DE102016205439B4 - Process for generating maneuvers for intersection situations - Google Patents

Abstract

Method for generating maneuvers for intersection situations (30), wherein in an intersection situation (30) an incoming road (10), an outgoing road (12) set at an exit angle (α) to the incoming road (10) and a left and / or right side street (32, 34) are present, which are set at a left angle (β) or a right angle (γ) to the outgoing street (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) is plotted, and a Y-axis along which the exit angle (α) is plotted; - Mapping of the outgoing road (12) at the exit angle (α) on the Y-axis- mapping the left and / or right side street (32, 34) at the left angle (β) or the right angle (γ) on the X-axis; - determining the one or the two intersection points (22, 24) between the Illustration of the outgoing road (16) and the image 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 starting angles (α), left angles (β) and / or right angles (γ); - Mapping of the result polygons (28 ) in the coordinate system (14); - determining the result polygon or polygons (28) in which the intersection point or points (22, 24) lie; and - generating a maneuver on the basis of the maneuver type of the determined result polygon (28).

Description

The invention relates to a method for generating maneuvers for intersection situations and a vehicle with a navigation system.

In navigation systems, concise and clear maneuvers or driving instructions must be generated at decision points, for example intersections. Previous concepts attempt to generate appropriate maneuvers by evaluating the angular geometries and other attributes. So far, the concrete implementation has been carried out by suppliers, so that the generation of maneuvers can hardly be influenced in the later development. Furthermore, the systems developed by different suppliers can behave differently.

Previous solutions attempted to describe intersection geometries in a generally valid way or to evaluate certain dependencies and angular geometries. For example, this is done in the US 6 199 013 B1 disclosed.

US 2001/037176 A1 discloses a guidance representation of branch roads and, more particularly, a technique for providing a suitable guidance representation regarding an intersection with a looped road as an exit. If it is determined that the guide route branches off into a looped road, the displayed guide display will contain a display of the looped road.

The invention is now based on the object of simplifying and clearly describing the generation of maneuvers 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 beziehungsweise 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 generating maneuvers for intersection situations, with an incoming road, an outgoing road set at an exit angle to the incoming road, and a left and / or right side road at an intersection, which are at a left or right angle to the outgoing road are set, comprises 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 starting angle is plotted;
• - Map the outbound road at the exit angle on the Y-axis;
• - Mapping of the left and / or right side street at the left angle or the right angle on the X-axis;
• Determining the one or two points of intersection between the mapping of the outgoing street and the mapping of the left and / or right side street;
• - Parameterization of result polygons for individual maneuver types based on possible starting angles, left angles and / or right angles;
• - Mapping of the result polygons in the coordinate system;
• - Determining the result polygon or polygons in which the intersection point or points lie; and
• - Generating a maneuver based on the maneuver type of the determined result polygon.

The method according to the invention has the advantage that intersection geometries are precisely not described in a generally valid manner, but a less computationally intensive reduction is carried out. There is also flexibility in relation to the definable maneuver types and their subsequent parameterization. The procedure allows a flexible definition of maneuver types, both in number and form. In contrast to known solutions, intersection geometries are evaluated taking into account the neighboring side streets. Our own investigations have shown that the conciseness and uniqueness of a maneuver, for example for the evaluation of the maneuver direction and the distinguishability of driving directions, are primarily derived from this. In the context of the invention, it has emerged that the direction of the planned route and the respectively closest left and right street are primarily relevant for determining a maneuver. This information is represented by a graphic form of representation of the defined maneuver types, which at the same time enables flexible configuration.

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

It can be provided that when parameterizing the result polygon, all possible starting angles, left angles and / or right angles for the maneuver type of the result polygon are considered and that the result polygons are selected so that the resulting intersection points are enclosed by the result polygons.

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

The list can contain variables with coordinate pairs. Variables or identifiers can be used to avoid repeating individual or multiple coordinate pairs, which shortens the list and thus optimizes storage space and processing speed.

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

It can also be provided that a prioritization list for maneuvers is used for ambiguities in the determination of the result polygon or polygons in which the intersection or intersection points lie. This is a simple way of ensuring that there is always a clear solution. An ambiguity can exist, for example, if an intersection point falls on a polygon boundary. Then all relevant maneuver types are identified and the maneuver with the highest defined priority is selected.

The generated maneuver can be displayed visually and / or acoustically to a driver of a vehicle. For example, the driver can be informed about the next upcoming maneuver by means of a navigation system or an infotainment unit. The simple graphical determination of the maneuver allows the maneuver to be made available quickly, which leads to a fast and therefore safe 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 as described above apply. It can be provided that part of the method is carried out in the vehicle and part in a backend of the manufacturer or a service provider.

