WO2010000706A1 - A method of resolving a location from encoded data representative thereof - Google Patents
A method of resolving a location from encoded data representative thereof Download PDFInfo
- Publication number
- WO2010000706A1 WO2010000706A1 PCT/EP2009/058130 EP2009058130W WO2010000706A1 WO 2010000706 A1 WO2010000706 A1 WO 2010000706A1 EP 2009058130 W EP2009058130 W EP 2009058130W WO 2010000706 A1 WO2010000706 A1 WO 2010000706A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- location
- candidate
- digital map
- nodes
- location reference
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- 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
-
- 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
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/10—Map spot or coordinate position indicators; Map reading aids
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/10—Map spot or coordinate position indicators; Map reading aids
- G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means
Definitions
- the present invention is concerned with a method of resolving a location represented by data encoded according to one or more predetermined formats, and more specifically is concerned with a method for accurately determining a location within a digital map, such as those created and sold by Tele Atlas B. V. and Navteq Inc., in a manner which is not dependent on the particular digital map used during a decoding process and yet is identical to the originally encoded location.
- the method can be considered as map- agnostic, but the manner in which the decoding occurs, as opposed to the resolving of decoded data into a location, will inevitably be dependent on the predetermined format chosen.
- location in the context of digital mapping can mean any of a variety of different physical, real-world features (e.g. a point location on the surface of the earth, a continuous path or route, or a contiguous chain of such, of navigable thoroughfares existing on earth, or an area or region on earth capable, in the case of a rectangular, square or circular area, of being defined by two or more parameters), this invention is most applicable to an encoded data representation of a path through a network of roads or other navigable thoroughfares represented in a digital map.
- Any modern digital map (or mathematical graph, as they are sometimes known) of a road network in its simplest form, is effectively a database consisting of a plurality of tables defining firstly nodes (which can be considered as points or zero-dimensional objects) most commonly representative of road intersections, and secondly lines between those nodes representing the roads between those intersections.
- lines may be divided into segments defined by a start node and end node, which may be the same in the case of a segment of zero length, but are more commonly separate.
- Nodes may be considered real or "valid" for the purposes of this application when they represent a road intersection at which a minimum of 3 lines or segments intersect, whereas “artificial” or “avoidable” nodes are those which are provided as anchors for segments not being defined at one or both ends by a real node.
- These artificial nodes are useful in digital maps to provide, among other things, shape information for a particular stretch of road or a means of identifying the position along a road at which some characteristic of that road changes, e.g. a speed limit.
- nodes and segments are further defined by various attributes which are again represented by data in the tables of the database, e.g. each node will typically have latitude and longitude attributes to define its real-world position.
- the complete "graph" of the road network is described by millions of nodes and segments to cover an area of spanning one or more countries, or part thereof.
- TMC Traffic Message Channel
- a TMC message consists of an event code (which need not be traffic-specific, although these are most common) and a location code, often consisting of an ordered list of location references by means of which the location of the traffic event can be determined in the digital map and thus represented graphically on the screen of the navigation system.
- a number of pre-defined nodes in most commercially available digital maps are assigned a TMC location reference which is determined with reference to a limited location table.
- the location table consists of 2 16 (65536) location references corresponding to a similar number of physical or real world locations, usually road intersections, also identifiable in the digital map.
- TMC messages are very efficient in that they can be as short as 37 bits in length and therefore do not impinge significantly on available bandwidth for broadcast data, only a fixed number of location references are available, and therefore typically only motorways and major highways (or intersections thereon) in each country offering TMC can be referenced. There are various other disadvantages of TMC location references. For instance, TMC location tables are
- TMC location reference is intrinsically simple in that a simple queries can be performed in the digital map database for each TMC location code resulting in immediate identification of the relevant correct nodes and segments (each map provider will include TMC location codes as part of the map production process ensuring precision), and thus the location can be immediately resolved.
- TMC location codes are simply inadequate as far resolution is concerned.
- AGORA-C Dynamic Location Referencing project
- a location reference can be completely specified by a set of location points, specified by coordinate pairs of latitude and longitude and ordered in a list, each point complying with various rules but most importantly being consecutive in terms of the location being referenced and the previous point in the list, i.e. successive points form a next-point-relationship.
