EP0928410A1 - Navigation-assistance method and device for a vehicle driver - Google PatentsNavigation-assistance method and device for a vehicle driver
- Publication number
- EP0928410A1 EP0928410A1 EP19970909311 EP97909311A EP0928410A1 EP 0928410 A1 EP0928410 A1 EP 0928410A1 EP 19970909311 EP19970909311 EP 19970909311 EP 97909311 A EP97909311 A EP 97909311A EP 0928410 A1 EP0928410 A1 EP 0928410A1
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- Patent type
- Prior art keywords
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
- G01C21/26—Navigation; Navigational instruments not provided for in preceding groups specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in preceding groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Method and apparatus for navigational support to a vehicle driver
The invention relates to a method and apparatus for navigational support to a vehicle driver, are output to the instructions derived from a comparison of a predefined by route reference points and respectively determined driving path positions of the vehicle '.
Navigation systems guide the driver active attention to be seleted target. To the driver depending on the situation given information about the still following Route. This in ormation are generally based on the current position of the vehicle, which is determined for example via a satellite navigation system, and additional information such as direction, speed, change of direction, etc .. From these data can by comparison with the entered or predetermined route instructions be issued to the driver, such as "turn right after 100 meters", for example. the driver does not follow the instructions or it bends, for example, from without direction, there is a so-called false trip.
Detecting whether a false trip present is, on the one hand to the information of the driver in any case required, and on the other hand needed to calculate, where appropriate, a new path to the destination. Such false trips can be identified by, for example, that the current position of the vehicle deviates more than a predetermined tolerance of the predetermined route, or that a predetermined deflection angle is not observed when turning. However, means for determining the position, for measuring a direction change angle and other variables describing the actual path have in principle to measurement errors. Through a
Threshold comparison of these variables, an information reduction is carried out for display or for further analysis, remains in which only the statement "deviation" or "no deviation".
Object of the present invention is in a method and a device for
to avoid navigational support of a driver that information largely reduction.
This object is achieved with the inventive method in that, for further output to the vehicle driver information about deviations from the predetermined route continuous or quasi-continuous deviation amounts by comparison between the predetermined route described sizes and obtained from the determined positions of the vehicle in each case values are derived , The inventive method has the advantage that information about the size of the deviation, which ultimately reflect the likelihood of a false trip, the vehicle driver or further processing are available.
An advantageous embodiment of the inventive method is that a the predetermined route descriptive size on a straight line between the Wegleitpunkten has an extreme value and supply with increasing distance from the straight line with a predetermined slope or decreased and that the amount of deviation of the predetermined route quantity describing at corresponding to the determined position of the vehicle. It is preferably provided that the predetermined path has a maximum size described on the straight line and is at predetermined distances from the straight line is zero.
With this embodiment of the invention is e ne sort of corridor defined, the edges are blurred and ultimately depend on the pitch and the subsequent information processing between in each case two Wegleitpunkten. Thus, a shape adapted to the actual course of the route reference points connecting road slope of the predetermined route descriptive size may for example be stored in a digital road map for each path between two Wegleitpunkten. In a straight road connection between two Wegleitpunkten such corridor only needs to consider the above-mentioned measurement error. A non-linear course of the road is taken into account in the pitch or the width of the corridor in addition to the measurement errors.
A further advantageous embodiment of the method according to the invention is that a the predetermined route variable describing describes a counter to the target direction takes place movement of the vehicle and that the amount of deviation of the predetermined route descriptive size at a determined movement of the vehicle corresponds opposite to the target direction. This takes into account that at low movements against the target toward a false trip is very unlikely because such movements may occur within the corridor for example in an S-curve of the road. However, the same rearward movement may be indicative of a false trip, if it takes place in an edge area of the corridor.
Another advantageous embodiment consists in that the predetermined route variable describing the predetermined value of a turn angle has an extreme value at a Wegleitpunkt and mt increasing deviation of the angle changes with a predetermined slope, and that the amount of deviation of the predetermined route descriptive size at a determined corresponds turning angle of the vehicle. It is preferably provided that the predetermined route descriptive size has a maximum at the predetermined angle and up to predetermined angular deviations falls to zero.
This configuration is primarily used to detect a false trip to Wegleitpunkten. However, it is quite possible to detect in the course of a road between two Wegleitpunkten according to this embodiment, a false driving, such as when a bending angle is measured, although a straight road or a slight curvature of the road exists.
