WO2009074206A1 - Procédé pour faire fonctionner un système de navigation, et système de navigation - Google Patents

Procédé pour faire fonctionner un système de navigation, et système de navigation Download PDF

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Publication number
WO2009074206A1
WO2009074206A1 PCT/EP2008/009664 EP2008009664W WO2009074206A1 WO 2009074206 A1 WO2009074206 A1 WO 2009074206A1 EP 2008009664 W EP2008009664 W EP 2008009664W WO 2009074206 A1 WO2009074206 A1 WO 2009074206A1
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WO
WIPO (PCT)
Prior art keywords
map
determined
route
current
fzg
Prior art date
Application number
PCT/EP2008/009664
Other languages
German (de)
English (en)
Inventor
Volker Oltmann
Original Assignee
Daimler 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 Daimler Ag filed Critical Daimler Ag
Publication of WO2009074206A1 publication Critical patent/WO2009074206A1/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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching

Definitions

  • the invention relates to a method for operating a navigation system, in particular a navigation system for a vehicle according to the preamble of claim 1.
  • the invention further relates to a navigation system according to the preamble of claim 19.
  • digital maps are used, for example, to enter destinations and to guide the driver of the vehicle to the entered destination by means of a route guidance.
  • the digital maps used have map information as road or route courses, which are formed for example by edges, in particular line elements. If roads and thus their edges meet at an intersection or branch, then these points of the meeting are represented by nodes.
  • the digital maps and the navigation system may include information about the current vehicle environment.
  • ACC system adaptive cruise control
  • Map Matching Tolerances assignment of vehicle position to a digital map
  • US Pat. No. 7,024,307 B2 discloses a card analysis system which determines the quality of current map information of a digital map and, if the quality is inadequate, carries out a map update whose map data are used for navigation. This can still lead to errors in navigation, as well as a map update may have insufficient quality.
  • the invention is therefore based on the object to provide a method for operating a navigation system, which allows a largely secure navigation.
  • a suitable navigation system must be specified.
  • the object is achieved by the features specified in claim 1.
  • the navigation system concerning the object is achieved by the features specified in claim 21.
  • a navigation system for a vehicle
  • current map information and current vehicle information are detected and analyzed, based on which a current route position and / or a preceding route are determined, based on a comparison of the current vehicle information with the current map information a Quality of the current map information is determined.
  • the current map information determined on the basis of a comparison of current map information and thus corresponding current vehicle information at least a degree of quality of the current map information, to be considered for determining the current route position and / or the preceding route, the current map information according to the determined degree of quality.
  • Under map information in the context of the invention are in particular all a road network, routes, curves, straight lines, intersections, gradients, gradients, elevation, longitudes, latitudes, background, such as waters, built-up areas, railways, bicycle routes, objects such as gas stations, restraints , Parking lots, etc. understood maps that facilitate orientation.
  • Vehicle information within the meaning of the invention is understood in particular to mean the vehicle itself and the vehicle environment representing vehicle data which, for example, by means of sensors, in particular vehicle sensors, such. B.
  • radar sensors camera sensors, wheel speed sensors, tachometer sensors, rotation ⁇ or yaw rate sensor (gyrometer), acceleration sensor, in particular lateral acceleration sensor, angle sensor, in particular steering wheel angle sensor and / or data receiving units, such as satellite receiver, in particular GPS receiver detected or received.
  • GPS receiver GPS receiver detected or received.
  • the current map information depending on the determined degree of quality without restriction in good quality or limited considered sufficient quality. If the quality of the map information is poor, it will be disregarded. In addition, further gradations of the usability of the map information with appropriate quality differentiation and data differentiation are possible.
  • the degree of quality of the current map information is continuously determined.
  • the scope of consideration of the current map information is continuously adjusted depending on the continuously determined level of quality.
  • a route forecast that is always adapted to the current map quality is made possible.
  • the vehicle information (such as vehicle operating / vehicle status data, vehicle environment data) is continuously recorded and taken into account in the route prognosis.
