DE102008020488A1 - Method for operating a device for determining a route course - Google Patents

Method for operating a device for determining a route course

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Publication number
DE102008020488A1
DE102008020488A1 DE200810020488 DE102008020488A DE102008020488A1 DE 102008020488 A1 DE102008020488 A1 DE 102008020488A1 DE 200810020488 DE200810020488 DE 200810020488 DE 102008020488 A DE102008020488 A DE 102008020488A DE 102008020488 A1 DE102008020488 A1 DE 102008020488A1
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Germany
Prior art keywords
means
parameter
route
ba
method according
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DE200810020488
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German (de)
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DE102008020488B4 (en
Inventor
Bernd Dr. Thomas
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Garmin Switzerland GmbH
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Navigon AG
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Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G08G1/096844Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3697Input/output arrangements for on-board computers output of additional, non-guidance related information, e.g. low fuel level, fuel efficient driving, gear change, speeding, dangerous curve ahead, slippery road, school zone, speed traps, driving behaviour feedback, advertising, virtual billboards or road signs
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle

Abstract

The invention relates to a method for operating a device for determining a route course (r) for a means of locomotion, in particular a Nagivationseinrichtung for a motor vehicle, the device comprising a processor device, a position signal receiving means, in particular for GPS signals, a position determining unit for determining a position from the received position signals, an operating means for displaying the determined route course and for communication with the user of the device, means for accessing a road network database, which also includes route-specific information, with the following method steps: a) automatic determination of the instantaneous position (pv) and the instantaneous speed (v0) the means of transport; b) automatic determination of at least one route property (R) relevant to at least one section of the route (r), in particular by accessing the road network database, and automatic determination of the distance (d) to the beginning (pw) of this section based on the instantaneous position (pv ) of the means of locomotion; c) automatic determination of at least one first parameter (BA) taking into account the determined distance (d), the instantaneous speed (v0) and the path property (R); d) automatic selection between at least two operating states in accordance with the parameter (BA), whereby by means of the operating states the ...

Description

  • The The invention relates to a method for operating a device for Determination of a route for a means of transportation, in particular a navigation device according to the independent claim.
  • existing Have navigation systems today increasingly over Functions that provide the user with special location-dependent, trafficactuated and for the traffic inform relevant properties. This information will be often as warnings to the user via audio signal, voice output or communicated visually. In practice, however, these functions lead often for the driver to receive the warning only when the means of transportation already in a critical section of the route located. For example, warnings about exceeding a speed limit often only then signals when the vehicle is already on a road section located, for which a speed limit would already be observed. The consequence of this is that the vehicle generally at an excessive speed in the affected road section retracts because the driver completely is unprepared.
  • It Mobile navigation systems were also developed, so-called PNAs (Portable Navigation Assistant), which provides warnings based on the used road network data map and the current position of the navigation device for the Output user. Dependent of the type of warning additional Information from the navigation device considered which are over communication channels like radio or data channels are available. Here would be For example, to call TMC (Traffic Message Channel). through TMC receives the driver notes regarding Traffic disruption for be relevant to the route to be taken by him. Indeed These hints are not always optimal in time to the actual route Voted. Further features of known navigation systems are for example usual Navigation hints like "In 200 meters turn right ". Such hints are usually found in existing systems purely position-dependent generated by the current position of the means of locomotion in Relation to the relevant position is set, starting from the hint indeed becomes relevant.
  • Further is ADAS (Advanced Driver Assistance Systems) known. In the area In principle, these systems are distinguished between two methods. Procedures that work with data from the road network database, and Procedures that work without data from the road network database. in the Area of the card-based systems exist individual solutions, such as so-called curve detectors, the curves lying ahead with respect to their maximum analyze speed to be traveled and this value with Compare the current speed of the vehicle. Corresponding The system generates the result of the speed comparison a warning for the driver, although the time of the warning is not here optimal on the route is tuned.
  • These All approaches known from the prior art have the disadvantage that that the warning from the navigation device is not reliable then is generated, given the current situation for the driver most advantageous would be.
  • The Object of the present invention is that user instructions be done by the navigation system such that the user early is informed so that it is reasonably based on evidence of the navigation system can respond.
  • to solution The task is a device for determining a route for a Means of locomotion, in particular a navigation device for a motor vehicle, according to the method of the invention operated. The method of the invention Underlying device includes a processor device to carry out of data processing tasks, a position signal receiving means, in particular for GPS signals, a position determination unit for determining a position the received position signals, an operating means, in particular with display means, for displaying the determined route course and for communication with the user of the device. The device also has accessibility on a road network database, which also road-specific information includes. The road network database can be used by the device a memory means. It can also be a Traffic network database act, which by means of the device at least temporarily (eg online) accessible or by means of a mobile data connection (eg GSM, EDGE, UMTS, HSDPA) for the device at least temporarily available (eg by download) is.