If only a deviation is present, it can be suitably displayed to the driver. In deriving a plurality of deviation amounts several possibilities for further processing are given in the context of the inventive method. In a further development of the inventive method is, therefore, provided that a plurality of different descriptive the predetermined route variables derived deviation amounts are compared with one threshold value, and the signals resulting therefrom are logically linked.
Another further development consists in that a plurality of descriptive of different sizes the predetermined route are added deviation derived dimensions and that the resulting sum is compared to a threshold. It is preferably provided that the deviation amounts are assessed prior to the addition, each with a predetermined factor.
Which of the aforementioned developments of the application depends on the task in detail.
Another further development of the inventive method is that the difference between a deviation in the correct running of the vehicle, and a deviation, which is obtained with the aid of the determined position of the vehicle, is formed for the determination of a false trip at one turn and that the difference with a predetermined threshold value is compared. This further contributes to the fact that a wrong turn is detected early, even if a direct control of the turn angle is not or not yet taken place.
Finally, provision can be made in the inventive method that an evaluation of the deviation amounts, together with the preceding individual driving style of the vehicle driver and / or the vehicle is made. The object is achieved in an inventive device in that a computer is connected to at least one position sensor, a road map, a memory and input and display devices, and that the computer operates according to a program that further dispensed for the vehicle driver information about deviations are derived from the predetermined route continuous or guasi-continuous deviation amounts by comparison between the predetermined route and variables describing derived from the determined positions of the vehicle in each case sizes.
By the provisions recited in further dependent claims, advantageous refinements and improvements of the device according to the invention are possible.
The invention permits numerous embodiments. One of these is schematically shown in the drawing way of several figures and described below. It shows:
Fig. 1 and dissipate a schematic representation of two corridors, which together form an angle and a carbide Wegleitpunkt,
Fig. 2 shows the course of a road within a corridor and
Fig. 3 is a block diagram of a device according to the invention.
In the illustration of FIG. 1, it is assumed that a calculated path from a starting point S via a Wegleitpunkt A to a point Z (target) delivers. For the distance from S to A, there is a corridor K1, for the path from A to Z, a corridor K2. The corridors close in the example shown an angle, but they may in principle also extend in the same direction. Furthermore, the course of the deviation amounts PK1 and PK2 is different, so that a fictitious width which is given by the zeros of PK1 and PK2, is for the corridor K2 is greater than for the corridor Cl.
Since the deviation rates ultimately represent a statement as the probability that the vehicle is in the freight corridor, referred to hereinafter deviation rates as Korridorwahrsche opportunities.
For each Komdorwahrschemlichkeit applies:
PK = (x + k) -0, 5 / k for -k≤x≤O,
PK = 0, 5- (x "0, 5 / k) for O≤x≤k and
PK = 0 for lying outside these ranges values of x.
Where k is the width of each corridor.
In order to determine the probability with which the vehicle is located at the Wegleitpunkt A, the sum of the two probabilities ΣP = PK1 + PK2 is formed. To the auxiliary point H Summenwahrschemlichkeit this is 0.5 and increases to the point A on to 1.
For a vehicle that has left the correct point A in the direction Z, the result for a distance r = k1 a Summenwahrschemlichkeit of Pkorr = PK1 + PK2 = 0, 5- (R-0.5 / k1) "cos + 0, 5 = 1-0, 5-cos.
For a vehicle that has left the point A toward the point F, that is on a false trip, the result for the distance r = k1 a sum probability Pfalsch = 0, 5-r "(0, 5 / k2) -sιnα = 0, 5-0, 5 "sιnα-r / k2. The following assumes simplistically that k1 = k2 and that α = 45 °, the result Pkorr = 1 -0, 707 • 0, 5 and Pfalsch 0, 5-0, 07 "0, 5. This can be use the difference to the sum of probabilities as a measure of the probability of a correct exit from the Wegleitpunktes a. This becomes even clearer when one takes into account additional factors such as the probability of a correct exit angle.
In the embodiment according to FIG. 2, a distance W within a corridor K3, which can be identified as the corridors in the illustration of FIG. 1 by a likelihood whose value at the center line of the corridor K3 is highest and to the edges runs along 0 decreases. A vehicle is running on the road in the direction of arrow W, so removes the vehicle at the point B of the path W for a short time from its target by the distance y. This route can also be assigned a probability which is all the smaller, the larger y. Thus, there are two probabilities are available which can be combined similarly to the embodiment of FIG. 1 to a sum probability. The effect is then such that contribute with increasing x, that is, with a decreasing probability that the vehicle is within the corridor K3, already smaller y for detecting a false trip.