- each point is provided with a number of attributes which assist in better defining that point, but specific to the AGORA-C method is the identification of each point as one of a location point, an intersection point, a routing point, or some combination of these three.
- intersection point Each point along the location at which the road section signature changes is represented by an intersection point, so locations being paths over a road network and which pass through intersections without any road section signature change need not be referenced by an intersection point. For example, if a location includes a section of motorway which includes junctions that are not relevant as far as the location is concerned, then there is no need to include intersection points for such junctions.
- One of the earlier steps in the AGORA-C encoding method is the determination of all intervening intersection points between a first and a last intersection point along the location at which a change of road section signature occurs.
- Routing points are added to a table of points ultimately forming part of the AGORA-C location reference. Within this table, at least two routing points will also have been identified, again according to certain rules. Routing points are provided where an intersection points alone are insufficient to unambiguously determine the correct location in the decoder, and are either added as separate points, or where a required routing point coincides with existing intersection point, a simple attribute change on the latter is effected. Although this referencing approach is comprehensive in that it is possible to accurately and repeatably encode and decode any location existing within a geographical information system, it is believed that that the system is excessive and possibly redundant in certain aspects, and a more efficient encoding and decoding system is possible.
- the referencing method is independent of any pre-compilation work and is map- independent, the average AGORA-C message size is significantly higher than 30 bytes per location reference.
- the devices which might commonly decode location references such as personal navigation devices, PDAs, mobiles, or in-car integrated navigation systems, it is desirable that the received message be as short as possible to enable rapid decoding and ultimate resolution of the location represented thereby.
- a method of resolving a location from an ordered list of location reference points being representative of nodes in an encoder digital map and each having attributes representative of a specific line or segment in said encoder digital map emanating from or incident at those nodes, comprising the steps of:
- step (iii) repeating step (ii) for each consecutive pair of location reference points up to and including the final location reference point appearing in the list.
- the route search is a shortest path route search, or includes an element which is fundamentally related to the distance between the start and end point used as inputs to the route search.
- Different types of route searches may therefore be considered, such as Dijkstra's algorithm or A*.
- the route search operates on respective pairs of successive candidate nodes, and includes a means of ensuring that the corresponding line or segment of the first of the pair of nodes forms part of the route resulting therefrom.
- the candidate nodes identified are real nodes in that they are representative of real world intersections, which in all probability will therefore be present in said second digital map.
- the step of extracting each line or segment from the second digital map is enhanced by storing each of said extracted lines or segments in a location path list.
- each location path list thus created for each successive route search is preferably either concatenated in a final step or alternatively each of the extracted lines or segments for a succeeding route search are appended to the pre-existing location path list, the ultimate effect being the same, that is to provide a means of completely identifying the location.
- the method includes the further step of rating said identified candidate nodes according to one or more prescribed metrics, and thus identifying a most likely candidate node or providing a ranking of candidate nodes. Also preferably, in the case where more than one candidate line or segment existing in the second digital map is identified for a candidate or most likely candidate node, then the method includes the step of similarly rating those candidate lines or segments resulting in the identification of a most likely candidate line or segment or providing a ranking of candidate lines or segments.
- the step of rating one or both of the candidate nodes and candidate lines or segments is achieved by applying a rating function.
- the rating function includes a candidate node rating part and a candidate line or segment rating part.
- the candidate node rating part of the rating function includes some dependence on a representative or calculated distance between the location reference point or its absolute coordinates, and said candidate nodes or their absolute coordinates as appearing in and extracted from said second digital map.
- the candidate line or segment rating part of the rating function includes a means of assessing the similarity of the line or segment attributes as appearing in the encoder digital map and those appearing in the second digital map used in resolving the location.
- the method includes the further steps of:
- the method includes the final step of applying any offset value which may be associated with the first and last location reference points to the first and last lines in the resulting list of lines or segments present in the second digital map and which together provide a complete and continuous representation of the location.
- a computer program element comprising computer program code means to make a computer execute the method as set out above.
