EP1636550A1 - Systeme de navigation a informations sur les voies de circulation - Google Patents

Systeme de navigation a informations sur les voies de circulation

Info

Publication number
EP1636550A1
EP1636550A1 EP04741647A EP04741647A EP1636550A1 EP 1636550 A1 EP1636550 A1 EP 1636550A1 EP 04741647 A EP04741647 A EP 04741647A EP 04741647 A EP04741647 A EP 04741647A EP 1636550 A1 EP1636550 A1 EP 1636550A1
Authority
EP
European Patent Office
Prior art keywords
lane
vehicle
road
navigation system
lanes
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.)
Withdrawn
Application number
EP04741647A
Other languages
German (de)
English (en)
Inventor
Antonius Johannes Hendriks
Werner Hosp
Karl-Heinz Knobl
Gerd Schreiter
Dirk Zittlau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive GmbH
Original Assignee
Siemens AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP1636550A1 publication Critical patent/EP1636550A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • 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 groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance

Definitions

  • the invention relates to a navigation system for a motor vehicle with a computing unit which is connected to an input unit, an output unit for outputting route guidance information depending on the current position of the vehicle, a memory element which contains road map data with information about lanes, and means for determining the position and is designed to calculate a route between a start and a destination based on the road map data and to determine the route guidance information.
  • the invention relates to a method for route guidance with a navigation system of a motor vehicle, a route between a start and a destination and destination guidance information being determined on the basis of road map data which contain information about lanes, the current position of the vehicle being determined and dependent From the current position of the vehicle, route guidance information relating to a driving maneuver to be carried out is output acoustically and / or optically.
  • Navigation systems for motor vehicles which determine a route between a starting point and a destination based on road map data and provide the driver with appropriate guidance information, are well known and are sold, for example, by a subsidiary of the applicant under the brand name "VDO Dayton". These navigation systems have an input unit via which a
  • Destination can be selected or entered.
  • a computing unit calculates a route between the current location and the destination. Determining the current location of the vehicle and also determining the position of the
  • Satellite navigation signals and signals from sensors carried in the vehicle are used.
  • the computing unit determines the route guidance information, which is output via an output unit depending on the current position of the vehicle.
  • the route guidance information can be output optically on a display and / or acoustically via loudspeakers.
  • a navigation system is known from US Pat. No. 6,446,000 B2, in which the road map data additionally contain information on lanes of a multi-lane road in an intersection area. The driver is given a recommendation on which lane to drive on. This driving information is output regardless of which lane the vehicle is currently in.
  • a device for local position determination of a motor vehicle is known.
  • the device has a detection device with which the course of the road in front of the vehicle is detected. This is done in particular using the
  • the device has a device for receiving and processing satellite navigation signals. With this information, the current position of the vehicle is determined.
  • the positioning device can also receive information from a navigation system.
  • the position device particularly recognizes curves in the course of the road.
  • the signals from the positioning device are fed to an electronic motor control unit which intervenes in the operation of the motor based on the signals received.
  • DE 199 21 437 A1 discloses a method and a device for determining the position of a vehicle on a road. Road geometry data and route data of the vehicle are determined and determined for position determination
  • the position of the vehicle on the road is determined by comparing the road geometry data with the road data.
  • the streets- Geometry data relate in particular to lanes on the road.
  • the method can be used to assign the vehicle to a lane.
  • the road geometry data are recorded using optical sensors attached to the vehicle.
  • the data obtained is intended to supplement an electronic tachograph, to document a crash test, to classify the driver with detection of a change in behavior during steering movements, to create a road map, for blind spot and rear area monitoring and to support automatic lateral control.
