WO2007065725A1 - Systeme de banque de donnees numerique pour systeme de navigation, et systeme pour surveiller un couloir de deplacement d'un moyen de locomotion - Google Patents

Systeme de banque de donnees numerique pour systeme de navigation, et systeme pour surveiller un couloir de deplacement d'un moyen de locomotion Download PDF

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Publication number
WO2007065725A1
WO2007065725A1 PCT/EP2006/011917 EP2006011917W WO2007065725A1 WO 2007065725 A1 WO2007065725 A1 WO 2007065725A1 EP 2006011917 W EP2006011917 W EP 2006011917W WO 2007065725 A1 WO2007065725 A1 WO 2007065725A1
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WO
WIPO (PCT)
Prior art keywords
transportation
driving
data
lane
position data
Prior art date
Application number
PCT/EP2006/011917
Other languages
German (de)
English (en)
Inventor
Hermann Winner
Doris Schmidt
Original Assignee
Technische Universität Darmstadt
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 Technische Universität Darmstadt filed Critical Technische Universität Darmstadt
Publication of WO2007065725A1 publication Critical patent/WO2007065725A1/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
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
    • 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
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G01C21/3822—Road feature data, e.g. slope data
    • 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
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source

Definitions

  • the invention relates to a digital database system for a navigation system of a means of transportation, such as a motor vehicle, which navigation system is based on a radio location, such as the GNSS.
  • the database system comprises a digital, local storage medium from which map data can be read out, for example in a GDF (Geographical Data Format) format, and in particular is permanently installed in the motor vehicle.
  • GDF Global Data Format
  • EP 0 777 863 B1 discloses a navigation system in which detour routes are proposed to prevent congestion from occurring regularly. Map sections are assigned to the congestion information.
  • DE 102 42 125 A1 discloses a navigation method for means of transportation, in which, in the event of a deviation from a precalculated road data route, the path actually traveled is stored in an additional profile database. It is the object of the invention to overcome the disadvantages of the prior art, in particular to provide a database system for a navigation system of a means of transportation, by means of which the reliability of route guidance proposed by the navigation system is increased.
  • the digital local storage medium which preferably already contains map data, is also writable.
  • a device for evaluating current driving position data of the navigation system modifies the storage medium in such a way that current driving position data generated by the navigation system, such as a new lane or an additional lane, can be written into the storage medium and / or the map data different from the current driving position data, for example the lanes leading past construction sites can be overwritten and / or expanded with the current driving position data.
  • the map data of the local storage medium has been modified or expanded, these modified data can now be read from the storage medium.
  • the local storage medium can also be empty, ie it does not need to contain card data.
  • map data are only generated and written to the local storage medium if the vehicle is moved after it has been put into operation and a map data write-in function is triggered under certain circumstances.
  • This local storage medium which contains exclusively individually generated map data, can cooperate with a permanent memory, such as a commercially available data CD, with unwritable map data in accordance with a priority control, so that a constantly updated map data system is available. In this way, the size of the local storage medium can be significantly reduced, so that the space requirement for the local storage medium can be kept low. With the initially empty storage medium, it is possible to provide an exclusively individual set of cards.
  • the local storage medium can be removed from the mounting location on the motor vehicle, in particular from the hardware component of the navigation system, in order to be removable from the motor vehicle so that the individual map data can be taken along for use with other motor vehicles.
  • a simple interface for docking a corresponding storage medium to the Navigation system of the respective motor vehicle may be provided.
  • Such an interface can be formed, for example, using a conventional so-called USB technology.
  • the respective user can therefore use the portable storage medium in each motor vehicle to use his individual map data acquired over the operating period.
  • the data card set in the digital storage medium of the navigation system is thus constantly updated and expanded, depending on the means of transport that have traveled on soft routes.
  • the navigation map database according to the invention is therefore a self-learning database. Even when driving through the respective route again in the opposite direction, updated map data are always available, with which precise locating of the means of transportation relative to the driving corridor is possible and guiding of the means of transportation along the calculated route is reliably guaranteed.
  • the quality of the data in the self-learning database changes with every learning process, i.e. when driving through certain routes. In the case of a large number of learning processes, it can make sense to filter the measurement results using a low-pass filter in order to prevent a sudden jump from poor to good data quality.
  • the database system is provided with an overwrite procedure which checks the new map data and / or driving position data to be stored for plausibility by means of an evaluation device.