- a computer program embodied on computer readable medium there is provided such a computer program embodied on computer readable medium.
- a computing device optionally handheld, and being one of a personal navigation device (PND), a personal digital assistant (PDA), mobile telephone, or indeed any computing apparatus capable of executing the computer program set out above, and including as a minimum a processor and storage in which said program can reside, said storage also including a digital map, and means for information output.
- the means for information output will consist of a display screen on which a graphical representation of said digital map can be displayed.
- the resolved location or a portion of it is displayed in superposed, overlaid, juxtaposed or in conjunction with the relevant portion of the digital map to which it relates.
- the computing device may only or additionally include audio information output means.
- the present invention provides exceptional advantage over known techniques in that a potentially lengthy location can be resolved using only relatively few location reference points and their corresponding attributes. From these basic elements, candidate nodes and lines or segments can be identified with reference to any modern digital map, as the invention takes advantage of the fact that most modern digital maps include practically every road intersection and provide a node for them. Furthermore, the majority of digital maps also include at least some basic attributes for the form and class of roads between such intersections. If such are present in the second digital map used in the resolution process, then it is possible to make a comparison of the attributes and make a judgement as to whether one line or segment identified in the second digital map is more suitable than another. Finally, the invention makes use of a bearing calculation to further and better identify candidate lines in the second digital map, and to provide a means of ranking them where many candidate lines are identified.
- the bearing attribute is a calculated attribute both on the encoder side and during the resolution method and not one generally forming part of the digital map. However, it can be accurately calculated and it is found to be very useful in accurately identifying and/or rating candidate lines.
- the shortest path route search is also useful as it is one of the simplest route search algorithms available, well known and rapid to implement and execute.
- a further useful advantage is the route search algorithm employed in the encoder need not necessarily be the same as that used during resolution of the location post-transmission. For example, it is possible to implement an A* on encoder side and a Dijkstra algorithm on decoder side.
- Figure 1 shows a schematic flowchart of the method of the present invention
- Figures 2-5 provide schematic representations of a first digital map including nodes and segments and in particular Figure 2 illustrates an example network
- Figure 3 illustrates a location path desired to be encoded within that network
- Figure 4 illustrates the shortest path between start and end nodes of an extended path which partially includes that location
- Figure 5 illustrates the location reference points required to completely reference that location
- Figures 6-11 provide schematic representations of a second digital map including nodes and segments and in particular Figure 6 illustrates the network of Figure 2 but as represented by nodes and segments appearing in the second digital map
- Figure 7 illustrates candidate nodes identified within the second digital map
- Figure 8 illustrates the candidate lines identified within the second digital map
- Figure 9 illustrates the most likely candidate lines by which the location is completely referenced
- Figure 10 shows the shortest path as algorithmically determined between the most likely lines
- Figure 11 shows the location as resolved
- Figures 12-20 provide various schematic illustrations useful in the context of the logical and physical data formats, described below, and specifically, Figure 12 shows the required consecutive connection of location reference points (LRPs), Fig. 13 illustrates how a bearing is calculated for one LRP as regards a following LRP, Fig. 14 shows how bearings can vary, Fig. 15 demonstrates how a "distance to next point" attribute is determined for a LRP, Fig. 16 illustrates the use of offsets, Fig. 17 shows the manner in which LRPs are provided with attributes, Figs. 18/19 illustrates nodes to be avoided during the encoding of a location reference, and Fig. 20 illustrates how bearing values for a LRP fall within 1 of 32 discrete sectors of a circle.
- LRPs location reference points
- a first (encoder) digital map is shown in Figure 2 and consists of 15 nodes and 23 lines (two-way lines are counted twice). The nodes are numbered from (T) to (15). The necessary line attributes are shown beside every line using the format: ⁇ FRC>, ⁇ F0W>, ⁇ Length in meter>.
- FRC is an abbreviation for "Functional Road Class”
- FOW is an abbreviation for "Form of Way", both of which are described in greater detail in the Appendix below.
- the arrowheads indicate the possible driving direction for each line.
- the location to be encoded is shown in Figure 3 using bold lines.