  • the vehicle information in question is converted into vehicle information corresponding to the current map information.
  • the navigation or driving route is a path which is given by the navigation and is measurable while driving.
  • the description of the course of the route preferably takes place on the basis of map information, in particular on the basis of radii and distances to the radii or curvatures and distances to the curvatures or road coordinates or marking points as well as gradient and slope data or altitude data.
  • the individual streets can be stored as card information in a data memory by these representing edges / boundaries / lines and their intersections or branches or intersections through these representing nodes or areas or can be received by a central unit.
  • further map information such as. B. start of curve, end of curve and / or vertices, are determined and stored.
  • a map route and / or route traveled from the start of the journey and / or from a previous route position are determined and taken into account in the subsequent route prognosis, in particular for correcting the map information used.
  • the ascertained current and / or previous map information and / or vehicle information in particular the route, the map route, the beginning of the curve, the end of the curve, the vertices, Curves, such as map curvatures, curvatures and / or distances, such as map distances, travel distances analyzed on the basis of the traveled map and / or route and at least one associated, for example, curvature-related or distance-related correction value determined.
  • a distance-related correction value is determined on the basis of differences of current, differently determined distances, such as map or driving distances, taking into account the covered map and / or route.
  • the determined map distance can be corrected on the basis of a determined average deviation of variously determined distances, wherein the bandwidth of the mean deviation of the corrected map distances is determined and checked on the basis of predefinable distance limit values.
  • the quality can then be determined on the basis of the over and / or underrun of the distance limit values.
  • the curvature values currently determined differently such as card curvature and curvature, and their average deviation can be used to check the quality of the card information / data.
  • the assessment restarts and correction values are cleared and redetermined when leaving or changing a road, a road class, a road type, a region and / or a country on a route, in particular the route. It will be useful for the street, the street class and / or the street type of the preceding Route, in particular the route previously taken certain correction values as starting values.
  • the navigation system comprises at least one data memory, at least one display element and a data receiving device and a processing unit.
  • the processing unit comprises means for determining a current route position and / or a preceding route based on current map information and current vehicle information, the determination of the current route position and / or the preceding route being performed according to a determined degree of quality of the current map information.
  • FIG. 1 shows schematically a block diagram of a navigation system
  • FIG. 2 shows schematically a flowchart of the method according to the invention for operating the navigation system.
  • a navigation system 1 with at least one processing unit 2, at least one data memory 3 and a number of vehicle sensors 4 to I 1 such as wheel speed sensor 4, yaw rate sensor 5, lateral acceleration sensor 6, data receiving device 7.
  • vehicle sensors 4 to I 1 such as wheel speed sensor 4, yaw rate sensor 5, lateral acceleration sensor 6, data receiving device 7.
  • additional sensors such as radar units such as near and far range radar, satellite receiving units, steering wheel angle sensors, optical pickup units such as cameras for detecting the vehicle environment and / or control units connected to the processing unit 2 may be provided.
  • the vehicle data and / or vehicle environment data acquired by the vehicle sensors 4 to 7 are supplied to the processing unit 2 as vehicle information FI and used by the latter on the basis of digital map information KI stored in the data memory 3 to forecast a route course s and / or a route position pos.
  • the navigation system 1 comprises at least one display element 8, which is connected to the processing unit 2.
  • the processing unit 2 can be connected to at least one driver assistance system 9, to which at least one control signal S for influencing a driving function can be supplied on the basis of the determined predicted route course s or the route position pos.
  • the processing unit 2 determines from the data memory 3 and from the map information KI stored there a forward route s_map, which is referred to below as a map route s_map in order to distinguish it from a route s_fzg determined in particular from the navigation and thus from current vehicle information FI. Based on the vehicle information FI determined, in particular measured route s_fzg is referred to below as the route s_fzg.
