WO2000063842A1 - Procede permettant d'obtenir une vue realiste d'une voie de circulation et appareil de navigation approprie - Google Patents

Procede permettant d'obtenir une vue realiste d'une voie de circulation et appareil de navigation approprie Download PDF

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Publication number
WO2000063842A1
WO2000063842A1 PCT/DE2000/001075 DE0001075W WO0063842A1 WO 2000063842 A1 WO2000063842 A1 WO 2000063842A1 DE 0001075 W DE0001075 W DE 0001075W WO 0063842 A1 WO0063842 A1 WO 0063842A1
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WO
WIPO (PCT)
Prior art keywords
boundary lines
road segments
segments
street
road
Prior art date
Application number
PCT/DE2000/001075
Other languages
German (de)
English (en)
Inventor
Dieter Ritter
Original Assignee
Siemens Aktiengesellschaft
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 Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to DE20022813U priority Critical patent/DE20022813U1/de
Publication of WO2000063842A1 publication Critical patent/WO2000063842A1/fr

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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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/20—Drawing from basic elements, e.g. lines or circles
    • G06T11/203—Drawing of straight lines or curves

Definitions

  • the invention relates to a method for obtaining a realistic street view based on a digital street map with a network of street segments, and a navigation device which is able to provide a user with a realistic street view.
  • Digital road maps for navigation systems generally have a network of linear road segments. If these street segments are reproduced as a street map without additional preparation, the streets are displayed as lines.
  • the patent application EP 0 579 451 AI relates to the creation of an animation with a series of street drawings.
  • Road segments are shown with their boundary lines. If street segments meet at an angle, the street corners are replaced by arcs. If road sections to be displayed with different widths meet, a tapered section is inserted in the form of straight lines.
  • the design of the street corners and the coordination of different width sections of the street must be carried out using different methods. Certain road contours and road configurations, such as traffic islands, cannot be reproduced realistically.
  • the symbols must be saved in addition to the data of the road segments. Furthermore, the representation the streets as straight lines and an unnatural representation through the use of symbols for intersections.
  • US Pat. No. 5,787,382 describes a representation of street maps which is based on the fact that the shapes of the intersections are stored in addition to the data from the digital street map. For display on a screen, the data for the streets are overlaid with the data for the intersections.
  • road segments which are generally defined by nodes, are provided with boundary lines.
  • a particularly realistic map display on a display device can also be achieved if road segments or their boundary lines are processed, the course of which is defined by at least one design point.
  • the design point preferably defines a road course that deviates from a straight line.
  • a polygon defined by the design points which does not correspond to reality, can be smoothed out by the processing and the disruptive edges of the polygon, i.e. the road course to be reproduced, can be removed.
  • a navigation device is characterized by a conversion unit with which road segments can be converted into areas with boundary lines and with which interfaces between road segments or road boundary lines can be distorted into a curved course.
  • FIG. 1 shows a navigation device
  • FIG. 2 shows linear road segments
  • FIG. 3 shows road segments and intersections between road segments after their conversion
  • FIG. 4 shows a number of road segments and intersections that are converted
  • FIG. 5 shows further road segments and intersections during the conversion
  • FIGS with road curves before conversion
  • FIG. 18 shows the road segments from FIG. 17 after their interpolation
  • FIG. 19 shows a flow chart for the treatment of road segments of a digital road map.
  • FIG. 1 illustrates a navigation device 1 with a working memory 11 and a conversion unit 12 designed as a microprocessor.
  • a range finder 13 and a direction meter 14 are used to determine the position via dead reckoning.
  • a GPS sensor, not shown, is connected to the microprocessor via a system bus 15, just like the range finder 13, the direction meter 14 and a drive 16 for a storage medium 161.
