CN1804552A - Vehicle mounted navigation three-dimensional path display system - Google Patents
Vehicle mounted navigation three-dimensional path display system Download PDFInfo
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- CN1804552A CN1804552A CN 200610016542 CN200610016542A CN1804552A CN 1804552 A CN1804552 A CN 1804552A CN 200610016542 CN200610016542 CN 200610016542 CN 200610016542 A CN200610016542 A CN 200610016542A CN 1804552 A CN1804552 A CN 1804552A
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Abstract
The invention relates to a vehicle-carrying vas three-dimensional routine display system in the field of vehicle-carrying inducer of city traffic flow induced system. It comprises: vehicle-carrying induced special three-dimension electric map, a GPS and RD data mix module for receiving the GPS satellite locating signal, a computer microprocessor for computing the best path to match the map and a display for displaying the electric map and guiding the path, wherein the GPS and RD data mix module is connected with the computer microprocessor to provide the current location of the vehicle to the microprocessor; it uses the microprocessor to do matching processing; the microprocessor is connected with the vehicle-carrying induced special three-dimension electric map to compute the best path; the microprocessor and the vehicle-carrying induced special three-dimension electric map are connected with the display to display the path.
Description
Technical field
The present invention relates to vehicle-mounted apparatus for deivation field in the Urban Traffic Flow Guidance Systems, is a kind of three-dimensional path display system.
Background technology
At present, external experts and scholars and manufacturer all are devoted to research, exploitation and produce on-vehicle navigation apparatus and similar products thereof.And formed the U.S., Japan, Europe and be the production base of representative several external on-vehicle navigation apparatuses.But these in-vehicle navigation apparatus adopt two-dimentional electronic chart show navigator information, exist in the transportation building thing of hierarchical structure at roads such as viaduct and overpass, can't correctly guide the driver.
The patent No. is that 00263679.4 " onboard navigation system " comprises a display; A main frame is connected with display, and it comprises a CPU (central processing unit) that is used for Navigation Control again; A GPS module can receive the car orientation data that the gps satellite positioning system provides, and output is connected to CPU (central processing unit) through interface circuit; An electronic gyroscope can provide angular velocity data and GPS module to carry out fusion treatment; The memory device of a store map data, output is connected to CPU (central processing unit), has only provided to show the position at driving place and the function of other geography information when driving, and three-dimensional navigation is not provided.The patent No. is: the generation technique of the electronic three-dimensional map data of CN02812147.3, when generating the electronic three-dimensional map data, by following technology, the height that need not measure buildings just can carry out the three-dimensional modeling of buildings.At first, take buildings, write down its camera positions and photographic parameter (direction of camera, field angle).Secondly,, dispose photo in the ready Virtual Space in computing machine, the state when photographing to reproduce based on these data.Simultaneously, dispose the flat shape of buildings based on two dimensional map data.Once more, flat shape is moved up to overlapping with photo to short transverse, thereby carry out the modeling of buildings.Thus, can under the situation of measuring height not, realize the three-dimensional modeling of buildings.This patent is propped up the technology that a kind of 3-D data collection is provided, and is not provided at the step of data acquisition, three-dimensional modeling and the model optimization of the electronic three-dimensional map of quoting in the automobile navigation field." onboard navigation system and the relevant software programs " of the patent No.: CN02157183.X comprises that one has display unit, computer based control module.Specify in advance on the given map one group of zone or place as map on target.Based on traveling state of vehicle, judge whether to satisfy set in advance, about the predetermined condition of target on each figure.Store the result of this judgement.Based on this judgement information, directly or indirectly to user notification about each figure on the predetermined condition of target satisfy/ungratified current state.The patent No. is: " onboard navigation system " of CN200510063911.X on the display unit of the Vehicular navigation system in target vehicle, shows two road in the mode of double line when overpass and generic downlink road are in the state that piles up.When target vehicle during in this descending travels down, this overpass illustrates with transparent state.Therefore, the state of this descending road of can the recognition objective vehicle being travelled of the user of target vehicle.On the contrary, when target vehicle travelled on this overpass, this overpass illustrated with nontransparent state.Thereby this overpass becomes and sees easily, so its working direction also can be seen at an easy rate.This invention adopts transparent and opaque technology to distinguish the hierarchical relationship of viaduct, but is surpassing on the two-layer overpass or this viaduct, and this technology is just powerless.