- the location starts at node (I) and continues over the nodes (5), ⁇ , @, (Tj), (13), @and ends at node (15).
- Its total length in the encoder map is 685 meters.
- the ordered list of lines and the map to be used during encoding serves as input for the encoder.
- the location will first be checked for validity. Since the location is connected and drivable and all functional road classes along the location are between 0 and 7, this location is considered valid. While it is possible in the encoding process to include a check as to whether turn restrictions within map data are enabled or not, this step is omitted for brevity here.
- the encoder second step is to check the start and end node of the location as being real nodes according to certain predetermined data format rules.
- the end node (15) has only one incoming line and is therefore valid.
- the start node (D also has two incident lines but here it is one outgoing and one incoming line. Therefore this node is not valid and the encoder searches for a real node outside the location.
- the encoder will find node (T) to be a real node and it also expands the location uniquely.
- Node (T) is chosen as the new start node for the location reference and there will be a positive offset of 150 meters.
- the total length of the location reference path results in 835 meters.
- the third step of encoder is to proceed to calculate a shortest-path between the start line (line between nodes (T) and ( ⁇ )) and the end line (line between nodes@ and (15)) of the location.
- the resulting shortest-path is outlined in Figure 4 using bold lines.
- the shortest- path has a length of 725 meters.
- the next (4 th ) step of the encoding process is now to check whether the location is covered by the calculated shortest-path. It will determine that this is not the case and there is a deviation after node @.
- the encoder will determine the line from node @ to (fj) as becoming a new intermediate location reference point.
- Node @ is a real node since it cannot be stepped over during route search and the shortest-path to this line covers the corresponding part of the location completely.
- the length of the location being covered after this first shortest-path calculation is 561 meters.
- the next encoding step prepares the route calculation in order to determine a shortest- path for the remaining part of the location (from node @ over (fj), (13) and @ to (15)).
- the shortest-path calculation will therefore start at the line from @ to (fj) and ends at the line from @ to ⁇ .
- the encoder returns to step 3 above and will determine a shortest path (length: 274 meters) between @ and (15) and step 4 above will return that the location is now completely covered by the calculated shortest paths.
- the location reference path will be composed of the two shortest-paths and the ordered list of location reference points will now be formed.
- Figure 5 shows the lines in bold which are selected for the location reference points.
- the first location reference point points to the line from node (T) to (3) and indicates the start of the location reference path
- the second location reference point points to the line from node @ to (fj) and this line was necessary to avoid the deviation from the location.
- the last location reference point points to the line from node @ to (15) and indicates the end of the location reference path.
- the final step (excluding any intervening validity checks) is the conversion of the ordered list of LRPs into a Binary location reference, and the description provided in the Appendix hereof for both the Logical Data Format and Physical Data Format as prescribed by the applicant will assist in the reader's understanding. It is to be emphasised that the description provided in the Appendix and providing details of the specific formats is provided only as an example, and the skilled reader will appreciate that other formats are possible.
- the physical data ultimately transmitted is a binary representation of the three location reference points identified above and includes attribute data in order that the appropriate lines can be identified.
- One of the fundamental bases for this invention is that there is a strong possibility that the digital maps used in the encoder and decoder will be different. Of course, they may be the same in which case the location may be resolved slightly more quickly as candidate nodes lines will be more exactly and quickly identified, but in any event, the method of the invention must still be applied.
- the first step 102 in the process is to decode the incoming or wirelessly transmitted (most commonly in the case of a mobile device) binary data (or XML or other machine-readable representation) resulting from the earlier encoding process and structured according to the physical data format.
- the decoding of this binary data is not an essential element of the invention, which applies to the resolution of a location from a list of location reference points - the decoding of the binary data is merely a means of identifying the requisite location reference points.
- a validity check is performed - failure at this initial step will result in termination of the procedure and the reporting of an error as indicated at 124.
- the encoding process and reduction to physical format is a lossy process, and therefore the information extracted from the binary data will not be as accurate as before creating the binary stream.
- the exact value cannot be extracted and therefore precision is limited to a small interval containing the exact value.
- This information is sufficient to resolve the location on the decoder map shown in Fig.6.