  • the storage medium 161 is a DVD (Digital Versatile Disc).
  • a display device 17 is controlled via an image control unit 18 for outputting image information and in particular for displaying road maps.
  • the image control unit 18 is in turn connected to the microprocessor via the system bus 15.
  • FIG. 2 illustrates a section of a digital road map with a network of road segments 2. A number of intersecting road segments have nodes or intersections 23.
  • FIG. 3 shows the same section of the digital road map after the road segments 2 have been provided with boundary lines 21.
  • the boundary lines 21 are non-linearly interpolated or distorted in the area of intersecting road segments 2 or of intersection points 23.
  • the line or line-shaped road segments 2 are shown as center lines.
  • the boundary lines do not meet each other in a straight line at a certain angle, but instead have curvatures or curves.
  • the filling areas framed by streets are treated in the same way so that they are rounded at corners.
  • the same method is illustrated in FIG. 5 with the aid of another section from the digital road map.
  • the road segments to be output were again provided with boundary lines 21 and at intersections 23 or nodes interpolated non-linearly between different road segments by creating curves in the area of the intersection points.
  • Bezier curves were used for this.
  • the Bezier curves were displayed using the de Casteljau algorithm.
  • the points b "(t) of the Bezier curve result from:
  • a point on the Bezier curve corresponds to a parameter value te [0 ... 1].
  • FIGS. 6 to 8 show the conversion or non-linear interpolation of boundary lines of road segments which meet and intersect at an angle of less than 180 °.
  • the points AI, B1, B2 and A2 are the control points bi specified by the geo coordinates. More specifically, AI and A2 are the end points of the Bezier curves shown. Bl and B2 are Bezier construction points. Furthermore, the predeterminable parameters w1 and w2 each mean the distances for determining the positions of the end points AI and A2, each of which is based on the associated interface S.
  • Figures 9 and 10 show the conversion of boundary lines of road segments.
  • the road segments also meet at an angle of less than 180 °.
  • the boundary lines of the intersecting streets do not intersect.
  • FIGS. 11 to 13 show the conversion of boundary lines of road segments which meet at an angle of more than 180 ° and whose boundary lines intersect.
  • FIGS. 14 and 15 also illustrate the conversion of boundary lines in the area of intersecting road segments that meet at an angle of more than 180 °. However, the boundary lines of the segments do not intersect.
  • FIG. 16 shows the conversion of the boundary lines of two segments that meet, which meet at an angle of 180 °.
  • Different street widths are assigned to the street segments. This assignment is based on the different classification of the streets as motorways, federal highways, local roads, main and secondary roads and the like.
  • Street segments 2 which are separated from one another by shape points.
  • the design points correspond to certain geo-coordinates and define a curve of a street segment. Because of these design points 22, which are each connected by lines or vectors with further design points or with nodes for the formation of streets, a curve course provided with corners results.
  • the distorted boundary lines lie on the design points.
  • the design point lies more precisely on the center line of the street, i.e. on the original, linear moderate road segment. This means that the boundary lines at the intersection of road segments that meet at a design point are not distorted.
  • Spline interpolation is suitable for interpolation of road segments 2 , in particular with C 2 continuous cubic interpolation.
  • a B-spline control polygon determined from the geodesics that define the design points 22, is used with centripedal parameterization and Beselscher end condition.
  • FIG. 19 describes the steps with which the intersection points and the segments with the design points are interpolated.
  • a loop is formed over all road segments intended for the image output.
  • road segments defined by geocoordinates as lines or vectors
  • a right and a left polygon are calculated for determining boundary lines for the road segments.
  • Spline interpolation is used to smooth an angular course of the road. Then all nodes or intersections are processed.
  • intersection points of corresponding boundary lines are calculated in pairs.
  • a nonlinear interpolation (preferably Bezier interpolation) is used for all calculated intersection points between boundary lines.