  • a driver assistance system is known from the "Automotive Pocket Book” of Robert Bosch GmbH (editor), 24th edition, Braunschweig / Wiesbaden 2002, pages 898 to 900, in which the space around a vehicle is wholly or partly assisted suitable sensors, in particular a radar sensor, is detected. Objects or other vehicles can thus be detected in the so-called blind spot.
  • a video camera extracts the course of the lane in front of the vehicle and warns the driver when changing lanes without the turn signals being set.
  • the object of the invention is to further develop a navigation system of the type described in the introduction in such a way that precise information of a motor vehicle driver on a multi-lane road is made possible and at the same time traffic safety is increased.
  • a further object of the invention is to further develop the route guidance method specified at the beginning in this sense as well.
  • the first-mentioned object is achieved in a generic navigation system in that the means for determining the position include a module installed in the vehicle for detecting the road in front of the vehicle and the computing unit for determining a vehicle currently being driven.
  • lane is made up of several parallel lanes intended for the same direction of travel based on the data provided by the module for recording the road in front of the vehicle and for comparing the lane currently being traveled with the information contained in the road map data about the lanes or a lane selected therefrom.
  • the generic navigation system is thus supplemented by a module for detecting the street in front of the vehicle. Using the signals or data provided by this module, the computing unit determines the lane currently being traveled by the vehicle on a multi-lane road. It is also known from the route calculation which lane the vehicle is to drive on. The information output to the driver can therefore be based on whether the driver is already traveling in the intended lane or not. While in the navigation system known from US Pat. No. 6,446,000 B2 information is always output as to which lane the driver is to drive, the system according to the invention, which additionally includes lane detection, can suppress such information if the driver is already driving the intended lane. This can suppress unnecessary route guidance information. As a result, the driver is distracted from the traffic situation to a lesser extent by unnecessary route guidance information and the traffic safety is increased.
  • the computing unit is designed to generate route guidance information relating to a lane change between the parallel lanes.
  • the vehicle driver is thus given specific instructions regarding a change of lane.
  • this konkre ⁇ te instructions for changing lanes for example, eight or ten lanes
  • a significant increase in safety compared to the aforementioned known navigation system is made in particular on roads with many traffic lanes in one direction.
  • this known navigation system only the different lanes and - optically highlighted - the recommended lane are displayed.
  • the driver must therefore first determine which lane he is currently traveling in and then compare it with the lane recommendation. The driver therefore has to decide for himself whether a lane change is necessary.
  • the driver gets there ⁇ against a specific reference to a lane change, the balance between the current traveling lane and the recommended lane that does not have carried leads the driver itself but is done by the navigation system.
  • the computing unit is decentralized and a separate subunit of the computing unit is assigned to the module for detecting the road in front of the vehicle and, together with it, forms a module for lane detection.
  • the complete lane detection is carried out in the module for lane detection , that is to say both the image recording and the image processing take place within the module.
  • Such a module can be linked particularly easily to existing navigation systems in order to expand them according to the invention.
  • the lanes are determined by evaluating the lane markings detected on the road.
  • the lanes are usually separated by appropriate line markings on the road. The evaluation of these line markings represents a particularly suitable measure for recognizing the lanes.
  • the vehicle position and the road map data can also be used for lane recognition.
  • the navigation system contains a mobile radio module and the road map data can be updated via a mobile radio connection to a 5. central location. The advantage of this configuration is that current road map data is always available for route guidance. If, for example, a lane is temporarily blocked due to construction work, this information can be forwarded to the navigation system via the mobile radio module and taken into account when generating route guidance instructions. This prevents the driver from receiving information about a lane change that is not possible due to the blocking of a lane.
  • the information for map updates can also be transmitted to the vehicle via digital radio, such as DAB, DVB or satellite radio, with only the information being requested via the mobile radio module. Transmission via a radio link, for example at 0 petrol stations, is also possible.