  • the determined map distance s_map and / or the measured travel distance s_fzg can support the driver assistance function of one of the
  • Driver assistance systems 9, z. B. a Abstandsregeltempomats, a cruise control system can be used.
  • the ascertained map sections s_map and / or measured routes s_fzg can in particular be stored as preceding map routes s_map or travel routes s_fzg and thus the route histories s representing the past, as previous and thus already covered map routes s_map.
  • map route s_map In addition to detecting the map route s_map on the basis of current, in particular received and / or previous, in particular stored map information KI while driving current vehicle information FI detected by the vehicle sensors 4 to 7 and / or a driver assistance system 9 and used as a reference to the map information KI.
  • a quality Q of the relevant map information KI can be inferred. If there is virtually no deviation, the determined relevant, i. the current or previous map information KI, used for route prognosis and thus used for a driver assistance function without restrictions.
  • the relevant card information KI is used with function restrictions and used in the route prognosis accordingly restricted.
  • the relevant map information KI is disregarded and the driver assistance function is operated without map support.
  • the checking of the card quality Q preferably takes place continuously, for example, time and / or event-controlled, in order to obtain a positive change, i. the quality Q of the current map information KI is within predetermined tolerance values to allow the map support automatically again.
  • the route s contains the track to be driven in terms of its curves and straights.
  • the description of the route can be made by radii r_map, r_fzg and distance values d_map, d_fzg to the radii r_map, r_fzg or curve curvatures c, in particular map curvatures c_map, driving curves c_fzg, and distance values d, in particular map distances d_map, driving distances d_fzg to these or by coordinates of points ( shape points that mark the road or track) or points that mark the road or track by angles and distance values.
  • the map data or information KI of the forecast is continuously corrected by the route d_map ⁇ already laid back, so that, for example, a curve start KA, which was announced at the time t ⁇ [s] with a distance of d ⁇ [m], after a distance of dl [ m] at time tl [s] has the distance d to the vehicle from d ⁇ - dl [m].
  • the map information KI in question is also maintained after reaching relevant positions pos, such as intermediate positions which were determined as map position pos_map or driving position pos_fzg, and time-controlled, in particular stored according to a time specification.
  • relevant positions pos such as intermediate positions which were determined as map position pos_map or driving position pos_fzg
  • time-controlled in particular stored according to a time specification.
  • a deletion takes place only after a prescribable distance in [m] or [km] was covered. This distance is referred to below as the last distance s_loesch whose length can be specified.
  • the route s for a previous route according to the last traveled route s_loesch is always known.
  • vehicle information FI for comparison and determination of the quality Q of the current and / or previous map information KI, vehicle information FI, in particular driving conditions, vehicle states, vehicle environment states, for example, with constant timing and / or event-controlled, are detected as a reference, for example by time and / or event.
  • This vehicle information FI includes, for example, at the time of recording the current driving situation under the vehicle.
  • the vehicle information FI is converted to the same physical size as the
  • Map information KI which were determined from the map data.
  • the currently detected or determined vehicle information FI are converted into vehicle information FI_korr corresponding to the current map information KI.
  • the determined map information KI in with the current Vehicle information FI corresponding map information KI_korr be converted.
  • Curve curvature values of c> 0 are for left turns, c ⁇ 0 for right turns and d> 0 for a position in front of the vehicle and d ⁇ 0 for a position behind the vehicle.
  • the output distance d_map ⁇ serves to execute a correction between the different distances, such as the determined map distance s_map and / or the measured travel distance s_fzg, which were determined by independent systems, such as vehicle sensors 4 to 7, map memory 3 and / or driver assistance system 9.
  • the vehicle information FI which has been changed, for example, due to worn tires, can be used and taken into account in order to correct the determined routes s.
  • characteristic points eg curve start KA, curve end KE, vertices SE
  • the route profiles s_map, s_fzg of the map and the vehicle are selected by the route profiles s_map, s_fzg of the map and the vehicle, and the differences of the distance values d, d_map, d_fzg are taken into account, taking into account the forward-looking announcement as a function of Initial distance d_map ⁇ and / or the covered map and travel distances s_map ⁇ , s_fzg ⁇ to a distance-related correction value K_d processed according to:
  • the measured driving distance s_fzg is determined, for example, based on vehicle data up to the most recently traveled distance s_loesch.
  • the average values of the deviations of the distances d i. the average deviation d_ffen (denoted by the reference character MD in FIG. 2) of the determined distance values d, i. the map distance d_map and the travel distance d_fzg, and a resulting bandwidth between minimum and maximum mean deviation d_min and d_max of the distances d between the values of the determined map distance d_map and the measured values of the travel distance d_fzg determined.
  • a constant mean deviation d_stoff can z. B. occur due to latencies.
  • the vehicle speed v can also be included in the calculation.
  • the knowledge of the mean deviation d_ffen of the distances d is used, for example, to correct the predicted route course s and / or a control signal S from the navigation system 1 for a driver assistance (in the forecast for the function).
  • the determined bandwidth serves to assess the card quality Q, as described below using the example of a limit value analysis.
  • a scaling factor f_c_opt can be determined between the different ascertained values of the curvatures c, in particular of the determined card curvature c_map of the map and the measured curvature of travel c_fzg of the vehicle. The determination is carried out by means of measured vehicle data up to the last traveled distance s_loesch.
  • the scaling factor f_c_opt can also be used to correct, for example, the predicted route course s and / or a control signal S of the navigation system 1 for driver assistance (in the forecast for the function).
  • the information on the determined values of the curvatures c are evaluated.
  • the mean value of the deviations c_sch in FIG. 2 with the Reference character MD
  • the calculation is carried out by means of driving data / information FI up to the last traveled distance s_loesch.
  • the knowledge of the mean deviation c_stoff of the determined curvatures c is used, for example, to correct the predicted route course s and / or a control signal S of the navigation system 1 for driver assistance (in the forecast for the function).
  • the determined bandwidth also serves to assess the card quality Q.
  • the assistance function can be executed without restrictions with the current map information KI, provided that the check of the minimum and maximum distance values d_min and d_max was positive, i. these lie within the predetermined distance limit values d_limitl and d_limit2.
  • the map information KI is taken into account only to a limited extent so that the assistance function can be executed with restrictions.
  • curvature limits c_limit7 and c_limit8 can also be dependent on the absolute values of the curvatures c, so that z. B. for small curvatures c larger thresholds apply than for small ones.
  • a scaling of the function can be carried out, for example, as described below:
  • the vehicle target deceleration at corner entry may be reduced by a deceleration factor f_dec instead of the ideal deceleration value.
  • the vehicle target acceleration at corner exit can be reduced by a speed factor f_acc.
  • Speed factor f_acc be selected in proportion to the map quality.
  • the times or points at which the delay phase ends may be as follows:
  • the delay factor f_dec_d is fixed or determined depending on the map quality Q can be determined.
  • Acceleration phase begins, can according to the following condition:
  • the speed factor f_acc_d is fixed or determined depending on the map quality Q can be determined.
  • the correction of the map information KI, z. B. with respect to the distances d or bends c can also be done slowly by means of a low-pass filter or similar methods (eg., Incremental addition).
  • a resumption of the function with map support can be done with the same algorithms, but modified limits d_limitl to d_limit4, c_limit5 to c_limit8.
  • the resumption may depend on the specification of the number of cycles or times or events, so that only after expiry of predetermined times and / or when predetermined events occur one of the assistance functions and / or the route prognosis take into account and use the current map information KI.
  • the tolerance limits for switching off or functional degradation may differ from those for recovery. This also applies to the observation periods or the last traveled distance s_loesch.
  • interpolations between the recorded and measured driving data can be used. It is also possible that the method is shortened by one or more steps.
  • the scaling factor f_c_opt can also be determined differently for left and right-hand curves and used for correction.
  • gradient and incline information or altitude data which are stored as map information KI can be taken into account in the navigation method according to the invention, so that the carbon dioxide emission can be reduced in particular by appropriate control of a hybrid vehicle.

