DE102016205439A1 - Method for maneuver generation for intersection situations - Google Patents

Abstract

The invention relates to a method for maneuver generation for intersections (30), wherein in an intersection situation (30) an incoming road (10), an in an initial angle (α) to the incoming road (10) scheduled, outgoing road (12) and a left and / or right side road (32, 34) are provided, which are attached at a left angle (β) or meadow by a right angle (γ) to the outgoing road (12). Steps are provided for establishing a coordinate system (14) having an X axis along which the left angle (β) and / or right angle (γ) is plotted and a Y axis along which the output angle (α) is plotted is; mapping the outgoing road (10) below the output angle (α) on the Y-axis; mapping the left and / or right side streets (32, 34) at the left angle (β) and the right angle (γ), respectively, on the X axis; determining the one or two intersections (22, 24) between the image of the outgoing road (16) and the image of the left and / or right side road (18, 20); the parameterization of result polygons (28) in each case for individual maneuver types on the basis of possible output angles (α), left angles (β) and / or right angles (γ); mapping the result polygons (28) in the coordinate system (14); determining the result polygon (s) (28) in which the one or more intersection points (22, 24) lie; and generating a maneuver based on the maneuver type of the determined result polygon (28). The invention has for its object to simplify the maneuver generation for intersection situations and to describe clearly.

Description

The invention relates to a method for maneuver generation for intersection situations and to a vehicle with a navigation system.

In navigation systems, decision points such as intersections must generate concise and unambiguous maneuvers or driving instructions. Previous concepts attempt to generate appropriate maneuvers by evaluating the angular geometries and other attributes. So far, the concrete implementation of suppliers is carried out, so that in later development, the maneuver generation can hardly be influenced. Furthermore, systems developed by different suppliers may behave differently.

Previous solutions attempt to describe crossing geometries in a general way or to evaluate certain dependencies and angular geometries. For example, this will be in the US 6199013 B1 disclosed.

The invention is based on the object of simplifying and clearly describing maneuver generation for intersection situations.

This object is achieved by a method according to claim 1 or a vehicle according to claim 8.

• – Erstellen eines Koordinatensystems mit einer X-Achse, entlang welcher der Linkswinkel und/oder der Rechtswinkel aufgetragen ist, und einer Y-Achse, entlang welcher der Ausgangswinkel aufgetragen ist;
• – Abbilden der ausgehenden Straße unter dem Ausgangswinkel auf der Y-Achse;
• – Abbilden der linken und/oder rechten Seitenstraße unter dem Linkswinkel beziehungswiese dem Rechtswinkel auf der X-Achse;
• – Ermitteln des einen oder der zwei Schnittpunkte zwischen der Abbildung der ausgehenden Straße und der Abbildung der linken und/oder rechten Seitenstraße;
• – Parametrisieren von Ergebnispolygonen jeweils für einzelne Manövertypen anhand möglicher Ausgangswinkel, Linkswinkel und/oder Rechtswinkel;
• – Abbilden der Ergebnispolygone in dem Koordinatensystem;
• – Bestimmen des oder der Ergebnispolygone, in welchen der oder die Schnittpunkte liegen; und
• – Generieren eines Manövers anhand des Manövertyps des bestimmten Ergebnispolygons.

The method according to the invention for maneuver generation for intersection situations, wherein in an intersection situation there are an incoming road, an outgoing road at an exit angle to the incoming road, and a left and / or right side road which is at a left or right angle to the outgoing road are scheduled, includes the steps:

• - Creating a coordinate system with an X-axis, along which the left angle and / or the right angle is plotted, and a Y-axis, along which the output angle is plotted;
• Mapping the outgoing road at the exit angle on the Y axis;
• Mapping the left and / or right side street under the left angle and the right angle on the X axis, respectively;
• Determining the one or two intersections between the mapping of the outgoing road and the mapping of the left and / or right side road;
• - Parameterizing result polygons for individual maneuver types based on possible initial angles, left angles and / or right angles;
• - mapping the result polygons in the coordinate system;
• Determining the result polygon (s) in which the one or more intersections lie; and
• Generate a maneuver based on the maneuver type of the particular result polygon.

The method according to the invention has the advantage that intersection geometries are currently not described in a universally valid manner, but a less computation-intensive reduction is made. It is also given a flexibility compared to the definable maneuver types and their later parameterization. The method allows a flexible definition of maneuver types, both in number and in severity. In contrast to known solutions, intersection geometries are evaluated in each case taking into account the adjacent side roads. It has been shown in own investigations that the conciseness and uniqueness of a maneuver, for example for the evaluation of the maneuvering direction and the distinctness of driving directions, derives primarily from this. For the purposes of the invention, it has been found that the direction of the planned route as well as of the respectively nearest left and right road are primarily relevant for the determination of a maneuver. This information is represented by a graphical representational form of the defined maneuver types, whereby at the same time a flexible configurability is possible.