Further preferred embodiments of the invention emerge from the other features mentioned in the subclaims.

The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless stated otherwise in the individual case.

• 1 eine schematische Definition der Winkelbereiche;
• 2 eine schematische Darstellung der Festlegung von Manöverpunkten;
• 3 eine schematische Darstellung von Ergebnispolygonen;
• 4 eine schematische Darstellung einer Kreuzungssituation; und
• 5 eine schematische Darstellung der Ermittlung eines Manövers.

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

• 1 a schematic definition of the angle ranges;
• 2 a schematic representation of the definition of maneuver points;
• 3 a schematic representation of result polygons;
• 4th a schematic representation of an intersection situation; and
• 5 a schematic representation of the determination of a maneuver.

In the sense of the invention, maneuver types, their number and characteristics, are freely defined and parameterized. In the context of the invention, it has emerged that the direction of the planned route and the respectively closest left and right street are primarily relevant for determining a maneuver. This information is represented by a graphic form of representation of the defined maneuver types, which at the same time enables flexible configuration.

• • 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 (as the route is clear)
• • Straight
• • Turn left / right
• • Turn half left / right
• • Turn sharp left / right
• • Hold left / right

In the following, the generation of maneuvers is described in each case for a turn to the right; by corresponding mirroring, the approach can also be transferred analogously for turning maneuvers to the left.

• • 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 damit 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 an intersection point, typically the center point from which any number of edges, that is to say digitized streets, depart. 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.
• • Outgoing edge: The road that leads away from the intersection and runs along the calculated route.
• • Left / right side street: In relation to the outgoing edge, this denotes the respective adjacent left / right side street. 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.

In the following, the following dependencies are considered:

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

The length of the edges under consideration can be individually adapted and, if necessary, several map and / or edge segments can be combined in order to achieve a minimum length.

1 describes the angular relationships used, the origin of which is the incoming road 10 or edge represents. Between 0 °, i.e. the extension of the incoming road 10 , and the angle of an outgoing road 12th is the starting angle a Are defined. The angular relationships with the outgoing road 12th respectively edge and the two side streets are based on the coordinate system 1 pictured. On an outgoing road to the right 12th is the starting angle a positive, on an outgoing road going to the left 12th is the starting angle a negative.

In 2 shows the use of a graphic form of representation to generate maneuvers. The outgoing road 12th as well as the two nearest side streets are on a coordinate system 14th pictured. On the X-axis, the angles of the left side street next to the intersection and the right side street next to the intersection are in a range from -180 ° to 0 ° for the left side street and in a range from 0 ° to 180 ° for applied to the right side street. Depending on the intersection situation, the left angle can also extend into the positive area, for example. In other words, the left angle extends from -180 ° to 0 ° +/- starting angle a . Correspondingly, the right angle extends from 180 ° to 0 ° - / + starting angle a . The zero point of both side streets coincides with a zero point, which is arranged in the middle of the X-axis. The starting angle is plotted along the Y-axis in a range from 0 ° to 180 °.

Corresponding 2 becomes the angle of the outgoing road 12th , also referred to as the maneuver direction, transferred to the Y-axis, so that an initial straight line 16 arises, which runs parallel to the X-axis. The left angle and the right angle of the closest right and left side streets are mapped on the X-axis, so that a straight line to the left 18th for a left side street and a right straight 20th for a right side street, which run parallel to the Y-axis. From this there are two points of intersection 22nd and 24 . The left side street18 and the exit straight 16 intersect at a left intersection 22nd . The straight line 20th and the straight line 16 intersect at a right intersection 24 .

The diagonal line 26th illustrates the possible angular ranges of the side streets depending on the maneuver angle. In the example of 2 the maneuver angle is 45 °. Correspondingly, the left angle or the left side street can be in the range from -180 ° to 45 ° and the right angle or the right side street in the range from 45 ° to 180 °. It should again be pointed out that the illustration shown here only depicts maneuvers to the right. By mirroring, the same principle can also be used for maneuvers to the left.

The maneuver types defined at the beginning, such as turning right, are included in the coordinate system 14th mapped by result polygons, separated according to left and right maneuver areas. Both previously determined intersections fall 22nd and 24 into the polygon areas of a maneuver type, the corresponding type is selected. 3 shows such a result polygon 28 exemplary for the case in which “no maneuver” is required.

The result polygon 28 can consist of two or more partial polygons or a single polygon as shown.

With 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 22nd , 24 on a polygon boundary, all relevant maneuver types are identified and the maneuver with the highest defined priority is selected. A prioritization list for maneuvers can be created for this purpose.