  • the navigation system is then to be supplemented with corresponding receiving devices.
  • the navigation system is equipped or connected in the vehicle with means for detecting other road users.
  • the lanes can be monitored in addition to the lane currently being used and corresponding warning messages can be issued if a safe lane change is not possible due to the traffic situation.
  • the reference to the change of lane as far as the traffic management allows, can be suppressed as long as a change of lane is not possible without risk.
  • the computing unit is therefore designed to analyze the position, in particular the distance and the lane, and the speed of the other detected road users and to include this in the generation of a lane change notice.
  • a generic method for route guidance is characterized according to the invention in that lanes of the road traveled are recorded, the lane traveled by the vehicle is determined on the basis of the recorded lanes, and the lane traveled by the vehicle is taken into account when generating route guidance information.
  • tips for changing lanes are also generated and acoustically output.
  • F Fiigg .. 1 1 the components of a navigation system
  • Fig. 2 a turning situation at a multi-lane intersection
  • Fig. 4 a lane change maneuver on a motorway
  • F Fiigg. 5 5 the visual representation of a lane change on a display device.
  • FIG. 1 an inventive navigation system for motor vehicles is shown schematically.
  • the central component of the navigation system is the computing unit 1, which also contains the required working memory.
  • An operating unit 2 is connected to the computing unit 1, via which the destination can be entered or selected, for example.
  • the control unit 2 contains one or more control elements.
  • the control unit 2 may be housed in the same housing as the computer unit 1, however, the control unit 2 can also be designed as a remote control, the unit with the rake ⁇ 1, for example an optical interface or a radio interface in communication.
  • An optical display unit 3 is connected to the computing unit 1, via which a map display and route guidance Information and other information can be output.
  • the display unit 3 can be, for example, an LCD or a head-u ⁇ display, in which the information is reflected in the windshield or more generally in the driver's field of vision.
  • the route guidance information in particular can also be displayed in such a way that it is directly coincident with the street scene. The driver then sees the road as usual and also a turn arrow, which is reflected in the windshield in such a way that, from the driver's point of view, he is brought into line with the corresponding lanes.
  • the route guidance information is also output acoustically via a loudspeaker 4.
  • the computing unit 1 is also connected to a storage element 5, which contains map data for route calculation.
  • the map data also contain information on lanes on multi-lane roads. In particular, the data also contain information regarding a prescribed direction of travel for individual lanes.
  • the map data are stored, for example, on a CD-ROM or DVD.
  • the navigation system contains a CD-ROM or DVD drive, which is connected to the computing unit 1.
  • a calculation of the arithmetic unit 1 for a known starting point and destination of a route in a known manner be performed, which can then be output via the optical output unit.
  • the route determination in particular also contains information on the use of certain lanes on multi-lane roads. However, this lane information can be limited to the area of intersections.
  • the navigation system also contains a receiver 6 for receiving satellite navigation signals.
  • the navigation system further includes a direction sensor 7 and a displacement sensor 8, which are also connected to the computing unit 1, so that a position determination is made possible with the aid of a suitable computer program.
  • the computing unit 1 is additionally connected to a radio receiver 9, which is designed to receive RDS-TMC signals. Received traffic information can thus be forwarded from the radio receiver 9 to the computing unit 1 and taken into account in the route calculation. Alternatively, traffic information can also be received via a mobile radio module 10, in particular according to the GSM or UMTS standard, and forwarded to the computing unit.
  • a radio receiver 9 which is designed to receive RDS-TMC signals.
  • Received traffic information can thus be forwarded from the radio receiver 9 to the computing unit 1 and taken into account in the route calculation.
  • traffic information can also be received via a mobile radio module 10, in particular according to the GSM or UMTS standard, and forwarded to the computing unit.
  • the navigation system contains a lane detection module 11.