Along with the development of vehicle guidance technology and user's request, these on-vehicle navigation apparatuses, function is too single, in the actual vehicle driving process, can not give the visual and clear route guidance of driver and help.
In a word, the planar electronic chart carries out route guidance to vehicle, exists the indefinite shortcoming of Way guidance in the traffic environment of complexity.Reason is that two-dimentional electronic chart adopts the mode of vertical projection, will have the buildings of difference in height originally, especially has the road of hierarchical relationship, completely is projected on the planimetric coordinates.The projection mechanism of isoplanar map as can be seen, hierarchical structure and difference in height that the plane electronics map can not the visual representation road.
Technology contents:
The present invention is intended at technical matters and shortcoming in the above-mentioned vehicle mounted guidance process, on the basis of the basic function of vehicle-mounted apparatus for deivation, transportation building thing to complexity has carried out 3-D data collection, modeling and optimization, has realized the accurate location of vehicle in the demonstration of three-dimensional scenic in the vehicle-mounted apparatus for deivation and the three-dimensional scenic and induced the path to show and guide showing.
The present invention comprises the vehicle-mounted special-purpose electronic three-dimensional map of inducing at least; Can receive the GPS and the RD data fusion module of gps satellite positioning signal; Can carry out the computer microprocessor of map match and optimal path computation; And can show the also display of guided path to electronic chart, GPS is connected microprocessor with the RD data fusion module, provide the vehicle current location to microprocessor, carry out matching treatment by microprocessor, microprocessor connects the vehicle-mounted special-purpose electronic three-dimensional map of inducing, carry out optimal path computation, microprocessor induces special-purpose electronic three-dimensional map to be connected display with vehicle-mounted, display line bus or train route footpath.
The modeling of map
1. the three-dimensional scenic in the vehicle-mounted apparatus for deivation shows
The present invention adopts Multigen Vega three-dimension virtual reality program development software, based on Vega class libraries and Visual C++ programming language, induces special-purpose electronic three-dimensional map to be presented in the vehicle-mounted apparatus for deivation with vehicle-mounted.
2. induce the vehicle location in the special-purpose electronic three-dimensional map
The present invention adopts the location technology of GPS and RD fusion, takes all factors into consideration shortcoming and its complementation of these two kinds of location technologies, guarantees to merge the positioning error of back in electronic three-dimensional map smaller or equal to three meters.
3. induce the map match in the special-purpose electronic three-dimensional map
The present invention adopts the three dimensions map matching technology based on space search, has guaranteed the consistance of vehicle location in the demonstration of vehicle location and the true environment.
4. induce the path of navigation in the special-purpose electronic three-dimensional map to show and the direction arrow demonstration
Path of navigation shows and direction arrow shows.Can accurately guide the driver specifically according to that lanes, in order to avoid cause unnecessary breaking rules and regulations.
Increasing in microprocessor has the degree of freedom control module, induces the problem that will solve viewpoint position and direction of visual lines angle in the special-purpose electronic three-dimensional map, and the position of viewpoint allows driver oneself input, also can adjust to a rational position by Automatic Program.In principle, sight line drops on the vehicle all the time, induces the degree of freedom control of special-purpose electronic three-dimensional map to comprise that the spatial translation of map, space rotate,
In microprocessor, increase the transparent building module is arranged, vehicle-mounted inducing in the special-purpose electronic three-dimensional map, no matter how viewpoint and sight line are determined, so long as not overlooking, high-rise just might produce sight line and block the phenomenon that causes the vehicle location demonstration not come out.
Increasing in microprocessor has two-dimentional electronic chart and induces the mutual respond module of special-purpose electronic three-dimensional map, to using the problem that electronic three-dimensional map causes the driver to get lost easily, best bet combines usefulness with two-dimentional electronic chart and electronic three-dimensional map exactly.We are bright with two-dimentional electronic chart with vehicle-mountedly induce special-purpose electronic three-dimensional map to combine, set up the mutual response mechanism between the two, the position, the position of viewpoint, the direction of sight line and driver's the information such as visual range that show vehicle in the two dimension electronic chart, the place of searching in the two-dimensional map can intuitively show vehicle-mounted inducing in the special-purpose electronic three-dimensional map simultaneously.