  • For realizing the operation according to the invention, the device determines automatically and continuously the current position and instantaneous speed of the means of locomotion in which the device is arranged. As a result, both the current instantaneous position and the current instantaneous speed, which can be derived, for example, from a change in the instantaneous position during a defined period of time, are available to the device for further calculations by means of the processor device.
  • There the device under consideration the user specified destination the route for the means of transportation has calculated, the institution is able to automatically Determination of at least one for at least one section of the route relevant Plug property by accessing the road network database. The Device also automatically determines the distance from the device known instantaneous position of the means of transport until the beginning of the above section. It's the Facility also possible all information retrievable from the road network database (eg route properties a section of the route) into the data processing.
  • route properties of track sections can For example, be properties that the user of the means of transportation should cause any reaction, provided that he is following the route would like to continue following all traffic regulations. For example could it concerns references regarding a particularly dangerous one Trading section, for the particular behaviors or a special attention the user of the means of transport are required. It could be but also to an identification of a section by means of Trace properties that the user assigns manually has to do the route property as particularly relevant or for him interesting to define. Concrete, but not exhaustive, would be, for example To name track properties, such as speed limits, dangerous Curve sections, dangerous Track sections with rockfall or debris, traffic-calmed Zones and the like. There are mainly those sections of the route in question, which require the driver pro-active action.
  • The Establishment leads continuously and automatically when detected movement of the means of transport, the determination at least of a parameter under consideration the determined distance to the relevant relevant section above and considering the instantaneous speed of the means of transport and taking into account at least one track property.
  • To proviso the parameter is the automatic selection between at least two operating states, wherein by means of the operating conditions the communication with the user is controlled. There is a appropriate control of the operating means for the respective operating state, so that in the context of the first operating state, a first visualization for the User is realized by means of the display means and in the context the second operating state, a second visualization for the user is realized by means of the display means. The evaluation of the determined Parameters can also lead to the result that no communication is required with the user.
  • at the solutions The prior art lacks this dynamic and continuous Analysis of the current situation and the feasible through this analysis Coordinating the issue of notes to the user under consideration the actual Circumstances regarding the route and the characteristic state characteristics of the means of transport. The solution according to the invention leads quasi to optimize the temporal proximity of an indication to a forthcoming and for the user relevant event. The invention thus reacts substantially more flexible on the actual Conditions, because they do not in contrast to the prior art focused on the evaluation of static information is based (such as the maximum allowed Tempo or the current street class a section of the route or fixed assumptions concerning the Driving behavior of the user). The method according to the invention has many degrees of freedom and is open to a variety of modifications in the definition of the definition a driving criterion. This is based on the solution according to the invention navigation devices upgradeable and flexibly adaptable to a wide range of applications.
  • Since the notification time determined by the device in a practically foresighted manner is chosen so that it is as meaningful and timely as possible in relation to the event, the driver can quickly assign an important indication (eg warning) to the current route conditions and react appropriately because he was optimally sensitized to the upcoming situation by means of the device according to the invention temporally. This can also be helpful if the driver, for example because of the excessive speed of his vehicle, comes to the conclusion that he is no longer able to react appropriately. At least the driver can try in such a case to take all possible measures to avert possible damage to him or other road users (eg rear-end collisions due to sudden braking maneuvers).
  • advantageous Further embodiments of the invention will become apparent from the dependent Claims.
  • Prefers At least one parameter threshold value is also used in the evaluation considered. This preserves one the possibility to carry out a delicate evaluation of the determined parameter and accordingly of the evaluation result to control the selection of the operating conditions. It gives you the opportunity to make a grading, which also cover more complex situations and can depict. For example, a threshold can be used be used to narrow down parameter-specific ranges.
  • The Choosing a threshold may depend, among other things, on environmental characteristics (such as temperature, rain, Snow, ice, etc.) and / or the track characteristics (such as Road surface, slope of the track, curves, etc.) and / or of the vehicle characteristics (such as braking property of Vehicle, ABS equipment, tires, weight, etc.).
  • Especially preferred is the inventive method therefore realized in such a way that it is possible to set a parameter threshold Automatically modify by means of the device. The modification for example, taking into account at least a first data variable for storage at least a data component. This data component is used for characterization at least one property of the distance course, such as the environmental characteristics. The distance course is the same Route, which of the zurückzulegenden Distance is based and part of the distance from the institution determined and to be returned Total distance corresponds. Also, such a data component for characterizing at least one property of the means of locomotion serve as already indicated above. Generally, all should those features are taken into account by the facility, which in any relevant form has an influence on the prosecution of the Distance course have means of means of transport could. The modification of the thresholds is therefore not only on the consideration of properties regarding the environment, the route itself or the vehicle. So while independent in the basic procedure ambient, route or vehicle characteristics constant thresholds be defined enough Offer period to a large extent of all vehicle classes (so that they can brake for example without danger), become now used further criteria for optimization.