Abstract

L'invention concerne un procédé permettant d'obtenir une vue réaliste d'une voie de circulation sur la base d'une carte routière numérique. Selon ce procédé, les segments de route à afficher sont munis de lignes de délimitation (21). Dans les zones situées autour des points d'intersection (23) entre les segments de route, les lignes de délimitation sont déformées en un tracé curviligne. Un appareil de navigation comporte une unité de conversion pour convertir les segments de route en lignes de délimitation de surfaces, dont les interfaces sont déformées par interpolation non linéaire.
PCT/DE2000/001075 1999-04-15 2000-04-07 Procede permettant d'obtenir une vue realiste d'une voie de circulation et appareil de navigation approprie WO2000063842A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE20022813U DE20022813U1 (de) 1999-04-15 2000-04-07 Navigationsgerät

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19917083 1999-04-15
DE19917083.5 1999-04-15

Publications (1)

Publication Number Publication Date
WO2000063842A1 true WO2000063842A1 (fr) 2000-10-26

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Application Number Title Priority Date Filing Date
PCT/DE2000/001075 WO2000063842A1 (fr) 1999-04-15 2000-04-07 Procede permettant d'obtenir une vue realiste d'une voie de circulation et appareil de navigation approprie

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DE (1) DE20022813U1 (fr)
WO (1) WO2000063842A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1283406A2 (fr) 2001-08-01 2003-02-12 Siemens Aktiengesellschaft Dispositif et méthode de traitement d'images pour un véhicule
CN105205841A (zh) * 2015-08-21 2015-12-30 通号通信信息集团有限公司 地理信息系统的地图生成方法和系统
CN106767780A (zh) * 2016-11-28 2017-05-31 郑州轻工业学院 基于Chebyshev多项式插值逼近的扩展椭球集员滤波方法
US9978161B2 (en) 2016-04-11 2018-05-22 Here Global B.V. Supporting a creation of a representation of road geometry

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10343944A1 (de) * 2003-09-23 2005-04-14 Robert Bosch Gmbh Verfahren zur Darstellung von Strassendaten in digitalen Karten sowie Verfahren zur Bestimmung der Position eines Fahrzeuges
DE102014007914A1 (de) 2014-05-27 2015-12-03 Elektrobit Automotive Gmbh Graphisches Darstellen von Straßen und Routen unter Benutzung von Hardware-Tesselierung

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4638438A (en) * 1983-05-23 1987-01-20 Hitachi, Ltd. Navigation apparatus for automotive
JPH04141782A (ja) * 1990-10-03 1992-05-15 Dainippon Printing Co Ltd 道路中心線作成装置及び方法
EP0807803A2 (fr) * 1996-05-16 1997-11-19 Matsushita Electric Industrial Co., Ltd. Appareil pour la reproduction d'information de cartes routières, support d'enregistrement et méthode de transmission
US5787382A (en) * 1995-05-29 1998-07-28 Sony Corporation Navigation apparatus for displaying a map by limit information

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4638438A (en) * 1983-05-23 1987-01-20 Hitachi, Ltd. Navigation apparatus for automotive
JPH04141782A (ja) * 1990-10-03 1992-05-15 Dainippon Printing Co Ltd 道路中心線作成装置及び方法
US5787382A (en) * 1995-05-29 1998-07-28 Sony Corporation Navigation apparatus for displaying a map by limit information
EP0807803A2 (fr) * 1996-05-16 1997-11-19 Matsushita Electric Industrial Co., Ltd. Appareil pour la reproduction d'information de cartes routières, support d'enregistrement et méthode de transmission

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1283406A2 (fr) 2001-08-01 2003-02-12 Siemens Aktiengesellschaft Dispositif et méthode de traitement d'images pour un véhicule
CN105205841A (zh) * 2015-08-21 2015-12-30 通号通信信息集团有限公司 地理信息系统的地图生成方法和系统
CN105205841B (zh) * 2015-08-21 2018-05-25 通号通信信息集团有限公司 地理信息系统的地图生成方法和系统
US9978161B2 (en) 2016-04-11 2018-05-22 Here Global B.V. Supporting a creation of a representation of road geometry
CN106767780A (zh) * 2016-11-28 2017-05-31 郑州轻工业学院 基于Chebyshev多项式插值逼近的扩展椭球集员滤波方法
CN106767780B (zh) * 2016-11-28 2017-10-17 郑州轻工业学院 基于Chebyshev多项式插值逼近的扩展椭球集员滤波方法

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Publication number Publication date
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