  • the lane detection module 11 contains, for example, a camera with which an image of the road in front of the vehicle is captured. The image of the road thus obtained is evaluated with the aid of an image processing program and the lane on which the vehicle is located is determined by detecting and recognizing the lane markings.
  • module 11 can contain its own computing unit on which this program runs. In this case, the module 11 directly transmits corresponding information about the traffic lane to the computing unit 1. In this case, module 11 is a complete module for lane detection. In another form of training, the module 11 can also contain only the imaging components and the evaluation of the
  • Image data or image signals take place in the central processing unit 1.
  • the navigation system also contains a module 12 for lane monitoring.
  • the module 12 has sensors installed in the vehicle, with which the road area adjoining the vehicle at the side and rear monitors becomes.
  • the suitable sensors can be a radar system or an optical system.
  • Such systems are known as a single system, as mentioned at the beginning, and are coupled here with a navigation system.
  • a destination must first be entered or selected.
  • the current location of the vehicle is automatically determined based on the received satellite navigation signals.
  • Traffic information received in the RDS-TMC standard is received via the radio receiver 9.
  • the traffic information received is taken into account in the route calculation.
  • the navigation system outputs corresponding route guidance information via the optical display unit 3 and / or the loudspeakers 4.
  • the route guidance information can be output optically, for example, by means of a corresponding arrow display. With the acoustic output, direct driving instructions are given to the driver, such as “turn left”, “continue straight ahead” and the like. Depending on the current position of the vehicle, this route guidance information is always output on time.
  • the map data stored on the storage element 5 also contain information on individual lanes of a multi-lane road, in particular in the area of intersections. This lane information is already taken into account when calculating the route. If the vehicle is now approaching an intersection or turning area of a multi-lane road, module 11 for lane detection detects which of the lanes the vehicle is on. This lane information is compared with the route data. This determines whether the vehicle is in the lane provided by the navigation system. If the vehicle is already in the correct lane, it is not initially necessary to issue a driving instruction. To prevent the driver from changing lanes In this situation, a corresponding message can also be output, such as "keep lane".
  • lane change information is output, which can be, for example, "change to left lane".
  • a lane change notification can in particular be output acoustically or can also be shown in an optical form on the display unit 3.
  • a combined acoustic and optical output is preferred here, the driver being able to make use of the optical output in a supportive manner if, for example, he has not correctly understood the acoustic information.
  • the motor vehicle 13 travels the one-way street 14 with the three lanes 15.
  • the vehicle is currently in the middle lane 15b.
  • the vehicle has to turn left at the intersection.
  • the navigation system has detected that the vehicle is in the middle lane 15b.
  • a lane change notice "change to left lane” is output acoustically.
  • the lane information is issued in good time so that the driver has enough time to change lanes.
  • the navigation system determined that the middle lane 17b of road 16 should be used by the vehicle after the turn. Before turning, the driver therefore receives an additional message "turn left and place in the middle lane". For drivers who are not familiar with the location, there is also a safe driving in a foreign city possible. By outputting the specific lane change information, the driver is supported during a turning process and in particular it is avoided that the driver approaches the intersection in a lane on which the intended turning process is not possible.
  • updated map data can also be transmitted to the navigation system from a FestStation.
  • This information can relate to current construction sites, for example, so that blocked lanes can be taken into account when recommending the route. If lane 15c is blocked due to construction work in the example of FIG. 2, but a left turn is also possible in lane 15b, then the navigation system then gives the driver the instruction to remain in lane 15b and to turn onto middle lane 17b of road 16 , This significantly reduces the risk of driving maneuvers that cannot be carried out.
  • a further improvement and simplification of the lane change is achieved by integrating the module 12 for lane monitoring.
  • the road area 18 of the lanes 15a and 15c which are adjacent to the lane 15b currently being traveled on, is monitored by means of the module 12.