The maneuver generation takes place for an isolated crossing situation, which can be part of a route. The maneuver can be calculated situationally in the vehicle. It can also be provided that the maneuver generation is carried out before the actual journey for a navigation map or a navigation route. Then the generated maneuvers can be deposited at the respective intersections.

It can be provided that, when parameterizing the result polygon, all output angle, left angle and / or right angle possible for the maneuver type of the result polygon are considered and that the result polygon or polygons are selected such that the intersection points resulting from this are enclosed by the result polygon (s).

The result polygons can be defined by a list of coordinate pairs of x and y coordinates. Lines between the coordinate pairs then form an envelope of the result polygon. The representation with coordinate pairs is easy to create and handle.

The list may contain variables with coordinate pairs. Variables or identifiers can be used to avoid repetition of single or multiple coordinate pairs, shortening the list and optimizing storage space and processing speed.

It can be provided that along the X-axis a left angle range of -180 ° to 0 ° and then a right angle range of 0 ° to 180 ° is plotted. This allows easy consideration of left and right side roads in a graph or coordinate system.

It may further be provided that a prioritization list for maneuvers is used for ambiguities in determining the result polygon (s) in which the one or more intersections lie. This ensures in a simple way that there is always a clear solution. An ambiguity may exist, for example, when an intersection falls on a polygon boundary. Then all relevant maneuver types are identified and the maneuver with the highest defined priority selected.

The generated maneuver can be visually and / or acoustically displayed to a driver of a vehicle. For example, by means of a navigation system or an infotainment unit, the driver can be informed of the next upcoming maneuver. The simple graphic determination of the maneuver allows a quick deployment of the maneuver, resulting in a fast and therefore secure system.

The vehicle according to the invention comprises a navigation system which is set up to carry out a method as described above. The same advantages and modifications apply as described above. It may be provided that a part of the method is performed in the vehicle and a part in a backend of the manufacturer or a service provider.

Further preferred embodiments of the invention will become apparent from the remaining, mentioned in the dependent claims characteristics.

The various embodiments of the invention mentioned in this application are, unless otherwise stated in the individual case, advantageously combinable with each other.

The invention will be explained below in embodiments with reference to the accompanying drawings. Show it:

1 a schematic definition of the angular ranges;

2 a schematic representation of the definition of maneuver points;

3 a schematic representation of result polygons

4 a schematic representation of a crossing situation; and

5 a schematic representation of the determination of a maneuver.

For the purposes of the invention, maneuver types, their number and characteristics, are defined and parameterized as desired. For the purposes of the invention, it has been found that the direction of the planned route as well as of the respectively nearest left and right road are primarily relevant for the determination of a maneuver. This information is represented by a graphical representational form of the defined maneuver types, whereby at the same time a flexible configurability is possible.

• • Kein Manöver (da Routenverlauf eindeutig)
• • Geradeaus
• • Links/rechts abbiegen
• • Halb links/rechts abbiegen
• • Scharf links/rechts abbiegen
• • Links/rechts halten

Any number of different maneuver types and characteristics can be defined, for example:

• • No maneuver (because route is unique)
• • Straight
• • Turn left / right
• • Turn left / right
• • Turn sharp left / right
• • Hold left / right

In the following, the maneuver generation is described in each case for a turn to the right, by appropriate mirroring the approach is analogously transferable to the left for turning maneuvers.

• • Eingehende Kante: Die Straße die zum Kreuzungspunkt führt und gleichzeitig den Ausgangspunkt der Fahrzeugposition bzw. Route darstellt.
• • Ausgehende Kante: Die Straße die vom Kreuzungspunkt wegführt und entlang der berechneten Route verläuft.
• • Linke/rechte Seitenstraße: Auf die ausgehende Kante bezogen wird die jeweils angrenzende linke/rechte Seitenstraße bezeichnet. Ist keine Seitenstraße vorhanden, so ist stattdessen der Maximalwert (–180° bzw. 180°) zu verwenden.

An intersection geometry is characterized by a crossing point, typically the midpoint, from which run any number of edges, that is, digitized roads. The following information is determined:

• • Incoming edge: The road that leads to the intersection and at the same time represents the starting point of the vehicle position or route.
• Outbound Edge: The road leading away from the intersection and running along the calculated route.
• • Left / right side street: The respective adjacent left / right side street is referred to the outgoing edge. If there is no side street, the maximum value (-180 ° or 180 °) should be used instead.

• • Ausgangswinkel zwischen eingehender und ausgehender Kante.
• • Linkswinkel zwischen ausgehender Kante und linker Seitenstraße.
• • Rechtswinkel zwischen ausgehender Kante und rechter Seitenstraße.