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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)

Abstract

L'invention concerne un procédé pour faire fonctionner un système de navigation (1), en particulier un système de navigation (1) pour un véhicule, selon lequel on enregistre et analyse des informations cartographiques actuelles (KI) et des informations actuelles de véhicule (FI), à l'aide desquelles on détermine une position momentanée de parcours (s_pos) et/ou une allure de parcours futur (s, parcours sur la carte s_map, parcours du véhicule s_fzg), sachant que la qualité (Q) des informations cartographiques actuelles (KI) est établie en comparant les informations actuelles de véhicule (FI) aux informations cartographiques actuelles (KI). Selon l'invention, on détermine au moins un degré de qualité (Q) des informations cartographiques actuelles (KI) en comparant les informations cartographiques actuelles (KI) et les informations actuelles de véhicule correspondantes (FI). Pour déterminer la position momentanée de parcours (s_pos) et/ou l'allure de parcours futur (s), on tient compte des informations cartographiques actuelles (KI) en fonction du degré de qualité (Q) déterminé.
PCT/EP2008/009664 2007-12-12 2008-11-14 Procédé pour faire fonctionner un système de navigation, et système de navigation WO2009074206A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102007059760 2007-12-12
DE102007059760.8 2007-12-12
DE102008012697A DE102008012697A1 (de) 2007-12-12 2008-03-05 Verfahren zum Betrieb eines Navigationssystems und Navigationssystem
DE102008012697.7 2008-03-05

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US8825394B2 (en) 2011-07-15 2014-09-02 Scania Cv Ab Graphical user interface
US9200905B2 (en) 2011-07-15 2015-12-01 Scania Cv Ab Handling of errors in map data
EP2578996B1 (fr) * 2008-02-15 2018-10-17 Continental Teves AG & Co. OHG Système de véhicule destiné à la navigation et/ou l'assistance au conducteur
EP3432203A1 (fr) * 2017-07-18 2019-01-23 Volkswagen Aktiengesellschaft Itinéraire prédictif d'un véhicule
DE102018220799A1 (de) * 2018-12-03 2020-06-04 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrzeugs
DE102019207215A1 (de) * 2019-05-17 2020-11-19 Robert Bosch Gmbh Verfahren zum Verwenden einer merkmalbasierten Lokalisierungskarte für ein Fahrzeug

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DE102010012877A1 (de) 2010-03-26 2011-09-29 Continental Automotive Gmbh Bewertung von Karteninformationen
DE102010028090A1 (de) * 2010-04-22 2011-12-01 Robert Bosch Gmbh Navigationssystem und Navigationsverfahren für Fahrzeuge
US9423261B2 (en) * 2013-02-19 2016-08-23 Here Global B.V. Path curve confidence factors
US9562779B2 (en) 2014-12-23 2017-02-07 Here Global B.V. Method and apparatus for providing a steering reliability map based on driven curvatures and geometry curvature
DE102015218811A1 (de) 2015-09-29 2017-03-30 Continental Teves Ag & Co. Ohg Vorrichtung zum Erzeugen einer digitalen topographischen Positionskarte in einem Fahrzeug
DE102015220695A1 (de) * 2015-10-22 2017-04-27 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bewerten des Inhalts einer Karte
DE102015013943B4 (de) 2015-10-28 2020-10-22 Audi Ag Testen eines Navigationssystems eines Kraftfahrzeugs
DE102015223825A1 (de) * 2015-12-01 2017-06-01 Bayerische Motoren Werke Aktiengesellschaft Navigationsdatenbank und Verfahren mit einer besseren Abschätzung der Zuverlässigkeit der Navigationsdaten
DE102018216795A1 (de) * 2018-09-28 2020-04-02 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs

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EP2578996B1 (fr) * 2008-02-15 2018-10-17 Continental Teves AG & Co. OHG Système de véhicule destiné à la navigation et/ou l'assistance au conducteur
US8825394B2 (en) 2011-07-15 2014-09-02 Scania Cv Ab Graphical user interface
US9200905B2 (en) 2011-07-15 2015-12-01 Scania Cv Ab Handling of errors in map data
EP3432203A1 (fr) * 2017-07-18 2019-01-23 Volkswagen Aktiengesellschaft Itinéraire prédictif d'un véhicule
US10907973B2 (en) 2017-07-18 2021-02-02 Volkswagen Ag Predictive routing of a transportation vehicle
DE102018220799A1 (de) * 2018-12-03 2020-06-04 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrzeugs
US11415987B2 (en) 2018-12-03 2022-08-16 Robert Bosch Gmbh Method for operating a vehicle
DE102019207215A1 (de) * 2019-05-17 2020-11-19 Robert Bosch Gmbh Verfahren zum Verwenden einer merkmalbasierten Lokalisierungskarte für ein Fahrzeug

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