  • advantageously, the data variable is designed as a data vector that at least two data components for characterization, as explained above. It is thus easily possible theoretically make any subdivisions. For example could taking into account of environmental characteristics the properties of temperature, rain, snow and ice each a data component of a data vector with, for example represent four data components. By means of, for example, array structures can this information is easily stored in the facility and during the Operating over Access to the individual array cells by means of the software Facility to be queried.
  • The The relevance of the data components of a data vector does not necessarily have to be identical be. Therefore, it is provided that at least one of the data variables or data component comprised of a specific weighting may include. Also would be It is conceivable that several of the data variables or of the data vector data components include a common weighting to the relevance of data variables or of data vectors for the description completely different from each other different properties (eg properties of the environment and characteristics of the vehicle) as part of the modification of a Take into account the parameter threshold to be able to. Through this modification can new thresholds are defined, which correspond to those in reality Conditions are adapted, resulting in a more realistic communication with the Allows users.
  • to Simplification of the internal data processing steps is too prefer that a data component of a variable or a Vector is represented by a numerical value, wherein the device at least two existing data components the arithmetic Means of numerical values forms and this result in the modification of the parameter threshold value. Important to note here is that if the weights are not already consider corresponding scalings, the sum of the individual Data components must be scaled accordingly, under consideration the value ranges, the weighting and the route attributes.
  • The default value t of a parameter threshold value can for example be adapted to t 'according to the relationship: t '= t * V (W (S1, ..., n)) * V (W (U1, ..., m)) * V (F1, ..., k)) where V (X) denotes the calculation of the arithmetic mean of the weighted components (given by W) of a vector X. In the relationship exemplified above, the default value t of a parameter threshold is adjusted by the arithmetic mean of each of three weighted vectors S, U, and F, where S stands for the numerical representation of n different road characteristics, or U for m different environmental characteristics such as rain, temperature or visual condition. Instead of processing a large number of individual values, the averaging makes it possible to concentrate the essential information on a small number of data to be processed and thus also to increase the data processing speed.
  • Between the current position of the means of transport and the beginning of the Track section with the determined by the device track property exists an optimal future Vehicle position within the distance course, at the Communication with the user should be done at the latest to to alert the user to the determined route property do. For example, it is the track property a speed limit, so must a reference to the driver of the means of transport so that he can still react appropriately. It is therefore of the device also determines a user hint position which the future location of the means of transport essentially defined at which a user communication take place becomes. This position is also linked to a point in time. at this time is the user reference time, at which a user communication takes place at the latest or reaches the user reference position is. This position and time will be continued from the facility with every change the current position of the means of transport determined.
  • Under the assumption that the route property is one for the section of the route relevant speed limit and that the parameter is an acceleration change represents which is necessary, so that the instantaneous speed of the means of locomotion the speed limit after overcoming does not substantially exceed the distance, the determination is made the above user reference location and above User reference time implicitly by means of the device. in this connection is still assumed that parameter thresholds in Form of acceleration thresholds are present, which also when determining the user hint position and / or the user reference time considered become.
  • Preferably a consideration is made of at least three parameter threshold values (eg acceleration threshold values) for controlling at least four operating states, wherein the selection of the operating states is based also on the result of a comparison between one of the parameter thresholds with the parameter value (eg negative acceleration). By these measures is it possible for the driver preferably speed restrictions of the prescribed Way to comply. At the same time the presented offers Procedure a way to improve Driving safety, as it is possible is, delay times (eg also the reaction time of the driver).
  • Preferably a first operating state is assumed by the device, if the parameter value (eg negative acceleration) between a first parameter threshold value (eg acceleration threshold value t1) and a second parameter threshold value (eg acceleration threshold value t2) or identical to the first parameter threshold. The threshold can be defined so that the vehicle still in enough greater Distance to the beginning of the relevant section of the route, so that, for example, enough Time to initiate a deceleration process remains. In this case, one would Operating mode selected, which the upcoming section, for example by means of an announcement on a display means announces, but still no warning outputs.
  • The first operating state could be followed by a second operating state, which is assumed when the parameter value (eg, negative acceleration) is substantially between the second (eg, acceleration threshold t2) and a third (eg, acceleration threshold t3) parameter threshold or identical to the second (acceleration threshold t2) parameter threshold. These threshold values could be dimensioned in such a way that the vehicle is always at a sufficiently great distance from the relevant route section when a user instruction is generated, and thus safe braking is possible, the user now being signa-fied in the context of the second operating state could be likelihood that he should start braking (display of a proposition).
  • this both operating states could follow a third operating condition, which is taken when the parameter value (eg, negative acceleration) is substantially above the third (eg acceleration threshold t3) parameter threshold value is equal to or identical to the third (eg acceleration threshold t3) is the parameter threshold. This could mean that Means of locomotion at a critical distance to the stretch is located, so that no more safe braking is possible or no way there is more to respond appropriately. This operating state is used then to warn the driver (displaying an alarm signal).