  • the evaluation device checks current driving position data on the basis of a previously determined probability criterion. Accordingly, the new driving position data are classified as worth saving or not, depending on whether the probability criterion is met.
  • the evaluation device can provide the new and / or changed map and / or driving position data with a quality index.
  • their quality is assessed on the basis of the quality index and the new driving position data of the navigation system.
  • the new map data can be compared with the existing saved map data. If there is no map data in the digital storage medium for the location defined by the navigation system, this new data is itial quality index. If different map data occurs, a comparison is made of their quality indices, on the basis of which it can be decided whether the new map data should replace the original map data or not.
  • the modification in particular the local displacement of a map data point, can take place, for example, when several measurements indicate a high probability that the stored map data in this location area is incorrect.
  • the database system is provided with a data deletion device which deletes card data when it contains an unclear result of the card data.
  • the current driving position data obtained during the driving of the means of transportation can be assigned to the stored map data, for example, by the so-called map matching method.
  • a distance from the imaginary map line to the actual measurement can be calculated.
  • An error variance of both the map point and the measurement can be obtained as a measure of the displacement of a map point to be registered.
  • the self-learning database system according to the invention is designed in such a way that the intersection point is defined by a plurality of data relating to passing through the intersection point differently.
  • predetermined parameters can be helpful, such as road construction regulations, in particular maximum curve radii on highways.
  • the database system comprises a transmission device for transmitting the new and / or changed map and / or driving position data to a distal center for evaluating the map and / or driving position data.
  • the database system can have a receiver for receiving map and / or driving position data of modified database systems of other means of transportation. This map and / or driving position data of other means of transportation can be recorded in the storage medium in order to create a self-learning database also for route systems. Provide systems that were not traversed by the means of transportation with the corresponding navigation system.
  • a particularly reliable self-learning of the database system is achieved when data of the driving dynamics of the means of transport, such as speed, yaw rate, lateral acceleration, are assigned to the stored and / or current map and / or driving position data.
  • the driving dynamics sensors of the means of transportation are connected to the database system.
  • the invention further relates to a method for updating data from a database of a navigation system of a means of transportation, from which map data are read out, for example in a GDF format.
  • Current driving position data of the navigation system modify the storage medium in such a way that current driving position data generated by the navigation system, such as a new lane or an additional lane, are written into the storage medium and / or the map data which differs from the current driving position data is overwritten with the current driving position data and / or be expanded, the new and / or changed map and / or driving position data being read out when the driving corridor is traveled through again.
  • the method according to the invention can work in accordance with the database system according to the invention.
  • the invention also relates to a navigation system of the type described above with a self-learning database system according to the invention.
  • the invention relates to a system and a method for monitoring a driving corridor of a means of transportation, such as a motor vehicle, and / or for guiding the means of transportation on a lane.
  • a lane is understood to mean a route selected by the driver, which is usually defined as paved roads, such as highways, country roads, etc., or mapped paths and along which the means of transportation is to be moved.
  • a driving corridor is the lane in front of the vehicle with a defined direction of travel. In the case of a motorway, the driving corridor can have several lanes that are known to be separated from one another by broken lines as a lane or lane marking.
  • a system and a method for monitoring the driving corridor and / or for guiding the means of transportation has the general task of assisting the means of transportation to keep the vehicle along the chosen driving corridor, in particular the selected lane, and to warn in particular when it is obviously left unintentionally.
  • LDW lane departure warning
  • the lane keeping assistant warns the vehicle driver if the motor vehicle threatens to leave certain limits of the roadway, for example defined by roadway markings.
  • the known lane keeping assistant comprises, as a device for detecting a lane marking, such as a lane line, one or more video or image cameras which are directed towards the lane.
  • the lane departure warning system detects the course of the road and observes the direction of movement of the motor vehicle. If the lane departure warning system detects that the vehicle is traveling in a direction of travel that is threatening from the expected course of the road, it is known to inform the driver of this dangerous state by means of a haptic or acoustic signal.
  • LPS Lane Keeping Support
  • the driver assistance system not only warns, but actively supports the driver in driving or steering activities, for example by actively steering the vehicle back towards the center of the lane or by compensating for a corrective overreaction by the driver on the steering wheel.
  • the detection sensitivity of video cameras is limited due to environmental influences.