For creating a result polygon 28 the type of maneuver, such as a right turn, is first specified. Next is the result polygon 28 parameterized. For this purpose, all possible angle combinations for this type of maneuver are stored in the coordinate system 14th and the resulting polygon around the resulting intersection points 28 drawn.

This creates a result polygon for every possible type of maneuver 28 Are defined. When a maneuver is generated or determined, that result becomes a polygon 28 determines in which the intersection points 22nd and 24 lie. The generated maneuver then corresponds to the maneuver type of this result polygon 28 .

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

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

The following is an intersection situation 30th as in 4th shown assumed. The outgoing road 12th runs at an exit angle a from 20 ° to the incoming edge 10 or the zero angle. The left side street 32 runs at a left angle β from -120 ° to the outgoing road 12th . The right side street 34 runs at a right angle γ of 135 ° to the outgoing road 12th .

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

Then the above values are applied to the coordinate system used 14th pictured. As described above, the starting straight line will be 16 , the left straight 18th and the straight line 20th entered The two points of intersection result 22nd and 24 with the coordinates -120/20 (left) and 135/20 (right).

• Polygon linker Bereich: 0L,1L,0D
• Polygon rechter Bereich: 1R,0R,0D

For each type of maneuver one or more result polygons 28 To be defined. The concept described here describes polygons using boundary lines instead of individual coordinates. As an example, a polygon is given for situations in which no maneuver is necessary because it is sufficiently clear. The boundary lines are made up of the following names as an example:

• Polygon left area: 0L, 1L, 0D
• Polygon right area: 1R, 0R, 0D

The following table 1 describes the corresponding coordinates for the relevant identifiers, with reference being made to other identifiers. The resulting boundary lines are in 5 visualized. Identifier X ₁ Y ₁ X ₂ Y ₂ X ₃ Y ₃ X ₄ Y ₄ 0L -180 0 -180 180 0R 180 0 180 180 0D -180 0 180 0 1L 0L 45 -75 25th -45 15th -20 0D 1R 0R 45 75 25th 45 15th 20th 0D

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

Here are the two resulting 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, which depends on the parameterization.

The intersection points are now used to determine the maneuver 22nd and 24 considered which both in the defined polygon 28 so that the appropriate type of maneuver is used. If only one point of intersection falls within the polygon or one of the points of intersection falls into another polygon, the maneuver with the highest defined priority is selected using the prioritization list.

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

List of reference symbols

10

incoming road

12th

outgoing street

14th

Coordinate system

16

Starting straight line

18th

Left straight

20th

Straight line

22nd

left intersection

24

right intersection

26th

line

28

Result polygon

30th

Intersection situation

32

left side street

34

right side street

36

dashed line

38

Gauging line 0L

40

Gauging line 0R

42

Gauging line 0D

44

Gauging line 1L

46

Gauging line 1R

a

Exit angle

β

Left angle

γ

Right angle

Claims (8)

Method for generating maneuvers for intersection situations (30), wherein in an intersection situation (30) an incoming road (10), an outgoing road (12) set at an exit angle (α) to the incoming road (10) and a left and / or right side street (32, 34) are present, which are set at a left angle (β) or a right angle (γ) to the outgoing street (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) is plotted, and a Y-axis, along which the starting angle (α) is plotted; - Mapping the outgoing road (12) at the starting angle (α) on the Y-axis - Mapping the left and / or right side street (32, 34) at the left angle (β) or the right angle (γ) on the X axis; - Determining the one or the two intersection points (22, 24) between the mapping of the outgoing street (16) and the mapping 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 starting angles (α), left angles (β) and / or right angles (γ); - Mapping of the result polygons (28) in the coordinate system (14); - Determining the result polygon or polygons (28) in which the intersection point or points (22, 24) lie; and - Generating a maneuver based on the maneuver type of the determined result polygon (28). Procedure according to Claim 1 , characterized in that in the parameterization of the result polygon (28) all possible starting angles (α), left angles (β) and / or right angles (γ) for the maneuver type of the result polygon (28) are considered and that the result polygons (28) are selected so that the resulting intersection points (22, 24) are enclosed by the result polygons (28). Procedure according to Claim 2 , characterized in that the result polygons (28) are defined by a list of coordinate pairs of x and y coordinates. Procedure 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 a left angle range from -180 ° to 0 ° and then a right angle range from 0 ° to 180 ° is plotted along the X axis. Method according to one of the preceding claims, characterized in that a prioritization list for maneuvers is used for ambiguities in determining the result polygon or polygons (28) in which the intersection point or points (22, 24) lie. Method according to one of the preceding claims, characterized in that the generated maneuver is displayed visually and / or acoustically to a driver of a vehicle. Vehicle with a navigation system, characterized in that the navigation system is set up, a method according to one of the Claims 1 until 7th to execute.

Images