  • Should if the device is in a fourth operating state, which is taken when the parameter value (eg negative acceleration) essentially below the first (eg acceleration threshold t1) parameter threshold value, this could be used to the driver without disturbances grant to let (rest) and the further movement by means of Facility to observe until a relevant event takes place, which causes the change to one of the other operating states mentioned above.
  • The User communication preferably takes place in accordance with a the operating conditions by means of a user information in visual and / or acoustic and / or tactile form. this could for example by means of a display means or an acoustic Output or a vibration means be realized. As desired and personal preferences could the user is for one of the possibilities decide by suitable selection on the user interface.
  • Preferably the device works by means of transition thresholds for realization a multi-level user communication. This should be in the first place to illustrate the urgency of an indication. The device could the transition thresholds and / or user notification levels automatically dynamically and continuously determine one or more parameter thresholds.
  • in the Frame of the above-mentioned second operating state (proposed action) could for example, instead of an indication of speed reduction be implemented a multi-level hint system, which depends on the needed braking strength (negative acceleration, BA) Notes with increasing urgency displays. this could be implemented as follows: The current urgency of a braking operation can for the exemplary case of 3 acceleration thresholds (t1, t2, t3) are determined stepwise by the device. With m = (t3 - t2) and the equation Sk = round ((BA - t2) / m), becomes the current one Warning level scaling Sk determined. "Round" represents a rounding function for rounding the division result to an integer. A possible Application would be for For example, using the current alert level calculated as Measure of a color Representation, with the highest Warning level in a signal color (such as red) is displayed.
  • A another possibility for the realization of a multi-level signaling is for example the use of a so-called software-implemented progress bar, its length a measure of urgency represents a required braking operation. This will be a Scaling determined and a corresponding scaling according to Sk = (BA - t2) / m calculated. The calculated value Sk then gives the length of the Progress bar, where Sk = 0 does not require braking and Sk = n requires maximum braking, assuming Let n be the number of reference levels. This flowchart will be continuous from the facility during the navigation operation repeated, at least as long as the means of transportation in motion.
  • Similar multilevel notification systems could be provided in all other operating conditions to the there to be communicated user information under consideration to convey the urgency to the user.
  • All the device is particularly preferred for the time of the user communication coordinated with further navigation-specific instructions. at For example, acoustic output of alerts only then becomes the warning message is issued if at the same moment no other Speech output (such as an announced turn-off maneuver) is made. Only at the time at which a possibly currently running speech output is essentially finished, the warning will be with appropriate Warning level under consideration the current instantaneous position communicates.
  • The following symbols are used in the following explanations:
  • r
    - Course between starting point and destination point of the route.
    pw
    - Position of the beginning of a section of the route.
    pv
    - Current position of the means of transport.
    v0
    - Current speed of the means of transport.
    a
    - acceleration of the means of transport.
    S
    - Distance between pv and pw.
    d
    - distance between pv and pw.
    S1, ..., n = <a1, ..., an>
    Vector with n attributes ai, which describes the properties (eg curves, slope, road surface, etc.) of the distance course S.
    W (S1, ..., n)
    Weighted vector for S1, ..., Sn, where W (S1, ..., n) = <w1 · a1, ..., wn · a> gives a weighting to the various attributes ai.
    U1, ..., m = <u1, ..., um>
    - Vector with m attributes ui, which describes the properties with respect to environmental conditions (eg rain, temperature, visibility, etc.) along the distance course S.
    W (U1, ..., m)
    - weighted vector for U1, ..., To have effect like W (S1, ..., n).
    F1, ..., k = <f1, ..., fk>
    Vector with k attributes f, which describes the characteristics relating to the vehicle (eg braking distance, weight, tires, etc.).
    W (F1, ..., m)
    - Weighted vector for F1, ..., Fm with effect like W (S1, ..., n) or W (U1, ..., m).
    Hp
    Position between pw and pv at which user communication takes place at the latest so that the driver can respond appropriately to the user advice.
    ht
    - Time at which user communication takes place at the latest so that the driver can react appropriately to the user information.
    t1, t2 and t3
    - acceleration thresholds.
    R
    - Speed limit.
    TL
    - Time until the means of locomotion reaches the position pw.
    s
    - Path
    v
    - speed
    t
    - Time
    BA
    - Negative acceleration to decelerate the vehicle to R until reaching the position pw.
  • The The following figures are only for the better understanding of present invention, they limit the invention is not limited to the examples. The figures are partially roughly schematically held to the modes of operation, principles of action, technical embodiments and features to clarify. Basically every mode of operation, every principle, every technical design and each feature shown in the figures or in the text is / are, with all claims, each feature in the text and in the other figures, other functions, Principles, technical features and features included in this Revelation contained or arising from it, free and arbitrary be combined so that all conceivable combinations the scope of disclosure to be added to the invention. There are also combinations between all individual versions in the text, d. H. in each section of the descriptive text, in the claims, and also combinations between different embodiments in the text, in the claims and included in the figures.