The present invention has carried out 3-D data collection, modeling and optimization at the transportation building thing to complexity, sets up on the vehicle-mounted basis of inducing special-purpose electronic three-dimensional map, and optimal path is accurately located and induced to vehicle.
Description of drawings:
Fig. 1 is a block scheme of the present invention;
Fig. 2 is vehicle-mounted hierarchical structure of inducing special-purpose electronic three-dimensional map model;
Fig. 3 is the overall Module Division figure of the present invention;
Fig. 4 is a GPS/DR Fusion Module design drawing;
Fig. 5 merges the overall flow figure of location for GPS/DR;
Fig. 6 is the process flow diagram of map match in the electronic three-dimensional map;
Fig. 7 is a degree of freedom control module process flow diagram;
Fig. 8 is the route guidance and the arrow flow for displaying figure of electronic three-dimensional map;
Fig. 9 is a transparent building processing module process flow diagram;
Figure 10 is the mutual respond module process flow diagram of two-dimentional electronic chart and electronic three-dimensional map.
Embodiment:
The present invention mainly comprises two parts: vehicle-mounted making and vehicle-mounted navigational system of inducing special-purpose electronic three-dimensional map of inducing special-purpose electronic three-dimensional map.
In the performance history of reality, at first should make vehicle-mounted electronic three-dimensional map of inducing usefulness, the geodata relevant with vehicle guidance is stored in the electronic chart, then, carry out the exploitation of vehicle-mounted three-dimensional navigation software at the data structure of this electronic chart.
Vehicle-mountedly induce special-purpose electronic three-dimensional map modelling
Vehicle-mountedly induce special-purpose electronic three-dimensional map modelling process mainly to comprise three aspects:
1) acquisition of three-dimensional geographic information
The present invention adopts several data acquisition technology to combine, the main collection various information relevant with traffic.Wherein, vehicle-mounted planar electronic chart acquisition of inducing the latitude and longitude information of special-purpose electronic three-dimensional map from same city.The elevation information of three-dimensional map mesorelief obtains by aerial photograph or by two dimensional terrain figure (DEM), and the altitude figures of three-dimensional building thing, viaduct and overpass obtains by the mode that field survey and design drawing combine.The buildings texture information of road both sides is by digital photographing, and later stage PhotoShop handles acquisition.
2) model construction
Modelling of the present invention is to adopt Multigen Creator Real-time modeling set software.By MapGIS software the elevation information of the landform measured is made into the DEM file.In MultigenCreator, the DEM file is converted into the DED file that it can use, and with DED File Open registration.The present invention requires three-dimensional model simple as much as possible under the real condition of assurance, and concrete model optimization technology is arranged in the back.
According in the corresponding latitude and longitude coordinates of terrain model, stick face of land texture.Atural object attribute layering input Multigen according to different selects or rebulids characteristic of correspondence sign indicating number (FeatureID) and Facing material sign indicating number (SMC), gives its suitable texture.Flt opens in Mulitgen with the BUILDINGS MODELS data, sticks real texture, in the ground scape that is added to then.And carry trees, flowers and plants etc. therein.Texture comprises opaque texture and transparent texture, is used for atural objects such as buildings, road, trees, meadow.Can utilize close shot to establish should to obtain photo (or digital camera obtain digitizing photograph), scan digitizing then, in image processing softwares such as Photoshop, correct processing after, with TIFF or rgb format storage, as model texture storehouse.The hierarchical structure of concrete electronic three-dimensional map please refer to Fig. 1.
3) model optimization
Can not be too high and the narrow and small reason in design space for vehicle-mounted apparatus for deivation cost, the hardware configuration of device is relatively low.Inducing special-purpose electronic three-dimensional map itself is suitable occupying system resources, so the present invention by the optimization to cartographic model, reduced the complexity of three-dimensional map in the three-dimensional modeling process, for the electronic three-dimensional map vehicle environment is used the condition of having created down.
