JP2003161631A - Method and system for enabling navigated object to return and guiding the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a system enabling a navigated object such as an automobile in advantage to return to a known point of route again and guiding it even on the outside of the area of a digitized road network. <P>SOLUTION: The method is composed of a step in which route data supplied beforehand is used in one area, a step in which positional data of the object is recorded at least in the case the object separates from the area supplied beforehand by the route data, a step in which recording the positional data is continued at least from the time of storing the positional data until the time of reaching a known orienteering point, and a step in which the object returns from the known orienteering point and is guided on the basis of the recorded positional data. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for returning a navigated object.

[0002]

2. Description of the Related Art A navigation device for guiding a vehicle along a precalculated route is known. A navigation device capable of accessing data material other than the travel route can guide the user to the destination by an alternative route, and the alternative route may require a new calculation. However, if the user is outside the area of the digitized road network, the user is usually required to turn back directly, or else the distance and bearing from the known route point is displayed in the form of a compass card. To be done.

[0003]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a system in which a navigated object, preferably a motor vehicle, can be guided back to a known route point even outside the digitized road network area. To propose a device.

[0004]

According to the method of the present invention, the above problem is solved by using route data given in advance in one area for destination guidance, and at least given in advance by route data. When the area is left, the step of recording the position data of the object, the step of recording the position data at least until reaching the known orienteering point from the recording of the position data, Providing a return guide of the object based on the position data.

According to the device of the present invention, a memory for a digital map, a position measuring unit, a position recording unit, a module for detecting the state of an object,
This is solved by having a unit for forming a position track from the data of the position recording unit and the data of the state detection unit, and a module for guiding the destination.

The invention particularly makes use of the fact that pre-traveled sections (tracking) are recorded automatically in commercially available navigation systems over a predetermined period or section. In the present invention said tracking is advantageously used to guide the object to be navigated backwards, for example to the last known route point which is still recorded on the on-vehicle digital map. .

An advantage of the invention is that the object to be navigated, ie the motor vehicle, can be guided back to a known section so that it can be guided to its destination even in non-digitized areas. Such a property is particularly useful for car drivers when only an incomplete databank for destination guidance is available, as in offboard navigation.

Depending on the situation, where the object to be navigated cannot be returned and guided along the route that has just traveled, for example, if there is no possibility of immediate direction change, no bending, one-way road It is particularly advantageous to utilize the present invention in such cases. In this case, the driver of the motor vehicle first travels around the known road network without orientation. As a result, a known orienteering point is found, and from there, the driver returns to the already traveled route and travels.
In the non-digitized area, i.e. leaving the area previously given by the route data, according to the invention, the process is such that the known area is automatically assigned to the object at the start of travel. It is supported by being digitized by the device. Then, when the device finds an orienteering point where the object to be navigated to has already been there once, it can guide the object back.

The return guidance is also particularly easy if the directional arrows are formed from the predicted route data and the actual object speed. Based on the directional arrow, it is possible to travel a trajectory that has been traveled in advance in an off-road area or a trajectory that should be newly traveled in an area that is digitized with assistance of destination guidance.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will now be described in detail with reference to the drawings based on the embodiments.

The embodiment of the present invention requires a navigation system, which guides an object to be navigated on a predetermined digital road network or a vehicle driver with predetermined route data. It is possible to give a corresponding destination guidance instruction within the range. Furthermore, the navigation system must be able to record the position data of the object, ie the route data from which the object / vehicle position data can be retrieved again. This is especially true for G
PS position and / or traveling direction and traveling distance.

The method according to the invention records the position data determined by the position measuring unit upon leaving known section 1 or the road network (of the area previously given by the route data). This is so-called tracking. This tracking 2 is recorded until one or a plurality of newly determined positions hits known position information in the memory. When the vehicle reaches at least one tracking information, the driver is reliably guided back along the line connecting the positions to a known road network or route (see FIG. 2).

The return procedure of the present invention will be explained based on two examples: Example 1: A vehicle is being guided by a navigation system and leaves the area of the digital map provided in the device. Therefore, the vehicle is on a non-digitized area. After leaving the area, the mileage of the vehicle is permanently recorded so that the vehicle can be guided back again in the same section after the turning process. This process is carried out by tracing the recorded sections in the reverse direction, for example in the form of destination guidance arrows or digital maps.

Example 2: The same vehicle leaves the area of the digital map of the navigation system, but is unable to return to the same area geographically due to one-way road rules. At this time, the driver voluntarily bypasses the one-way road. The navigation system then directs the driver back to a known route on the basis of the stored data, as soon as the driver again reaches an area that has already been driven from either direction.

Referring now to FIG. 3, an apparatus suitable for carrying out the method of the present invention will be described.