  • 1 shows the representation of a speed limitation of the prior art;
  • 2 shows the display operating state according to the invention (in terms of content optically identical to 1 but visualized according to the invention;
  • 3 shows the suggestion mode according to the invention with warning level 1 (see arrow below the road sign);
  • 4 shows the suggestion mode according to the invention with warning level 2 (see arrow below the road sign);
  • 5 shows the suggestion mode according to the invention with warning level 3 (see arrow below the road sign);
  • 6 shows a symbol for indicating a speed limit;
  • 7 shows roughly schematically the application of the invention;
  • 8th shows the possible existence of distance parameters;
  • 9 shows a flow chart for the inventive method;
  • 10 shows some examples regarding the determination of system variables.
  • As in 1 shown and already explained in the introduction, track-relevant information such as speed limits often without temporal proximity and based solely on the current position of the means of transport as an indication to the user displayed on the display means (here speed limit 50). It lacks the consideration of the temporal proximity and the actual prevailing conditions.
  • The 2 to 5 are explained in the context of the following example. The example is based on a speed alert function, which should give the driver early and adapted to his driving behavior as well as the currently prevailing environmental characteristics and route characteristics information and support to comply with speed limits. The relevant route section determined by the device is in this case a route section with a predetermined speed limit. The example therefore explains the invention from the point of view of the speed adjustments to be made by the driver on the basis of the instructions of the navigation system. However, the invention is expressly not limited to the mere application as a speed warning system. As already explained above, the application of the invention to sections with a speed limit is only one of many possible applications which do not always have to be accompanied by a reduction in the current speed of the means of transportation.
  • The invention could, for example, be used as follows: A vehicle comprising the navigation system according to the invention approaches at a speed of v0 = 120 km / h a plug section within which a speed limit of R = 60 km / h is prescribed by law (in 2 50 km / h is shown as an example). This section is currently located 700 meters from the current position of the means of transport. Part of the variables continuously determined by the facility is shown in Table 1. It is therefore recommended to consult Table 1 whenever the speed change in the example below is used to understand the change in intrinsic variables.
  • the Navigation system according to the invention are the instantaneous position and the instantaneous velocity of v0 = 33.36 m / s of the means of locomotion. It determines now automatically by accessing the road network database that a stretch of road with speed limit 60 km / h imminent. Additionally determined the navigation system the distance from d = 700 meters to the beginning this section based on the instantaneous position of the Means of locomotion.
  • Under consideration the determined distance d = 700 meters and the instantaneous speed v0 = 33.36 m / s of the means of transport are now two parameters determined. The first parameter is the time TL. For this Time TL = (d / v0) = 700 meters / 33.36 m / s = 20.98 seconds (rounded).
  • BA is determined as another parameter. We have BA = (v0 - R) / t or BA = (v0 - R) / (d / v0). Since BA can be determined directly from the given data, the intermediate step for determining the first parameter TL could also be omitted. The background to this is that t = TL is selected for the time. If the braking process can be completed within the time TL, it is ensured that the vehicle after overcoming the distance d and thus when reaching the marked by the speed limit section has a speed that does not exceed the speed specification at least. BA is calculated in this example as BA = 0.79 m / s 2 (rounded).
  • to Preparation of the time and type of advice to the user an evaluation of this parameter BA is now started based on BA, wherein the result of the evaluation as the driving criterion for the control of the operating means for outputting a message to the user of Facility regarding the relevant route property. An automatic change between at least two operating states (eg "Note required "or" Note not mandatory") the furnishings are made as specified of the control criterion (eg BA exceeds or falls below a comparison value) and the control of the operating means (z. B. visualization on display means included by the operating means) in accordance with of the operating state assumed by means of the comparison.
  • In this specific example, the device uses three predefined acceleration threshold values t1 to t3, which are taken into account in the context of the control criterion and are used as a comparison value for the parameter BA. More specifically, it is checked to which threshold range the parameter BA is to be assigned. The threshold values are t1 = 1.0 m / s 2 , t2 = 2.0 m / s 2 and t3 = 3.0 m / s 2 . BA is in the current case with 0.79 m / s 2 smaller than t1, which classifies the device as uncritical. The comparison of BA with t1, which serves as the driving criterion, therefore leads to the system-internal decision that there is no need for action. The vehicle is still far enough away from the start of the speed limit and the vehicle speed is not so high that the driver could no longer brake. So far there is no need to give the user an indication of the speed limit ahead and unnecessarily distract him from the road.
  • It is now assumed that the driver increases the speed to 150 km / h, the distance is only 600 meters. The system-internal variables are partially set to new values (see Table 1). The navigation system according to the invention informs the driver now due to a change of the operating condition due to the changed parameter BA (BA = 1,74 m / s 2 ) that is expected on the route ahead with a speed limit. This message could initially be done, for example, purely visually by means of a speed limit sign, which is indicated on the display means (see 2 ). To make it clear that the speed limit is imminent and currently not yet relevant, the sign could for example be displayed shaded gray. There is thus no urgency for a deceleration signaled by the system, since the distance is still large enough. This display mode is characterized by BA> t1 and BA <t2. Always in this example, the vehicle is located at a sufficiently great distance to the stretch of road, so that a safe braking is possible and still enough time remains to initiate a deceleration.