- This map consists of 17 nodes and 26 lines (two-way lines are counted twice). To avoid confusion, all nodes referenced in the decoder map are prefaced with "X".
- This map differs from the encoder map (see Fig. 2) in several ways. Some length values are different (e.g. line from node X(3) to X ⁇ ), some functional road class values have changed (e.g. line from node X(3) to X ⁇ ) and there are two more nodes X(J6)and X(J7) and also additional lines connecting these new nodes.
- the challenge of the decoder is to resolve the location in this different map.
- the decoder After validating the data, and providing a list of decoded location reference points (LRPs) and their attributes, as indicated at step 112 in Figure 1, the decoder then begins processing each LRP in the list at step 114 to firstly determine candidate nodes for each LRP.
- the result of this processing which quite simply effected by using the LRP coordinates and identifying the nearest node(s) appearing in the decoder digital map 118 (as indicated generally at 116) is to provide a list of candidate nodes for each LRP.
- Map Nodes being distant from the LRPs by greater than a predetermined threshold value can be eliminated, as shown at 120.
- Figure 7 shows the candidate nodes (bold circle) which are positioned close by the coordinates of the location reference points. For the location reference point 1 and 2 (In tables 1 & 2 above), in this example, there exists only one candidate node but for the last location reference point two candidate nodes X(J6)and X(J7) are possible.
- candidate lines for each location reference point are also identified.
- the bold lines in Fig. 8 are the candidate lines for this example.
- the first LRP is represented by candidate point X(T) which in turn has two outgoing lines as candidates, the second LRP having candidate point X® has three outgoing lines as candidate and the last location reference point has two incoming lines (one for each candidate node X ⁇ and X®). If the processing conducted at 114 fails to identify a candidate line for any of the LRPs, then the process must fail, as indicated at 122, 124. Once the processing is complete, list(s) of candidate nodes and lines for each LRP are provided at 126.
- a rating function 128 is applied to the lists of candidate nodes and/or lines (preferably both) according to their compliance with the attributes of the location reference point.
- the important aspect to the rating function is that its application will result in a ranking of one but preferably both of the candidate nodes and lines according to one or more metrics.
- a rating function or part thereof specific to nodes may include some measure of the distance of candidates to the physical or geographic position of the decoded LRP, and that a rating function or part thereof specific to candidate lines will include some means of assessing the correlation between the type of candidate line identified and those represented in the decoded data, and possibly also some bearing of those candidate and identified lines.
- most likely candidates are identified at step 130 in Figure 1, and this can be seen in the network illustrated in Figure 9 - specifically, the most likely candidate lines are those between nodes X(T) and X(3), between X® and X(Ii) / a r
- the shortest-path calculation is performed on each successive pair of LRPs starting with the first and the second LRPs, and as shown by arrow 134 in Figure 1, this shortest path algorithm determines a route through the digital map 118 using said most likely candidate nodes and lines resulting ultimately in the identification of the route shown in Figure 10.
- Each shortest path so determined may be validated in step 136 by determining a path length value between the start node and end node of that path, and then comparing this value to the available DNP attribute specified in the data for each LRP, as indicated by arrow 138.
- the length of the first shortest-path (from node X(T) to node X®) is 557 meters and this value fits into the DNP interval of the first LRP seen above in Table 2 (527.4 meters - 586.0 meters).
- the length of the second shortest-path (from node X® to node X ⁇ ) is 277 meters and this value also fits into the DNP interval of the second LRP (234.4 meters - 293.0 meters).
- the shortest-paths are therefore validated and the decoder does not fail but instead proceeds to steps 140 and 142, firstly providing a concatenated format, i.e.
- step 142 trimming the concatenated shortest-path according to the offsets retrieved as shown schematically by arrow 144.
- the shortest path is trimmed at its start, as clearly shown in Figure 11.
- the only node fitting in the positive offset interval (Table 3 above, 117.2 meters - 175.8 meters) is node X(3).
- the present invention provides a highly reliable and efficient method of resolving a location from received encoded data.
- the particulars of the logical and physical data formats are now provided by way of example. The reader should be aware that the following Appendix provides only one of many possible specific definitions for these formats.