The embodiment of a device according to the invention shown as a block diagram in Fig. 3 consists of a vehicle unit 2 and a central device 1, between which a radio link is made, each with a transmitter / receiver 3, 11, for example according to the GSM standard. In the central device 1 there is a traffic computer 4, has access to a stored map 5 and performs the route determination for many vehicles.
The vehicle unit 2 substantially consists of an onboard computer 6, a GPS receiver 7, an input device 8, a display device 9 and a memory 10. These components are known per se and need not be explained in more detail to understand the invention. The GPS receiver 7 to the on-board computer constantly 6 to information on the current position of the vehicle. By difference, the movement direction and the speed of the vehicle can be derived. It can, if necessary, additional sensors, such as wheel sensors are used.
With the input device 8, the driver of the vehicle can enter a destination. This is fed together with the current position of the traffic computer 4 which determines on the basis of road map 5, the target route and transmits to the vehicle unit 2 in the form of a Wegleitpunktliste. be transmitted for performing the method according to the invention is also applicable to the paths between the Wegleitpunkten the course of Korridorwahrschemlichkeiten and course of the probabilities with respect to the backward movements as well as for each route reference points corning including their probabilities to the vehicle unit. 2 This data is stored in the vehicle unit 2 and used in the computer 6 for performing the method steps described above.
Priority Applications (3)
|Application Number||Priority Date||Filing Date||Title|
|DE1996139326 DE19639326A1 (en)||1996-09-25||1996-09-25||Method and apparatus for navigational support to a vehicle driver|
|PCT/EP1997/005226 WO1998013666A1 (en)||1996-09-25||1997-09-24||Navigation-assistance method and device for a vehicle driver|
|Publication Number||Publication Date|
|EP0928410A1 true true EP0928410A1 (en)||1999-07-14|
Family Applications (1)
|Application Number||Title||Priority Date||Filing Date|
|EP19970909311 Ceased EP0928410A1 (en)||1996-09-25||1997-09-24||Navigation-assistance method and device for a vehicle driver|
Country Status (5)
|US (1)||US6236935B1 (en)|
|EP (1)||EP0928410A1 (en)|
|JP (1)||JP2001500974A (en)|
|DE (1)||DE19639326A1 (en)|
|WO (1)||WO1998013666A1 (en)|
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|Publication number||Priority date||Publication date||Assignee||Title|
|KR100727903B1 (en) *||2000-05-26||2007-06-14||삼성전자주식회사||Apparatus for processing adjacent position information system and method thereof|
|GB0202961D0 (en) *||2002-02-08||2002-03-27||E Lead Electronic Co Ltd||Method for remote routes calculation and navigation with automatic route detection and revision|
|DE10230832B4 (en) *||2002-07-09||2013-05-08||Robert Bosch Gmbh||Method for determining the relevance of road sections|
|US7054745B1 (en)||2003-09-03||2006-05-30||Microsoft Corporation||Method and system for generating driving directions|
|KR100663027B1 (en) *||2004-12-27||2006-12-28||엘지전자 주식회사||Method for judging breakaway of vehicle in navigation system|
|US7418342B1 (en) *||2007-12-03||2008-08-26||International Business Machines Corporation||Autonomous destination determination|
|JP5189552B2 (en) *||2009-05-11||2013-04-24||本田技研工業株式会社||The vehicle drive assist system|
|US8352186B2 (en) *||2010-07-30||2013-01-08||Ford Global Technologies, Llc||Vehicle navigation system and method|
|US20140297168A1 (en) *||2013-03-26||2014-10-02||Ge Aviation Systems Llc||Method of optically locating and guiding a vehicle relative to an airport|
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|Publication number||Priority date||Publication date||Assignee||Title|
|JPH0644184B2 (en)||1985-03-11||1994-06-08||日産自動車株式会社||The vehicle navigation system|
|JPH06147908A (en)||1992-11-12||1994-05-27||Pioneer Electron Corp||Navigation device|
|US5541845A (en)||1994-08-02||1996-07-30||Trimble Navigation Limited||Monitoring of route and schedule adherence|
Non-Patent Citations (1)
|See references of WO9813666A1 *|
Also Published As
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|US4963864A (en)||Apparatus for displaying travel path|
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|US20040073364A1 (en)||Method for estimating location of moving object in navigation system|
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|US4688176A (en)||Navigator for use aboard a vehicle|
|US20080010009A1 (en)||Positional information use apparatus|
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