The following dependencies are considered below:

• • Starting angle between incoming and outgoing edge.
• • Left angle between outgoing edge and left side street.
• • Right angle between outgoing edge and right side street.

The length of the considered edges is individually adaptable and it can also be combined as needed, several map and / or edge segments to achieve a minimum length.

1 describes the angle relationships used, the origin being the incoming road or edge respectively 10 represents. Between 0 °, that is the extension of the incoming edge 10 , and the angle of the outgoing edge 12 the output angle α is defined. The angular relationships to the outgoing road or edge 12 and the two side streets are on the coordinate system 1 displayed. For a right-going outgoing edge 12 the output angle α is positive, with an outgoing edge going to the left 12 the output angle α is negative.

In 2 the use of a graphical representation form for maneuver generation is shown. The outgoing edge 12 as well as the two nearest side streets are on a coordinate system 14 displayed. On the x-axis, the angles of the left and right side roads adjacent to the intersection are plotted in a range of -180 ° to 0 ° for the left side road and in a range of 0 ° to 180 ° for the right side road. Depending on the crossing situation, for example, the left angle can also extend into the positive range. In other words, the left angle extends from -180 ° to 0 ° +/- starting angle α. Accordingly, the right angle extends from 180 ° to 0 ° - / + initial angle α. The zero point of both side streets coincides to a zero point located in the middle of the X-axis. Along the Y axis, the initial angle is plotted in a range of 0 ° to 180 °.

Corresponding 2 becomes the angle of the outgoing Known 12 , also referred to as maneuvering direction, transmitted to the Y-axis, so that an output line 16 arises, which runs parallel to the X-axis. The left angle and right angle of the nearest right and left side streets are mapped on the X axis so that a left straight 18 and a right-hander 20 arise, which run parallel to the Y-axis. This results in two intersections 22 and 24 , The left-hander 18 and the exit line 16 intersect in a left intersection 22 , The right-hander 20 and the exit line 18 intersect at a right intersection 24 ,

The diagonal line 26 clarifies the possible angular ranges of the side streets depending on the maneuvering angle. In the example of 2 the maneuvering angle is 45 °. Accordingly, the left angle and left side streets may be in the range of -180 ° to 45 °, and the right angle and the right side streets may be in the range of 45 ° to 180 °, respectively. It should again be noted that the illustration shown here only shows maneuvers to the right. By mirroring the same principle applies to maneuvers to the left.

The types of maneuvers defined at the outset, such as right turn, are in the coordinate system 14 represented by result polygons, separated into left and right maneuver areas. Both previously determined intersections fall 22 and 24 into the polygon surfaces of a maneuver type, the corresponding type is selected. 3 shows such a result polygon 28 by way of example in the case where "no maneuver" is required. The result polygon 28 can consist of two or more sub-polygons or a single polygon as shown.

In this approach, it must be ensured that a clear assignment is always possible. All possible combinations must therefore have corresponding result polygons 28 be covered. Furthermore, ambiguities must be excluded. The number of possible result polygons 28 is not limited. Falls an intersection 22 . 24 on a polygon boundary, all relevant maneuver types are identified and the maneuver with the highest defined priority selected. For this purpose, a prioritization list for maneuvers can be created.

For creating a result polygon 28 First, the maneuver type such as right turn is set. Next is the result polygon 28 parameterized. For this, all possible for this maneuver type angle combinations in the coordinate system 14 applied and around the resulting intersections the result polygon 28 drawn.

This will produce a result polygon for every possible maneuver type 28 Are defined. In generating or determining a maneuver then becomes the result polygon 28 determines in which the intersections 22 and 24 lie. The generated maneuver then corresponds to the maneuver type of this result polygon 28 ,

The used result polygons 28 are mapped by any number of boundary lines. A bounding line is defined by a unique identifier and / or a list of X / Y coordinates. Within an identifier or a variable both pure coordinates and a coordinate together with a reference to another identifier can be used. If a reference is specified, the respective value of the referenced line must be used at the specified coordinate.

The following is based on the 4 and 5 discussed an example of generating a maneuver.

The following is from a crossing situation 30 as in 4 shown gone out. The outgoing edge 12 runs at an initial angle α of 20 ° to the incoming edge 10 or the zero angle. The left side street 32 runs at a left angle β of -120 ° to the outgoing edge 12 , The right side street 34 runs at a right angle γ of 135 ° to the outgoing edge 12 ,

4 clarifies the situation assumed here. The route or the direction of travel is indicated by the dashed line 36 shown. The edge labels correspond to the definitions above.

Then the above values will be applied to the used coordinate system 14 displayed. It will be the output straight line as described above 16 , the left straight 18 and the right-hander 20 The result is the two intersections 22 and 24 with the coordinates -120/20 (left) and 135/20 (right).