  • Suppose that the driver does not reduce his speed and the distance is now only 450 meters. Since the braking process now required would require an acceleration (BA = 2.31 m / s 2 ) which is above the threshold value of t2, the system changes to another operating state. As part of this operating state, the device determines a first display stage (warning level 1), which here by way of example by the display of an example green arrow ( 3 ) below the road sign ( 6 ) is realized. Thus, the user is visualized that he should initiate a deceleration of the means of transport. This operating state is characterized in that t3>BA> = t2 and on the display means a suggestion for the further procedure for the user is displayed. The vehicle is located at a sufficiently great distance to the stretch of track, so that a safe braking is possible and it makes sense to start braking.
  • Suppose that the driver now reduces the vehicle speed from 150 km / h to 130 km / h, but this is too slow, and now the distance is only 250 meters (BA = 2.81 m / s 2 ). The system recognizes that despite the slight deceleration already initiated by the driver, the urgency of greater speed reduction prevails (warning level 2). Accordingly, a second warning level is activated, for example by changing the color and / or length of the one described above and out 3 known arrow ( 4 ) to visualize this increased urgency to the driver.
  • Assuming that the driver still does not respond adequately despite the indications and reduces the speed only to 100 km / h at a now prevailing distance of 105 meters to the beginning of the relevant section (BA = 2.94 m / s 2 ). Under these circumstances, the vehicle is at a critical distance to the relevant stretch of road, so that no more safe braking is possible or there is no possibility to reduce the speed so that when reaching the relevant stretch of the vehicle speed is less than or equal to the speed limit specification is. The system outputs a message with the highest priority level on the display 5 ), for example by using the additional signal color red and / or a further change in the geometry (eg the length) of the arrow below the traffic sign.
  • Suppose that the driver finally reacts adequately and reduces the speed to 70 km / h at a distance of 30 meters to the relevant stretch (BA = 1.80 m / s 2 ). In this case, the system returns to the display state and informs the user of the speed limit ahead 2 as described above.
  • As soon as the vehicle enters the restricted area, the usual representation of a speed limit can be made, for example by a traffic sign which represents the speed limit ( 6 ).
  • If BA <t1 becomes, so would the current operating state in the resting state offset in which no relevant display takes place.
  • In summary, the following operating states exist:
    • "Silence": No indication is given because the distance to the start position of the speed limit and instantaneous vehicle speed do not require this.
    • "Display": The driver is signaled by a warning that there is a speed limit on the line ahead.
    • "Suggestion": The driver is signaled that he must reduce his current speed.
    • "Alarm": The driver is signaled that only with a strong deceleration and / or not at all more appropriate and safe can the speed be reduced without risking a speeding-over.
    For all states applies: t1 = 1 m / s 2, t2 = 2 m / s 2, t3 = 3 m / s 2 R = 16.68 m / s (60 km / h) v0 = 120 km / h v0 = 150 km / h d = 700 m d = 600 m v0 = 33.36 m / s v0 = 41.7 m / s TL = 20.98 s TL = 10.79 s BA = 0.79 m / s 2 BA = 1.74 m / s 2 Warning scale = 0.33 Warning scale = 0.33 Operating condition: rest Operating status: display v0 = 150 km / h v0 = 130 km / h d = 450 m d = 250 m v0 = 41.7 m / s v0 = 36.14 m / s TL = 10.79 s TL = 6.91 s BA = 2.31 m / s 2 BA = 2.81 m / s 2 Warning scale = 0.33 Warning scale = 0.33 Operating condition: suggestion Operating condition: suggestion Warning level: 1 Warning level: 2 v0 = 100 km / h v0 = 70 km / h d = 105 m d = 30 m v0 = 27.8 m / s v0 = 19.46 m / s TL = 3.77 s TL = 1.54 s BA = 2.94 m / s 2 BA = 1.80 m / s 2 Warning scale = 0.33 Warning scale = 0.33 Operating condition: suggestion Operating status: display Warning level: 3
    Table 1 - System State Variables
  • 7 shows the basic operation of the invention with reference to a rough schematic sketch, which illustrates the determined by the inventive device route between the starting point ("Start") and destination ("destination").