The device comprises a navigation system having a position-measuring unit 200, the position-data concerning the object to be navigated being detected by the position-measuring unit being stored in a memory 100 for a digital map.
It is created with the data of. In the present invention, the navigation system includes a module 300 for detecting a state.
Will be extended by the amount of. The module 300 for evaluating and processing the data of the position measuring unit 200 and the memory 100.
Identifies the following object / vehicle conditions: -On-road: vehicle is stationary or running on a road segment that is being digitized-Off-road: Vehicle is being digitized Stopped or not running on the road segment and pre-recorded location track-On Track: The vehicle is stopped or running on the recorded location track.

The position recording unit 400 of the present invention for recording and filtering position data is adapted to do the following. That is, the position track is recorded on the one hand, and not every position determined by the position measuring unit 200, on the other hand, is filtered on the basis of a predetermined criterion. Criteria for filtering can be established as follows: Stop phase: interrupt recording. The position value determined here is indistinguishable or only slightly different from the previously determined position value-positional inaccuracy is severe: recording is not continued or interrupted at this time.

The module 500 of the present invention for forming the destination guidance instruction seeks an appropriate destination guidance instruction from the module 300, and the destination guidance instruction is sent to the position track 700 at the time of a new traveling. Is output. Module 6 for destination guidance "Ontrack"
00 indicates the destination guidance instruction generated by the module 500 at the appropriate time to the appropriate output unit 800.
Supply to. Module / Unit 300,400,5
A common bus 900 may be provided for exchanging data between 00, 600, 700 and 800.

In order not to unnecessarily burden the vehicle driver with additional information or two different display formats, the digital map formed from the recorded position data is combined with the digital map given in advance. Shown. Alternatively or additionally, a directional arrow may be formed and displayed on the digital map based on the position data recorded for the return guidance.

Advantageously, the module 500 detects an indication regarding destination guidance on the basis of the already traveled trajectory in the off-road area. As a result, driving safety and driving comfort are enhanced. This is because the driver can prepare for a section change similar to a bend in advance in a timely manner.

Next, the target value guidance instruction for reproducing the actual geographical situation in the form of roads that branch from each other is not accepted as an indication regarding bending. Rather, the bend indication is used to prepare the driver and, in the course of the following road or route, the driving characteristics corresponding to the folding process must be taken into account.

The destination guidance system analyzes expected road guidance (route guide) and correlates it with the actual vehicle speed. When an angular velocity equal to or higher than the maximum allowable value obtained for the object (vehicle) is obtained from the route data, the curve radius to be predicted from the route data, and the actual object speed, a process similar to bending is predicted. And the process yields a corresponding display. The driver prepares accordingly by outputting / displaying the corresponding destination guidance instruction. Therefore, the driver can reduce the speed in a timely manner, and thus can travel along the course of the road without danger. This is made clear in FIG. If the vehicle 5 travels at a sufficiently low speed on the pre-recorded trajectory 6, then only the directional arrow 7 is displayed, which directional arrow is of the preceding trajectory 6 with a corresponding orientation with respect to the north. Show progress. This assists the driver in determining which driving direction to select if there is a branch.

As a premise for destination guidance of the present invention,
The destination guidance device or module 300 must have digitized information or route (road) data. For off-road navigation functions, the digitized route data may have been stored as it was pre-depicted as associated trajectories when traveling in the off-road area and recording its geographical coordinates. is there. Further, the transmission of the locus can be realized by wireless transmission from another system, for example, a central device,
The central unit has digitized data about the off-road area, which is unknown to the vehicle-specific memory 100. The destination guidance method is also applied to a conventional navigation device in which a user moves within an area given in advance by route data. Therefore, the locus required in that case is stored in the memory 1 specific to the vehicle.
00 digital map.

At this time, the minimum curve radius in the traveling direction is calculated from the observed locus within a predetermined distance from the current vehicle position. In an advantageous refinement of the method, the validity of the curve radius is checked so that noise or measurement errors in the trajectory are not misinterpreted as a curve. In a further advantageous refinement of the method, the trajectory is evaluated at a distance from the vehicle position which is speed-dependent. Then, from the actual vehicle speed v and the curve radius r, using □ = v / r,
The maximum angular velocity to be predicted is calculated. If the predicted maximum angular velocity exceeds the maximum permissible value given to the vehicle and / or the driver and / or the value normally observed and / or the value manually input, the output unit 800
An indication regarding the corresponding bend is sent via the.

If the vehicle is traveling at a sufficiently low speed,
Short distance preceding sections are shown as straight lines. In one advantageous form, the actual driving direction depends on the output unit 800.
, Corresponding to the image screen direction facing upwards.
The folds that are expected to come at a short distance are indicated by the displacement of the arrow with respect to the upward facing picture screen direction.