- a location reference is a description of a designated part of a digital map or a sequence of geographical positions. For this description we use the model of location reference points (LRPs, see 1.1.1).
- a location reference for line locations contains at least two LRPs but there is no maximum number of LRPs defined.
- the location reference path is the path in the digital map described by the LRPs and can be found by a shortest-path calculation between each consecutive pair of LRPs.
- the logical data format describes the logical model for location references according to the MapLocTM standard.
- LRP Location Reference Point
- LRPs location reference points
- the coordinate pair (see 1.1.3.1) represents a geographical position within a map/network and is mandatory for a LRP.
- the coordinate pair belongs to a "real" node within a network.
- the attributes (see section 1.1.3.2 to 1.1.3.6) describe values of a line within a network at which the line is incident to the node described by the coordinate pair. In this context it is not defined if the attributes refer to an incoming or outgoing line regarding the node. This will be specified in section 1.2.
- the location reference points shall be stored in a topological order or "next point"-relationship of successive LRPs. The last point in this order will have no next point in this relationship.
- Figure 12 shows an example of this relationship.
- the LRPs are indicated by Al, Bl and Cl and the black lines and arrows indicate the order of the points from Al to Cl in the location reference path.
- the LRP Al will have Bl as next point
- Bl will have Cl as next point
- Cl will have no next point.
- This section describes the components of a location reference point.
- Coordinate pair stands for a pair of WGS84 longitude (Ion) and latitude (lat) values. This coordinate pair specifies a geometric point in a digital map. The Ion and lat values are stored in a decamicrodegrees resolution ( 10 ⁇ 5 , or five decimal points).
- COORD Type (float, float)
- the functional road class is a road classification based on the importance of a road.
- the possible values of the FRC attribute are shown in Table A2. If there are more FRC values defined than these 8 location reference values then a proper mapping needs to be done or less important classes needs to be ignored.
- FOW The form of way (FOW) describes the physical road type.
- the possible values of the FOW attribute are shown in Table A3.
- the bearing describes the angle between the true North and a line which is defined by the coordinate of the LRP and a coordinate which is BEARDIST along the line defined by the LRP attributes. If the line length is less than BEARDIST then the opposite point of the line is used (regardless of BEARDIST). The bearing is measured in degrees and always positive (measuring clockwise from North).
- the parameter BEARDIST is defined in Table A4.
- Figure 13 shows how the second point for the bearing calculation is determined.
- the figure shows a line from A2 to B2 which is longer than BEARDIST.
- the shaded part of this line is exactly BEARDIST meters long so that the point marked with B' is BEARDIST meters away from A2 traversing along the line from A2 to B2.
- the straight line from A2 to B' is now considered for the calculation of the bearing value. Note, this is different to the angle that would have been calculated if the opposite node of line (in this case, this would be B2) is used.
- Figure 14 shows two examples of the bearing value calculation. There are two lines, one from A3 to B3 and one from A3 to C3. For both lines the arcs indicate the angles to the North.
- This DNP field describes the distance to the next LRP in the topological connection of the LRPs. The distance is measured in meters and is calculated along the location reference path. The last LRP will have the distance value 0.
- Figure 15 shows an example of the distance calculation and assignment.
- the three LRPs are in a sequence from A4 over B4 to C4. Therefore the distance between A4 and B4 along the location reference path will be assigned to A4.
- the LRP B4 will hold the distance between B4 and C4 and the LRP C4 will have a distance value of 0.
- the lowest FRC (LFRCNP) is the lowest FRC value which appears in the location reference path between two consecutive LRPs.
- the highest FRC value is 0 and the lowest possible FRC value is valued with 7.
- LFRCNP Type integer 1.1.4. Offsets
- Offsets are used to shorten the location reference path at its start and end.
- the new positions along the location reference path indicate the real start and end of the location.
- the positive offset is the difference of the start point of the location reference and the start point of the desired location along the location reference path. The value is measured in meters.
- Figure 16 shows an example for the calculation of the positive and negative offset. The lines are indicating the location reference path and the hatching indicates the desired location.