  • the device for detecting the road marking in particular in the dark and rain, is not able to provide the data necessary for the control and regulation of the systems.
  • the conventional lane keeping assistants and driver assistance systems cannot reliably perform their task. There is a not inconsiderable risk of an accident here, in particular, if the motor vehicle driver relies on the functional activity of the lane departure warning system and the driver assistance system.
  • a navigation system is known from DE 100 12 471 A1, in which images are recorded when the vehicle is driving, which images are assigned to NAVSTAR GPS position signals recorded simultaneously at the time of the illumination and are stored in a separate memory. Furthermore, a navigation system for a motor vehicle is known from DE 696 31 280 T2, which comprises an information processing and control unit with an image processor. The determined navigation data can be improved by means of driving dynamics data.
  • the system according to the invention for monitoring the driving corridor is then provided with a device, such as a video camera, for detecting a lane marking and for generating a driving marking signal and a monitoring device, such as a computer, which, based on the lane marking signal, at least the correct driving corridor to be driven on of the means of transportation is checked and, if necessary, a warning signal that can be communicated to a driver of the means of transportation and / or a control and / or regulating signal that can be fed to an assistant steering system that can be controlled by a driver of the means of transportation when the means of transportation leaves the road.
  • the monitoring device is connected to a radio location system or navigation system for determining Position of the means of transport connected.
  • the GNSS Global Navigation Satellite System
  • the navigation system should also be understood to mean so-called extension systems, such as the SAPOS, DGPS.
  • extension systems such as the SAPOS, DGPS.
  • the data of the navigation system also serve to check the correctness of the road marking signals received and, if necessary, to generate more accurate lane information, so that an optimization of the directional accuracy of the lane keeping system is achieved.
  • the monitoring device is also connected to a driving dynamics sensor system of the means of transportation, so that the monitoring device also uses driving dynamics data for checking the driving corridor.
  • driving dynamics sensor system of the means of transportation
  • the navigation system and the driving dynamics sensors are merged in order to achieve greater functional accuracy.
  • a reliably working lane keeping system for example in poorly lit tunnels, is ensured if both road markings are poorly recognizable and contact with the satellite location is interrupted.
  • the vehicle dynamics sensor system is used for the short-term location and determination of the position of the means of transportation and thus for the short-term support of the system according to the invention, the satellite location ensuring the long-term location of the means of transportation and support of the lane keeping system.
  • the invention further relates to a navigation method for a means of transportation, in which the position of the means of transportation is determined on the basis of a radio and / or satellite location, such as the GNSS.
  • the navigation method according to the invention is intended to ensure that when driving through tunnels, when the contact to the satellites is interrupted, the position of the means of transport can be continuously determined at least with the same positional accuracy.
  • This problem is solved in that data of a driving dynamics sensor system of the means of transportation and a system for monitoring the driving corridor are used to determine the position of the means of transportation.
  • the data from the driving dynamics sensor system and the device for detecting the lane marking are merged with the stored map information of the navigation system in order to determine the position of the means of transportation in the event of a satellite location failure.
  • the data from the vehicle dynamics sensors cannot only be used if the navigation system has failed due to a lack of contact with the satellites.
  • a fusion of the data of the driving dynamics sensor system with the actually recorded location data of the navigation system should also be provided, with which a more precise location of the means of transportation is possible.
  • the navigation system is therefore responsible for long-term stability of the location data, driving dynamics sensor data and lane keeping system data acting as a short-term correction of the location data of the navigation system.
  • the sensed signals can be filtered using a filter, such as a Cayman filter or a corresponding high or low pass filter be processed.
  • the invention relates to a driving dynamics sensor system for detecting speeds and accelerating a movement of a means of transportation.
  • Driving dynamics measurements are, for example, necessary function parameters for an anti-lock brake system (ABS) or for the so-called “electronic stability program” (electronic stability program - ESP).
  • Driving dynamics data include, for example, the so-called yaw rate, driving speed, lateral acceleration, etc.
  • the driving dynamics sensor system for monitoring recorded driving dynamics data is connected to a system for navigating a means of transportation, which system is based on satellite and / or radio location, such as the GNNS, so that on the basis of the Location data of the navigation system an error of the vehicle dynamics sensor system can be determined.
  • the driving dynamics sensor system can be connected to a system for monitoring the driving corridor of a means of transportation and / or for guiding the means of transportation on a lane to be expected, so that an error in the driving dynamics sensor system can be determined and compensated for on the basis of the driving corridor data.