The vehicle-mounted optimizing process of special-purpose three-dimensional electronic of inducing mainly comprises:
1. LOD technology (apart from loading technique)
In the process of three-dimensional modeling,, set up a complex model, a medium complex model and a naive model respectively for a three-dimensional model.In program design,, call in above-mentioned complex model, medium complex model and naive model dynamically by the position relation of program according to this three-dimensional model and viewpoint.Be anthropomorphic dummy when watching object on this technical spirit, more near seeing of eyes clear more, more away from seeing of eyes fuzzy more.Concrete effect is please referring to Fig. 2.
2. Billboard modeling
Because vegetation such as trees have irregular characteristic, therefore it is carried out accurate modeling meeting and cause the curve quantity of component model huge, can increase system burden like this.The present invention adopts the Billboard modeling technique, and the texture pasters of trees is pasted on the simple plane rectangular area, and this plane domain can be faced viewpoint all the time.So promptly guarantee the authenticity of tree modelling, reduced the complexity of inducing special-purpose electronic three-dimensional map simultaneously again.
Vehicle-mountedly induce special-purpose electronic three-dimensional map navigational system
The present invention adopts the three-dimensional manipulating class libraries of Multigen Vega, in conjunction with the Visual C++ programming language, has taken all factors into consideration the various factors that influences vehicle location and navigation in electronic three-dimensional map, has designed vehicle-mounted three-dimensional navigation software.
1) three-dimensional navigation general design of software
The overall procedure of this software wherein mainly comprises and induces special-purpose electronic three-dimensional map module, GPS/DR Fusion Module, electronic three-dimensional map map-matching module, degree of freedom control module, three-dimensional path computing module, path of navigation and the design of direction arrow display module, transparent building modular design, two-dimentional electronic chart and the mutual respond module of electronic three-dimensional map as shown in Figure 3.
The electronic three-dimensional map database is the core of whole software operation, and locator data need be through after the GPS/DR fusion treatment, and the effect through map-matching module can be presented in the electronic three-dimensional map again.The demonstration of path of navigation then needs path optimization's module to provide optimal path for it, then by can effectively showing path of navigation with transparent building module coupling.
2) GPS/DR Fusion Module design
The mode that the present invention adopts GPS and DR to merge the location positions and follows the tracks of dynamic vehicle.There is very strong complementary relationship in the GPS/DR system, and GPS provides absolute positional information the initial value of piloting to be provided and to carry out error correction for DR on the one hand; On the other hand, the reckoning result of DR can be used for the stochastic error of compensated part GPS location.The key problem that realizes the GPS/DR combination is the data fusion design for scheme, and the present invention adopts the technology of kalman filtering that the GPS/DR data are merged.
As shown in Figure 4, local filter 1 and local filter 2 merge generation best located information by time renewal and optimum combination principle after respectively the locating information of GPS and DR input being carried out Filtering Processing, and a guider of buying car in installments uses.
Fig. 5 represents that GPS/DR merges the overall flow of location, and in GPS and DR data all reliably the time, GPS and DR data are done mutually to merge after the error correction and generated the best located data.When gps data is insecure, use the last one DR locator data of constantly having revised.Locator data is flowed to map-matching module, output on the map after the matching treatment.
3) electronic three-dimensional map matching module design
Fig. 6 has represented the flow process of map match in the electronic three-dimensional map, at first judges according to speed whether vehicle stops, if travel in the highway section, and all highway sections in the searching position point 50m scope.If do not search the highway section, then on map, export raw position data; If search some highway sections, judge road segment classification, comprehensively judge on that highway section according to the travel direction in the input locator data and the distance in vehicle distances highway section.Carrying out projection process then projects to vehicle on the highway section.
4) degree of freedom control module design
Degree of freedom in the electronic three-dimensional map comprises these positional informations of longitude, latitude and sea level elevation, also comprises the angle of cut information with the 3 d space coordinate axle.Fig. 7 has reflected the flow process of degree of freedom control module.