  • The device automatically and continuously determines the instantaneous position pv of the means of locomotion, which moves along the route course r determined by the device, starting from the starting point to the destination point. Also, the automatic determination of at least one relevant for at least a section (gray hatched rectangle) of the route track property by accessing the road network database and the automatic determination of the distance d to the beginning of this section based on the instantaneous position pv of the means of transport, which along the distance course S from Means of transport is to be put back. The distance course S lies between the instantaneous position pv of the means of locomotion and the beginning pw of the route section (gray hatched rectangle). In this example, the section (gray hatched rectangle) is a speed-limited zone with speed limit R, which should be noted. In order to achieve improved user information, the inventive device determines the position Hp between pv and pw along the predicted route r, at which the user instruction regarding the forward speed limit zone must be made at the latest so that the driver can adequately respond to the alert, to an overspeed to avoid. Alternatively or additionally, it is also possible to determine a point in time Ht at which an indication to the driver must be given so that the latter can react appropriately. For the realization of the invention, among other things the following physical laws are implemented on the firmware side:
    Distance traveled by the vehicle after a time t: s (t) = a / 2 · t 2 + v0 · t Speed of the vehicle after a time t: v (t) = vo + a * t Time after which the vehicle has reached a certain speed v: t = (v - vo) / a Easy braking distance (without consideration of environmental and road characteristics): s = v 2 / (2 * a) Required time TL (time to limit) at constant speed of the vehicle on the way from pv to pw: TL = (d / v0) Required acceleration (negative and constant) a to decelerate from speed v0 to R within time t: a = (v0 -v) / t where v represents the preceding allowable speed R to be observed, and a represents the so-called "break acceleration" under these circumstances.
  • 8th indicates the inventive use of link parameters.
  • Out the explanations It is known above that a threshold value is also used as the triggering criterion considered which is used as a comparison value for the parameter can be. In the aforementioned example, four threshold values were actually used t1 to t3 used. Now the invention provides that at least one of the threshold values t1 to t3 considering at least one the distance course S (gray shaded circle) characterizing Record automatically is modifiable by the device, wherein the data set is environment properties or stretch properties (gray shaded ellipse) or propellant properties (not shown). That means it will be between the instantaneous position pv of the means of locomotion and the starting point pw of the relevant section of track to be observed line properties or route criteria of the distance course S or environmental criteria continuously determined and taken into account by the institution.
  • These Criteria can by means of the road network database or possibly on the vehicle Sensors or other information means determined by the device and stored for example as a data vector. The data vector S for describing the path properties of the distance course S could for example, be constructed so that its attributes a1 to different characteristic quantities to describe the route include. So could for example a1 the curve situation, a2 the route gradient and a3 the properties of the road surface describe. Further criteria should be included. For the vector S1, ..., n = <a1, ..., to>.
  • The data vector U for describing the environmental properties could for example be constructed such that its attributes u1 to un different characteristic quantities for describing the Um include the situation. For example, u1 could describe the precipitation situation, u2 the temperature situation and u3 the visibility. Further criteria should be included. For the vector U1, ..., n = <u1, ..., un>.
  • Of the Data vector F for describing the vehicle characteristics could be, for example be constructed so that its attributes f1 to fn different characteristic sizes for Description of the vehicle include. For example, f1 could be the Braking distance, f2 the weight and f3 the tires. Further Criteria should be included. For the vector F1 is valid, ..., n = <f1, ..., fn>.
  • It it is proposed to set the vector attributes with numerical values, which could serve, for example, as a reference for a table which is processed by the institution.
  • Everyone Vector or each attribute can be a weighting for its Include relevance, which takes into account in the data processing according to the invention is and causes the record in accordance with the weighting factor is taken into account in the modification of the threshold value. The device For example, the arithmetic mean of each record component form a data set or vector and this result in the Consider modification of the threshold value. One such weighted vector has the general form W (S1, ..., n), these being individually with weighted attributes <w1 · a1, ..., wn · an>. The weighting could For example, be realized such that a single attribute accounted for from 0% to 100% can be, by w covers a range of numbers from 0 to 100.
  • Under consideration for example, the vehicle speed, various environmental conditions (Weather, etc.) and the route section or route profile ahead (Curves, straight track, traffic signs, etc.) can be a useful one Warnhinzeitzeit Ht be calculated. This warning time is chosen that the driver has enough time, the speed of the vehicle reduce, so the speed of the means of transport below a for the route section relevant speed limits is or a recommended Speed, z. B. at bottlenecks, achieved and respected becomes.
  • 9 shows a flowchart for the inventive method, which is based primarily on the fact that first the vehicle position, the distance to a relevant stretch, the instantaneous speed and relevant for the stretch speed limit using the information stored in the road network databases and the means detectable by the device Position information can be determined. Subsequently, an optionally required negative acceleration BA is determined and / or the time period within which the speed reduction of the instantaneous speed must be carried out to be followed at the beginning of the section section directing speed by the user of the device according to the invention. For the note generation for the user, the acceleration threshold values already explained above are now included in order to create a criterion for the urgency of a user instruction and to convert the device into a corresponding operating state. The operating state then determines the required action, by means of which an indication to the user is to take place. For the hint itself, several reference levels are again distinguished, which allow a categorization of the hint between the categories "non-urgent" and "extremely urgent".
  • In the 10 The examples shown are self-explanatory and again show the contents of some system variables TL and BA taking into account the instantaneous velocity v0 and the distance d. Taking into account the given speed limit R = 70 km / h, the action or the current operating state performed by the device changes from the state "display" (example 1) via the state "rest" (example 2) up to the state "suggestion" ( Example 3).
