 outputs by the driver of vehicle.
Claims (11)
- One kind be used for digital road map (1) provide additional data (c1, succ, method pred) (40), wherein said method (40) may further comprise the steps:-from digital road map, obtain (42) at least one position (10), wherein, the coordinate at place, expression branch fork, described position (10) and/or expression are apart from the road (s1 that is described in described digital road map, s2, s3) branch fork (10,20) distance is the coordinate of predefined distance (d), and wherein, described fork oral thermometer shows that vehicle sails highway section (s1) into and enters the possibility of travelling that the highway section is rolled at least one first (s2) or second (s3) branch fork away from from minute fork;-receiving (44) at least one parameter of travelling (c1), the described parameter of travelling (c1) expression and described vehicle sail highway section (s1) into and enter described first (s2) branch fork and roll the relevant driving information of travelling of highway section away from from described minute fork;-with described at least one parameter of travelling (c1) and the position that is obtained (10) and represent that the data (s2) that the highway section is rolled at described first minute fork away from combine (46), so that obtain binding data (15); And-with described binding data storage (48) in described digital road map (1) so that in described digital road map (1), provide described additional data (c1, succ, pred).
- 2. method according to claim 1 (40), it is characterized in that, the step of related at least one other parameter of travelling (c2) further is set, the described parameter of travelling (c2) expression and described vehicle sail highway section (s1) into and enter described second (s3) branch fork and roll the relevant driving information of travelling of highway section away from from described minute fork, and wherein, in described integrating step, with described at least one other parameter of travelling (c2) and the position that is obtained (10) and represent that described second (s3) branch fork rolls the data (s3) in highway section away from and combine, so that obtain second binding data, and wherein, in described storing step, further described second binding data (15) is stored in the described digital road map (1).
- 3. according to any described method (40) in the aforementioned claim, it is characterized in that, in described reception (44) step, to represent that described first minute fork roll the trend of highway section (s2) away from, curvature (the c1 in highway section is rolled at particularly described first minute fork away from, ...), the data of the gradient and/or lateral slope receive as the parameter of travelling, and/or be in described associated steps, to represent that described second minute fork roll the trend of highway section (s3) away from, particularly described second minute fork roll away from the highway section curvature (c2 ...), the data of the gradient and/or lateral slope are come related as the other parameter of travelling.
- 4. according to any described method (40) in the aforementioned claim, it is characterized in that, in described combination (46) step, described at least one parameter of travelling is further combined with other data, the highway section is sailed at described minute fork of described other data representation into, and/or be that in described combination (46) step described at least one other parameter of travelling is combined with described other data, and the highway section is sailed at described minute fork of described other data representation into.
- 5. according to any described method (40) in the aforementioned claim, it is characterized in that, in described obtaining (42) step, obtain the position from described digital road map (1), described position comprises the information of sailing track on the highway section about described minute fork into.
- 6. according to any described method (40) in the aforementioned claim, it is characterized in that, in described reception (44) step, obtain described vehicle and roll the parameter of travelling when travelling on the highway section (s2) at described first minute fork away from, perhaps in described associated steps, obtain described vehicle and roll the other parameter of travelling when travelling on the highway section (s3) at described second minute fork away from.
- 7. be used to export additional data (c1, succ, method pred) (50), described additional data (c1, succ pred) are stored in the digital road map (1), and wherein said method (50) may further comprise the steps:-determine (52) described vehicle (60) at minute fork the place and/or be the position of predefined distance (d) apart from the distance at the branch fork of road, wherein said fork oral thermometer shows that described vehicle sails highway section (s1) into and enters the possibility of travelling that the highway section is rolled at least one first (s2) or second (s3) branch fork away from from minute fork;-in described digital road map (1), find out described definite corresponding position, position (10) of (54) and described vehicle; And-reading (56) binding data (15), described binding data (15) is stored in the described digital road map in combination with the position of being found out; And-from described binding data (15), extract and provide additional data (c1, succ, pred), described binding data (15) expression is sailed highway section (s1) with described vehicle into from described minute fork and is entered at least one parameter of travelling (c1) of travelling relevant that the highway section is rolled at described first (s2) branch fork away from, so that export described additional data (c1, succ, pred).
- 8. method according to claim 7 (50) is characterized in that, further is provided with the triggering step of the safety feature of described vehicle (60), wherein, realizes the described triggering of described safety feature based on the additional data of described output.
- 9. guider (62), described guider are configured to be used for to implement the step according to any described method of claim 1 to 8.
- 10. the computer program that has program code, described program code is stored in machine-readable carrier containing, be used for when described program when guider (62) go up to be carried out, implement according to any described method (40,50) in the claim 1 to 8.
- 11. digital road map (1), wherein stored binding data (15), wherein, described binding data is represented combining of position (10) and at least one parameter of travelling (c1), wherein said position (10) is illustrated in the branch fork (10 of the road of being described in the described digital road map, 20) (d) is corresponding for the coordinate of locating, and described minute fork (10) expression vehicle sails highway section (s1) into and enters the possibility of travelling that the highway section is rolled at least one first (s2) or second (s3) branch fork away from from minute fork, and wherein, described at least one parameter of travelling (c1) expression and described vehicle sailed highway section (s1) into and enter described first (s2) branch fork and roll the relevant driving information of travelling of highway section away from from described minute fork.
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| DE102009046855.2 | 2009-11-19 | ||
| DE200910046855 DE102009046855A1 (en) | 2009-11-19 | 2009-11-19 | Additional data providing method for digital road map that guides driver of passenger car, involves storing data vector of driving parameters and position and data of ending section of intersection point in map to provide additional data |
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| DE102009046855A1 (en) | 2011-05-26 |
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