5) path of navigation and direction arrow display module design
Route guidance module needs path calculation module to provide optimal path to him, and route guidance module is judged the turning situation of vehicle in concrete crossing according to an optimal path.In electronic three-dimensional map, need be to the guiding of vehicle on crossing and viaduct specific to the track, because traffic law is what not allow at the crossing changing Lane surely, therefore must before entering the crossing, vehicle provide corresponding prompt.
The general employing of path computing in the electronic three-dimensional map is with the identical principle of path computing in the two-dimentional electronic chart, and result of calculation is returned according to the crossing numbering.The flow process that the route guidance of electronic three-dimensional map and arrow show as shown in Figure 8.Route guidance module is judged the turning situation of guiding route in each crossing according to optimal path information, selects then to add in the path of navigation tabulation in the corresponding track of this turning situation, shows rotation arrow simultaneously on this track.
6) transparent building processing module design
Transparent building processing key is to block the choosing of buildings of sight line, and the present invention adopts the mode of sight line intersection point, judges the buildings that whether has between the viewpoint of vehicle with the sight line phase angle, if having then its transparence is handled.The specific procedure flow process as shown in Figure 9.
Program constantly judges that according to vehicle location and viewpoint position having the buildings of intersection point whether to carry out transparence with sight line handles, and when cancels transparence and handle.
7) the mutual respond module design of two-dimentional electronic chart and electronic three-dimensional map
Two dimension electronic chart and the mutual response of electronic three-dimensional map can realize the mutual operation between two dimension and the electronic three-dimensional map exactly.Such as, the visual line of sight of demonstration electronic three-dimensional map in two-dimentional electronic chart shows the buildings that two-dimentional electronic chart is searched in electronic three-dimensional map.The idiographic flow of this module as shown in figure 10.The present invention extracts the plane angle of electronic three-dimensional map, and through coordinate conversion, plane projection is to two-dimensional map.The present invention simultaneously is written as the characteristic ID of each three-dimensional model in the electronic three-dimensional map and the identical title of two-dimentional electronic chart, so just can search the buildings of the corresponding title of respective two-dimensional map in three-dimensional map.
Claims (5)
1, a kind of vehicle mounted navigation three-dimensional path display system is characterized in that: comprise the vehicle-mounted special-purpose electronic three-dimensional map of inducing; Can receive the GPS and the RD data fusion module of gps satellite positioning signal; Can carry out the computer microprocessor of map match and optimal path computation; And can show the also display of guided path to electronic chart, GPS is connected microprocessor with the RD data fusion module, provide the vehicle current location to microprocessor, carry out matching treatment by microprocessor, microprocessor connects the vehicle-mounted special-purpose electronic three-dimensional map of inducing, carry out optimal path computation, microprocessor induces special-purpose electronic three-dimensional map to be connected display with vehicle-mounted, display line bus or train route footpath.
2, vehicle mounted navigation three-dimensional path display system according to claim 1 is characterized in that: the degree of freedom control module is arranged in the microprocessor, and degree of freedom comprises longitude, latitude and sea level elevation positional information, also comprises the angle of cut information with the 3 d space coordinate axle.
3, vehicle mounted navigation three-dimensional path display system according to claim 1, it is characterized in that: the transparent building processing module is arranged in the microprocessor, transparent building processing key is to block the choosing of buildings of sight line, adopt the mode of sight line intersection point, judge the buildings that whether has between the viewpoint of vehicle with the sight line phase angle, if having then its transparence is handled; Program constantly judges that according to vehicle location and viewpoint position having the buildings of intersection point whether to carry out transparence with sight line handles, and when cancels transparence and handle.
4, vehicle mounted navigation three-dimensional path display system according to claim 1, it is characterized in that: GPS and DR Fusion Module position and follow the tracks of dynamic vehicle, realize that the GPS/DR combination is a data fusion, adopt kalman filtering that the GPS/DR data are merged.
5, according to claim 1,4 described vehicle mounted navigation three-dimensional path display systems, it is characterized in that: after two local filter are carried out Filtering Processing to the locating information of GPS and DR input respectively, merge generation best located information by time renewal and optimum combination principle, a guider of buying car in installments uses.