  • At the bottom of the 10 the threshold values t1 to t3 are plotted along an axis. These threshold values are stored in the device and serve to classify the state into regions depending on the system parameter BA. As long as BA is in the range between t1 = 1.0 m / s 2 and t2 = 1.6 m / s 2 (example 1), the "show" state is active. For BA in the range t2 = 1.6 m / s 2 to t3 = 4.0 m / s 2 the state "suggestion" is active (example 3) and for BA> t3 = 4.0 m / s 2 the state is "Alarm" (no example) active. For BA below t1 = 1.0 m / s 2 the state "rest" (example 2) is active. These statements apply to a speed limit of 70 km / h in the relevant upcoming section.

Claims (17)

  1. Method of operating a device for detection a route (r) for a means of transportation, in particular a navigation device for a Motor vehicle, the device comprising a processor device, a position signal receiving means, in particular for GPS signals, a position determination unit for determining a position the received position signals, an operating means for display the determined route and for communication with the User of the device, a means of accessing a road network database, which also includes route-specific information, with the following Steps: a) automatic determination of the instantaneous position (pv) and the instantaneous velocity (v0) of the means of locomotion; b) automatic Determination of at least one for at least a section of the route (r) relevant Plug property (R), in particular by accessing the road network database, as well as automatic determination the distance (d) to the beginning (pw) of this section starting from the current position (pv) of the means of locomotion; c) automatic Determination of at least one first parameter (BA) under consideration the determined distance (d), the instantaneous velocity (v0) and the route property (R); d) automatic selection between at least two operating states in accordance with of the parameter (BA), whereby by means of the operating conditions the Communication with the user is controlled.
  2. Method according to claim 1, characterized in that that an evaluation of the parameter (BA) takes place, in which at least a parameter threshold (t1, t2, t3) is taken into account.
  3. Method according to claim 2, characterized in that that the parameter threshold (t1, t2, t3) is modified under consideration a first data variable (S, U, F) for storing a first Data component (a, u, f), wherein the data component (a, u, f) also for characterizing at least one property of the distance route course (s), which is the basis of the distance (d), and / or for characterization at least one property of the means of transportation and / or also serves to characterize at least one property of the environment.
  4. Method according to claim 3, characterized that at least one of the data variables (S, U, F) comprised data component (a, u, f) comprises a specific weighting (w) or that several Data components (a1, U4, F) comprised of the data variables (a1, a2, u1, u2, f1, f2) comprise a common weighting (w) which is taken into account during the modification of the parameter threshold value (t1, t2, t3).
  5. Method according to claim 3 or 4, characterized a data component (a, u, f) of a variable (S, U, F) at least a numerical value, the device averaging in the presence of a plurality of data components (a1, a2, u1, u2, f1, f2) with several numerical values and the result of this Averaging in the modification of the parameter threshold (t1, t2, t3).
  6. Method according to one of claims 1 to 5, characterized a user hint position (Hp) is determined, which is a Position of the means of transport defined at which the user communication he follows.
  7. Method according to one of claims 1 to 6, characterized that a user reference time (Ht) is determined, which is a Time defined at which the user communication takes place.
  8. Method according to one of claims 1 to 7, characterized that by means of the route property (R) a relevant for the route section Speed limit is set, wherein the parameter (BA) an acceleration change represents which is required for the instantaneous velocity (v0) the means of transport the speed limit (R) after overcoming the distance (d) does not substantially exceed.
  9. Method according to one of claims 1 to 8, characterized taking into account a choice between four operating states of at least three parameter threshold values (t1, t2, t3), wherein the selection is also based on the result of a comparison between at least one of the parameter threshold values (t1, t2, t3) and the parameter (BA) is based.
  10. Method according to claim 9, characterized in that that the first operating state is taken when the parameter (BA) greater than the first parameter threshold (t1) is.
  11. Method according to claim 9 or 10, characterized that the second operating state is taken when the parameter (BA) essentially between the second (t2) and the third (t3) Parameter threshold or identical to the second (t2) parameter threshold is.
  12. Method according to one of claims 9 to 11, characterized that the third operating state is taken when the parameter (BA) substantially above the third (t3) parameter threshold is equal to or equal to the third (t3) parameter threshold.
  13. Method according to one of claims 9 to 12, characterized that the fourth operating state is taken when the parameter (BA) substantially below the first (t1) parameter threshold lies.
  14. Method according to one of claims 1 to 13, characterized that in accordance an operating state a user note in visual and / or acoustic and / or tactile form takes place.
  15. Method according to one of claims 1 to 14, characterized that a transitional threshold to define the urgency of a user note under consideration of the parameter (BA) automatically is determined.
  16. Method according to claim 15, characterized in that that the communication of the user advice in accordance with Urgency by means of the control means continuously variable or gradually.
  17. Method according to one of claims 1 to 16, characterized that the time of user communication with other navigation-specific Notes is coordinated.
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