  • the module 12 detects vehicles within this monitoring area 18.
  • the module 12 is designed to analyze the distance and the lane, as well as the speed of the other road users 19, 20 detected in the lanes 15a and 15c. Alternatively, this analysis can also take place in the computing unit 1.
  • the data obtained in this way are included in the generation of a lane change notification. For example, as in FIG.
  • a lane change from the middle lane 15b to the left lane 15c is provided, but the vehicle 19 is detected by the navigation system and analysis of the data determines that the vehicle is changing 13 on lane 15c is not possible without endangering vehicle 19, the lane change notification is initially suppressed. If, however, the distance to the intersection is already relatively short, the lane change notice can alternatively also be issued together with a warning about the vehicle 19. Lane monitoring in combination with the lane change notices further increases traffic safety.
  • the 4 shows a further driving situation with a lane change.
  • the vehicle 13 is in the middle lane 15b of a motorway and is approaching a motorway junction.
  • the driver whose destination is Frankfurt, is instructed by the navigation system to change to the lane 15a provided for this direction of travel, a hazard warning regarding the vehicle 20 located in this lane 15a possibly being output.
  • FIG. 5 shows a visual representation of how it is displayed to the vehicle driver in the described driving situation on the output unit 3.
  • a first display area 21a of the output unit 3 there is a rough destination, here "Frankfurt A5".
  • a name is given for the motorway junction which will shortly be reached, here "Gambacher Kreuz”.
  • a third display area 21c there is a representation of the highway section with the lanes 15.
  • the intended lane change from the middle lane 15b to the right lane 15a is optically displayed in the display area 21c by means of a suitable arrow display 22.
  • the lanes are illustrated individually with corresponding directional arrows 23 for the intended direction of travel of the individual lanes.
  • Corresponding assigned markings 24 can additionally clarify to the driver which lane he is in and which lane he should switch to. Also a hazard notice from the vehicle 20 on the Lane 15a can be included in this representation, for example by a flashing representation of the display or the corresponding lane or the like.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un système de navigation pour automobile, comprenant une unité de calcul (1) qui est reliée à une unité de saisie (2), à une unité de sortie (3, 4) pour sortir des informations de guidage ciblé, en fonction de la position présente du véhicule, à un élément de mémorisation (5) qui contient des données de cartes routières comportant des informations sur des voies de circulation (15, 17), ainsi qu'à des moyens permettant de déterminer la position. Ledit système est conçu pour calculer un itinéraire entre un point de départ et une destination, sur la base des données de cartes routières, ainsi que pour déterminer les informations de guidage ciblé. Selon l'invention, il est prévu que les moyens servant à déterminer la position comprennent un module (11) monté dans le véhicule, pour détecter la route devant le véhicule et que l'unité de calcul (1) servant à déterminer une voie de circulation (15b) empruntée au moment présent par le véhicule, soit conçue de manière à déterminer ladite voie de circulation parmi plusieurs voies de circulation prévues pour le même sens de circulation, sur la base des données préparées par le module (11) pour détecter la route devant le véhicule et de sorte à comparer la voie de circulation (15b) empruntée au moment présent par le véhicule, avec les informations contenues dans les données de cartes routières, avec les voies de circulation ou avec une voie de circulation sélectionnée dedans.
EP04741647A 2003-06-18 2004-05-26 Systeme de navigation a informations sur les voies de circulation Withdrawn EP1636550A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2003127869 DE10327869A1 (de) 2003-06-18 2003-06-18 Navigationssystem mit Fahrspurhinweisen
PCT/EP2004/050920 WO2004111574A1 (fr) 2003-06-18 2004-05-26 Systeme de navigation a informations sur les voies de circulation

Publications (1)

Publication Number Publication Date
EP1636550A1 true EP1636550A1 (fr) 2006-03-22

Family

ID=33520752

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04741647A Withdrawn EP1636550A1 (fr) 2003-06-18 2004-05-26 Systeme de navigation a informations sur les voies de circulation

Country Status (3)

Country Link
EP (1) EP1636550A1 (fr)
DE (1) DE10327869A1 (fr)
WO (1) WO2004111574A1 (fr)

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DE102019202592A1 (de) 2019-02-26 2020-08-27 Volkswagen Aktiengesellschaft Verfahren zum Betreiben eines Fahrerinformationssystems in einem Ego-Fahrzeug und Fahrerinformationssystem
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