For each type of maneuver, one or more result polygons must be used 28 To be defined. The concept described here describes polygons over boundary lines instead of individual coordinates. As an example, a polygon is given for situations in which no maneuver is necessary because sufficiently clear. By way of example, the boundary lines are composed of the following identifiers:
Polygon left area: 0L, 1L, 0D
Polygon right area: 1R, 0R, 0D

The following table 1 describes corresponding coordinates for the relevant identifiers, again referring to other identifiers. The resulting boundary lines are in 5 visualized.

The identifier 0L corresponds to the boundary line 38 and runs on the Y-axis, that is, at the X-coordinate -180 ° and from the Y-coordinate 0 ° to 180 °. The identifier 0R corresponds to the boundary line 40 and runs parallel to the Y axis at the right edge of the coordinate system 14 , The identifier 0D corresponds to the boundary line 42 and runs on the X axis. The identifier 1L corresponds to the boundary line 44 which runs along the above four pairs of coordinates. The identifier 1R corresponds to the boundary line 46 which runs along the above four pairs of coordinates.

Here are the two result polygons 28 or in other words, the two sub-polygons of the result polygon 28 , symmetrical. This does not always have to be the case, depending on the parameterization.

For the determination of the maneuver now the intersections become 22 and 24 consider which both in the defined polygon 28 fall, so that the appropriate maneuver type is used. If only one intersection point in the polygon or one of the intersection points in another polygon, the maneuver with the highest defined priority is selected from the prioritization list.

The method described is used for the navigation of road vehicles such as cars, trucks, buses, motorcycles and the like. In a navigation system of the vehicle, possibly with the assistance of a backend or server, the method is carried out in order to propose to the driver of the vehicle a maneuver corresponding to the current intersection situation. By reducing the crossing situation to the coordinate system 14 the computational effort decreases and the processing speed is increased.

LIST OF REFERENCE NUMBERS

10

incoming edge

12

outgoing edge

14

coordinate system

16

Just starting

18

Just links

20

Just right

22

left intersection

24

right intersection

26

line

28

result polygon

30

intersection situation

32

left side street

34

right side street

36

dashed line

38

Boundary line 0L

40

Boundary line 0R

42

Boundary line 0D

44

Boundary line 1L

46

Boundary line 1R

α

exit angle

β

left angle

γ

right angle

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 6199013 B1 [0003]

Claims (8)

Method for maneuver generation for intersection situations ( 30 ), whereby in a crossing situation ( 30 ) an incoming road ( 10 ), one at an initial angle (α) to the incoming road ( 10 ) outgoing road ( 12 ) and a left and / or right side street ( 32 . 34 ) at a left angle (β) or a right angle (γ) to the outgoing road ( 12 ), with the steps: - Creating a coordinate system ( 14 with an X axis along which the left angle (β) and / or the right angle (γ) are plotted, and a Y axis along which the initial angle (α) is plotted; - mapping the outgoing road ( 10 ) below the initial angle (α) on the Y axis; - mapping the left and / or right side street ( 32 . 34 ) at the left angle (β) and the right angle (γ) on the X-axis, respectively; Determining the one or two intersections ( 22 . 24 ) between the figure of the outgoing road ( 16 ) and the illustration of the left and / or right side street ( 18 . 20 ); - parameterization of result polygons ( 28 ) in each case for individual maneuver types on the basis of possible initial angles (α), left angles (β) and / or right angles (γ); - mapping the result polygons ( 28 ) in the coordinate system ( 14 ); Determining the result polygon (s) ( 28 ), in which the one or more intersections ( 22 . 24 ) lie; and generating a maneuver based on the maneuver type of the particular result polygon ( 28 ). Method according to Claim 1, characterized in that during the parameterization of the result polygon ( 28 ) all for the maneuver type of the result polygon ( 28 possible initial angle (α), left angle (β) and / or right angle (γ) are considered and that the result polygon (s) ( 28 ) are chosen so that the resulting intersections ( 22 . 24 ) of the result polygon (s) ( 28 ) are enclosed. Method according to claim 2, characterized in that the result polygons ( 28 ) are defined by a list of coordinate pairs of x and y coordinates. A method according to claim 3, characterized in that the list contains variables with coordinate pairs. Method according to one of the preceding claims, characterized in that along the X-axis a left angle range of -180 ° to 0 ° and then a right angle range of 0 ° to 180 ° is plotted. Method according to one of the preceding claims, characterized in that for ambiguities in the determination of the result polygon (s) ( 28 ), in which the one or more intersections ( 22 . 24 ), a prioritization list is used for maneuvers. Method according to one of the preceding claims, characterized in that the generated maneuver is visually and / or acoustically displayed to a driver of a vehicle. Vehicle with a navigation system, characterized in that the navigation system is configured to carry out a method according to one of claims 1 to 7.

Images