- NOFF Negative offset
- the negative offset (NOFF) is the difference of the end point of the desired location and the end point of the location reference along the location reference path. The value is measured in meters, (see Fig. 16 also).
- NOFF Type integer
- All attributes are linked to a LRP. For all LRPs (except that last LRP) the attributes describe an outgoing line of the node at the LRP coordinate. The attributes of the last LRP direct to an incoming of the node at the LRP coordinate.
- Figure 17 shows an example for the relationship between a LRP and the attributes.
- the lines indicate the location reference path and the nodes A5, B5 and C5 are the LRPs. Note that there is also a line whose start and end node is not a LRP (the third line in the sequence). This line does not need to be referenced because it is covered by the shortest path between the LRPs B5 and C5.
- the LRPs A5 and B5 direct to an outgoing line and the last LRP C5 directs to an incoming line.
- Rule - 1 The maximum distance between two location reference points shall not exceed 15km. The distance is measured along the location reference path. If this condition is not fulfilled for a location reference then a sufficient number of additional LRPs shall be inserted.
- the maximum distance between two consecutive location reference points is restricted in order to speed up shortest-path computation because several short routes can be computed quicker than one large route if the routing algorithm has to take the whole network into account.
- the restriction also provides the opportunity to from a compact binary format with an acceptable accuracy.
- Two LRPs are mandatory and the number of intermediate LRPs is not limited.
- a line location reference must always have at least two location reference points indicating the start and the end of the location. If the encoder detects critical situations where the decoder (on a different map) might get into trouble, the location reference might be enhanced with additional intermediate LRPs.
- These real network nodes shall be junctions in the real world and it is expected that these junctions can be found in different maps with a higher probability than positions somewhere on a line. Additionally nodes shall be avoided which can be easily skipped during a route search. At these avoidable nodes it is not possible to deviate from a route.
- Nodes having only one incoming and one outgoing line shall be avoided since these nodes are not related to junctions (see Figure 18) and can be stepped over during route search. Nodes which have two incoming and two outgoing lines and there are only two adjacent nodes shall also be avoided (see Figure 19).
- this LRP should be shifted along the location reference path in order to find a suitable node. This can be done since a route calculation will step over such avoidable nodes without leaving the desired path.
- the encoder should expand the location uniquely and should find a suitable node outside of the location. This expansion must never go into the location because this will shorten the location.
- the physical data format describes a byte-oriented stream format for the logical data format specified above. It uses the components described in the logical data format in section 1.1.
- the physical data format uses the following data types. Table gives an overview of all available data types and specifies the name, the type and the designated size of each data type. In the following sections the data type names are used to indicate the size and type for each data component.
- Negative integer values are stored in the two's complement format.
- Each point in a map consists of a coordinate pair "longitude” (Ion) and “latitude” (lat) represented in WGS84 coordinates.
- the directions north and east are represented by positive values (longitude and latitude respectively).
- the Ion and lat values are stored in a decamicrodegrees resolution (10 ⁇ 5 , five decimals).
- the coordinate values will be transmitted as integer values. These values will be generated using Equation El which calculates a 24-bit integer representation. The resolution parameter is set to 24. This translation leads to an error of about 2.4 meter at most. The backward translation is described in Equation E2. Both equations make use of the signum function which is -1 for negative values, 1 for positive values and 0 otherwise.
- Equation E2 Transformation from integer values into decimal coordinates
- the physical format makes use of an absolute and a relative coordinate format.
- the absolute format represents the designated values of the geographical position and the relative value is the offset the coordinates relative to the preceding coordinate.
- the absolute format describes geographical position in a 24-bit resolution.
- Table A7 shows the data type used for the absolute format.
- Equation E3 Relative coordinates calculation
- Table A8 Physical format: Longitude/Latitude ranges for relative coordinates
- Table A9 shows the data type for 2 bytes offsets.
- the functional road class can hold eight different values as described in the logical format. These eight values are represented by 3 bits and the mapping is shown in Table AlO. Data type Value (integer) Value (binary) Description
- the bearing describes the angle between the road and the true North as described in the logical format.
- the physical data format defines 32 sectors whereby each sector covers 11.25° of the circle. These 32 sectors are represented by 5 bits.