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| CN101964941A (en) * | 2010-08-25 | 2011-02-02 | 吉林大学 | Intelligent navigation and position service system and method based on dynamic information |
| CN101975580A (en) * | 2010-09-19 | 2011-02-16 | 北京腾瑞万里科技有限公司 | Generation method and device of overpass navigation chart |
| CN101975578A (en) * | 2010-09-20 | 2011-02-16 | 北京腾瑞万里科技有限公司 | Navigation method and device |
| CN102235869A (en) * | 2010-04-12 | 2011-11-09 | 罗伯特·博世有限公司 | Method and information system for marking automobile destination |
| CN101285689B (en) * | 2007-04-09 | 2011-12-21 | 株式会社电装 | Map display controller and method for displaying map image |
| CN102509493A (en) * | 2011-11-14 | 2012-06-20 | 武汉理工大学 | Monitoring system for automobile driver road test evaluation |
| CN102792258A (en) * | 2010-03-18 | 2012-11-21 | 大众汽车有限公司 | Method for controlling an electronic system for a vehicle and corresponding controller |
| CN103092924A (en) * | 2012-12-28 | 2013-05-08 | 深圳先进技术研究院 | Real-time data driven traffic data three-dimensional visualized analysis system and method |
| CN101743454B (en) * | 2007-05-16 | 2013-09-25 | 星克跃尔株式会社 | Method for matching virtual map and system thereof |
| TWI415038B (en) * | 2007-07-13 | 2013-11-11 | Hon Hai Prec Ind Co Ltd | Vehicle navigation device and method |
| CN104075719A (en) * | 2013-03-26 | 2014-10-01 | 高德信息技术有限公司 | Three-dimensional navigation method and three-dimensional navigation device |
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| CN101285689B (en) * | 2007-04-09 | 2011-12-21 | 株式会社电装 | Map display controller and method for displaying map image |
| CN101743454B (en) * | 2007-05-16 | 2013-09-25 | 星克跃尔株式会社 | Method for matching virtual map and system thereof |
| TWI415038B (en) * | 2007-07-13 | 2013-11-11 | Hon Hai Prec Ind Co Ltd | Vehicle navigation device and method |
| CN102792258B (en) * | 2010-03-18 | 2017-04-12 | 大众汽车有限公司 | Method for controlling an electronic system for a vehicle and corresponding controller |
| CN102792258A (en) * | 2010-03-18 | 2012-11-21 | 大众汽车有限公司 | Method for controlling an electronic system for a vehicle and corresponding controller |
| CN102235869A (en) * | 2010-04-12 | 2011-11-09 | 罗伯特·博世有限公司 | Method and information system for marking automobile destination |
| CN101964941A (en) * | 2010-08-25 | 2011-02-02 | 吉林大学 | Intelligent navigation and position service system and method based on dynamic information |
| CN101975580A (en) * | 2010-09-19 | 2011-02-16 | 北京腾瑞万里科技有限公司 | Generation method and device of overpass navigation chart |
| CN101975578A (en) * | 2010-09-20 | 2011-02-16 | 北京腾瑞万里科技有限公司 | Navigation method and device |
| CN102509493A (en) * | 2011-11-14 | 2012-06-20 | 武汉理工大学 | Monitoring system for automobile driver road test evaluation |
| CN103092924A (en) * | 2012-12-28 | 2013-05-08 | 深圳先进技术研究院 | Real-time data driven traffic data three-dimensional visualized analysis system and method |
| CN104075719A (en) * | 2013-03-26 | 2014-10-01 | 高德信息技术有限公司 | Three-dimensional navigation method and three-dimensional navigation device |
| CN107545833A (en) * | 2016-06-24 | 2018-01-05 | 高德信息技术有限公司 | A kind of road method for drafting and device |
| CN107545833B (en) * | 2016-06-24 | 2019-09-24 | 高德信息技术有限公司 | A kind of road method for drafting and device |
| WO2018205066A1 (en) * | 2017-05-08 | 2018-11-15 | 深圳市卓希科技有限公司 | Method and system for indicating driving line |
| CN113068461A (en) * | 2021-03-22 | 2021-07-06 | 吉林大学 | Intelligent robot capable of performing soil operation and control method thereof |
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