Abstract

La présente invention concerne un système de banque de données numérique destiné à un système de navigation d'un moyen de locomotion, le système de navigation fonctionnant sur la base d'une radiolocalisation telle que le GNSS, et le système de banque de données numérique comprenant un support d'enregistrement local numérique depuis lequel des données cartographiques peuvent être lues par exemple dans un format GDF. Selon l'invention, le support d'enregistrement est inscriptible et un dispositif destiné à évaluer des données d'emplacement de circulation courantes du système de navigation, modifie le support d'enregistrement de sorte que des données d'emplacement de circulation courantes produites par le système de navigation, telles qu'une nouvelle trajectoire de circulation ou une voie de circulation supplémentaire, peuvent être inscrites sur le support d'enregistrement et/ou les données cartographiques qui diffèrent des données d'emplacement de circulation courantes, peuvent être écrasées et/ou complétées avec les données d'emplacement de circulation courantes, les données cartographiques et/ou d'emplacement de circulation nouvelles et/ou modifiées pouvant être lues lors d'un nouveau parcours.
PCT/EP2006/011917 2005-12-09 2006-12-11 Systeme de banque de donnees numerique pour systeme de navigation, et systeme pour surveiller un couloir de deplacement d'un moyen de locomotion WO2007065725A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005058872 2005-12-09
DE102005058872.7 2005-12-09

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WO2007065725A1 true WO2007065725A1 (fr) 2007-06-14

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2042834A2 (fr) 2007-09-27 2009-04-01 Robert Bosch Gmbh Procédé de saisie et de mémorisation d'information de trajectoire complémentaires et numérisées à l'aide d'un système de navigation
WO2009101163A2 (fr) * 2008-02-15 2009-08-20 Continental Teves Ag & Co. Ohg Système embarqué de navigation et/ou d'aide à la conduite de véhicules
DE102008033821A1 (de) 2008-07-19 2010-01-21 Audi Ag Verfahren und Geräteanordnung zur Verbesserung von Informationen für mindestens ein Fahrzeugsystem
DE102008059280A1 (de) * 2008-11-27 2010-06-02 GM Global Technology Operations, Inc., Detroit Navigationssystem mit einem Datenspeicher
EP2698606A1 (fr) * 2012-08-13 2014-02-19 Kapsch TrafficCom AG Procédé destiné à actualiser une carte routière numérique
US8862384B2 (en) 2008-04-30 2014-10-14 Continental Teves Ag & Co. Ohg Self-learning map on the basis of environment sensors
DE102018216795A1 (de) * 2018-09-28 2020-04-02 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs

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US6199011B1 (en) * 1997-07-09 2001-03-06 Honda Giken Kogyo Kabushiki Kaisha Navigation system and a vehicle control system
DE10030932A1 (de) * 2000-06-24 2002-01-03 Bosch Gmbh Robert Verfahren zur Erzeugung, Prüfung, Ergänzung und/oder Aktualisierung von Straßenkartendaten
EP1530025A2 (fr) * 2003-11-07 2005-05-11 Harman International Industries, Incorporated Système de navigation adaptatif utilisant de l'intelligence artificielle

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* Cited by examiner, † Cited by third party
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US6199011B1 (en) * 1997-07-09 2001-03-06 Honda Giken Kogyo Kabushiki Kaisha Navigation system and a vehicle control system
EP0921509A2 (fr) * 1997-10-16 1999-06-09 Navigation Technologies Corporation Système et méthode de mise à jour, d'amélioration et d'affinage d'une base de données géographique par rétroaction
US6154152A (en) * 1997-10-16 2000-11-28 Toyota Jidosha Kabushiki Kaisha Road data maintenance system and on-vehicle terminal apparatus compatible therewith
DE10030932A1 (de) * 2000-06-24 2002-01-03 Bosch Gmbh Robert Verfahren zur Erzeugung, Prüfung, Ergänzung und/oder Aktualisierung von Straßenkartendaten
EP1530025A2 (fr) * 2003-11-07 2005-05-11 Harman International Industries, Incorporated Système de navigation adaptatif utilisant de l'intelligence artificielle

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2042834A3 (fr) * 2007-09-27 2012-06-20 Robert Bosch Gmbh Procédé de saisie et de mémorisation d'information de trajectoire complémentaires et numérisées à l'aide d'un système de navigation
EP2042834A2 (fr) 2007-09-27 2009-04-01 Robert Bosch Gmbh Procédé de saisie et de mémorisation d'information de trajectoire complémentaires et numérisées à l'aide d'un système de navigation
US8781733B2 (en) 2008-02-15 2014-07-15 Continental Teves Ag & Co. Ohg Vehicle system for navigation and/or driver assistance
WO2009101163A3 (fr) * 2008-02-15 2009-12-10 Continental Teves Ag & Co. Ohg Système embarqué de navigation et/ou d'aide à la conduite de véhicules
EP2578996A1 (fr) * 2008-02-15 2013-04-10 Continental Teves AG & Co. oHG Système de véhicule destiné à la navigation et/ou l'assistance au conducteur
US8666591B2 (en) 2008-02-15 2014-03-04 Continental Teves Ag & Co. Ohg Vehicle system for navigation and/or driver assistance
WO2009101163A2 (fr) * 2008-02-15 2009-08-20 Continental Teves Ag & Co. Ohg Système embarqué de navigation et/ou d'aide à la conduite de véhicules
US8862384B2 (en) 2008-04-30 2014-10-14 Continental Teves Ag & Co. Ohg Self-learning map on the basis of environment sensors
DE102008033821A1 (de) 2008-07-19 2010-01-21 Audi Ag Verfahren und Geräteanordnung zur Verbesserung von Informationen für mindestens ein Fahrzeugsystem
DE102008033821B4 (de) * 2008-07-19 2018-01-04 Audi Ag Verfahren und Geräteanordnung zur Verbesserung von Informationen für mindestens ein Fahrzeugsystem
DE102008059280A1 (de) * 2008-11-27 2010-06-02 GM Global Technology Operations, Inc., Detroit Navigationssystem mit einem Datenspeicher
EP2698606A1 (fr) * 2012-08-13 2014-02-19 Kapsch TrafficCom AG Procédé destiné à actualiser une carte routière numérique
US9291465B2 (en) 2012-08-13 2016-03-22 Kapsch Trafficcom Ag Method for updating a digital road map
DE102018216795A1 (de) * 2018-09-28 2020-04-02 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs
US11526177B2 (en) 2018-09-28 2022-12-13 Robert Bosch Gmbh Method and device for operating a vehicle

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