In the embodiment shown in FIG. 4, the vehicle, according to the destination guidance of the present invention, turns from a digitized area to a non-digitized mountain path and is therefore, by definition, off-road. . Upon entering the off-road state, the locus of the vehicle is recorded as a series of distance point coordinates (position data). After reaching the intermediate destination in the non-digitized area, the driver wishes to get back with the destination guidance according to the invention.

With the destination guidance system, the driver is guided to the destination along the recorded trajectory through the indication regarding the direction. Permanently the destination guidance arrow displays the route so that the driver can take the right direction at the road branch. In front of a curve that the driver is approaching too fast, an indication of the bend is output.

[Brief description of drawings]

FIG. 1 shows diagrammatically the tracking when leaving a pre-given route data.

FIG. 2 is an example showing returning to and guiding to a known orientation point along a line connecting positions.

FIG. 3 shows a device for guiding back an object to be navigated.

FIG. 4 is an example showing returning guidance using an indication regarding a direction.

[Explanation of symbols]

1 known section 2 tracking 5 vehicles 6 locus 7 direction arrow 100 memory 200 position measuring unit 300 modules 400 position recording unit 500 modules 600 modules 700 units 800 output units

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Gerd Dräger             Federal Republic of Germany Braunschweig               Kazernenstrasse 5 (72) Inventor Michael Ratke             Federal Republic of Germany Hildesheim High             Nrich-Browns-Week 7 ba (72) Inventor Volker Skuvalek             Federal Republic of Germany Bad Salzdetov             Lut Werfenhoehe 21 F term (reference) 2C032 HB05 HB22 HC08 HC13 HC27                       HD03 HD07 HD26                 2F029 AA02 AB01 AB07 AB13 AC02                       AC04 AC08 AC13 AC14                 5H180 AA01 BB04 CC12 FF05 FF10                       FF13 FF15 FF22 FF23 FF24                       FF27 FF32

Claims (14)

[Claims] 1. A method for returning a navigated object, comprising the steps of: using pre-given route data in one region for destination guidance. , At least leaving the area previously given by the route data, recording the position data of the object, and recording the position data at least from the recording of the position data until reaching a known orienteering point, Guiding the object to be navigated from a known orienteering point based on the recorded position data. 2. System according to claim 1, characterized in that the return guidance of the object is carried out via the directional arrows formed on the basis of the recorded position data. 3. The method according to claim 2, characterized in that the predicted route data at the actual proximity to the object is analyzed and associated with the actual speed of the object to form the directional arrow. The method described. 4. From the route data, the curve radius to be predicted therefrom, and the actual velocity of the object, it is determined whether or not an angular velocity exceeding the maximum allowable value obtained for the object has occurred, and as a result, Method according to claim 3, characterized in that a process similar to folding is displayed in the form of corresponding directional arrows. 5. System according to claim 1 or 2, characterized in that the return of the object is carried out on the basis of a digital map formed from the recorded position data. 6. A system as claimed in claim 5, characterized in that the digital map formed from the recorded position data is shown in combination with a previously given digital map. 7. When returning to another route, for example, according to the one-way road rule, until the known orienteering point where the returning guide can be performed based on the recorded position data is automatically performed. 7. A method as claimed in any one of claims 1 to 6, characterized in that different object controls are implemented. 8. The recording of the position data is interrupted when the position data obtained sequentially does not differ from or is slightly different from the position data obtained in advance. The method according to any one of items. 9. The method according to claim 1, wherein the recording of the position data is not continued or interrupted if the position inaccuracies exceed a predetermined criterion. 10. Device for returning a navigated object, comprising the following functional units: a memory (100) for a digital map, a position measuring unit (200) and a position recording unit. (400), a module (300) for detecting the state of the object, a unit (700) for forming a position track from the data of the position recording unit (400) and the data of the state detection unit (300), A module (600) for destination guidance,
A device for returning and navigating an object to be navigated. 11. The position recording unit (400) is associated with a filtering device, characterized in that the recording is interrupted on the basis of a predetermined criterion due to a stop phase of the object or a significant positional inaccuracy. The device according to claim 10. 12. Device according to claim 10 or 11, characterized in that it is provided with a module (500) for forming a destination guidance instruction on the basis of vehicle condition data. 13. In order to output a destination guidance instruction on the position track (700) when the object is newly moved,
Module for generating destination guidance instructions (50
Device according to claim 10, characterized in that 0) is operatively connected to the position track (700). 14. A module for destination guidance (600) for outputting an instruction formed by one / said module (500) for generating a destination guidance instruction, for example in the form of a directional arrow. Output unit (800)
14. The device is connected to
The apparatus according to claim 1.