- Table A12 shows the data type for the bearing attribute and Table A13 shows the mapping from the sectors to the concrete value.
- Equation E4 outlines the calculation of the bearing value and Figure 20 provides a graphical overview of the sectors.
- angle value , 0° ⁇ angle ⁇ 360° 11.25°
- the DNP attribute measures the distance between two consecutive LRPs along the location reference path as described in the logical format.
- the physical data format defines an 8-bit representation and Table A14 shows the data type used for DNP. This representation defines 255 intervals and in combination with rule 1 of the data format rules (maximum length between two consecutive LRPs is limited by 15000m) each interval will have a length of 58.6 meters.
- Equation E5 shows how the DNP values can be calculated.
- Equation E5 Calculation of the DNP value 1.4.3.5 Lowest FRC to next point (LFRCNP)
- the lowest FRC to the next point indicates the lowest functional road class used in the location reference path to the next LRP. This information could be used to limit the number of road classes which need to be scanned during the decoding. See Table A15 for a definition of the data type.
- BitField[3] 0-7 holds the same values as described in Table
- the Location Reference header contains general information about the reference.
- the version is used to distinguish between several physical and data formats for location references.
- the version number is represented by 3 bits and the data type is shown in Table A16.
- the attribute flag indicates whether there are attributes appended to each LRP or not.
- the AF value is 0 if no attributes are appended and therefore the location reference only consists of coordinates. Otherwise a value of 1 indicates that attributes are appended to each LRP.
- the data type for the AF is shown in Tables A17 and A18.
- Boolean 0, 1 flag indicating whether attributes are appended to each LRP or not
- the area flag indicates whether the location reference describes an area or not. If this flag is set then the location shall be connected and we describe an area, as seen inTables A19 and A20 below.
- Offsets are used to locate the start and end of a location more precise than bound to the nodes in a network.
- the logical format defines two offsets, one at the start of the location and one at the end of the location and both offsets operate along the lines of the location and are measured in meters.
- the offset values are not mandatory and a missing offset value means an offset of 0 meters. Offsets are also only valid for line locations which have attributes included.
- Offset flags indicate whether the data includes a specific offset information or not.
- the physical data format deals with two flags corresponding to the two different offset values.
- the positive offset flag (PoffF) and the negative offset flag (NoffF) are described in Tables A21 and A22.
- location reference data includes the corresponding offset information
- the offset values (positive and negative, POFF and NOFF) indicate the distance between the start (end) of the location reference path and the "real" start (end) of the location.
- the physical data format defines an 8-bit representation for each offset value.
- Table A23 shows the data type used for POFF and NOFF. This representation allows us to define 256 intervals with a length of each interval of 58.6 meters.
- the interval number calculation for offsets is outlined in Equation E6.
- Equation E6 Calculation of offset values 1.5 Physical data format specification
- This section describes the arrangement of the data fields in a byte stream. It is assumed that we have a byte-oriented stream and we can use 8 bits per byte.
- the main structure of the binary format is:
- the Header, the first LRP and the last LRP are mandatory and the number of following LRPs is not limited.
- the Last LRP has its own structure due to a different information level. Offsets are optional and the existence will be indicated by flags in the attributes of the last LRP.
- Table A24 gives an overview of the main structure.
- the stream can be read from the left to the right, so that the first received byte will be the status byte.
- the first received value will be the longitude value followed by the latitude value.
- the status byte is transmitted once for every location reference and contains the area flag (ArF, section 1.4.4.3), attribute flag (AF, section 1.4.4.2) and the version information (VER, section 1.4.4.1).
- the bits 7, 6 and 5 are reserved for future use (RFU) and shall be 0. Table A25 gives an overview of the usage of each bit in the status byte.
- First LRP coordinates 0 The coordinates of the first LRP are transmitted in an absolute format (see section 1.4.2.1) and therefore each value (Ion and lat) will use 3 bytes.
- Table A27 shows the byte order for longitude and latitude values.
- Attributes are added to each LRP. There are 4 different types of attributes depending on the position of a LRP in the location reference.
- the first attribute byte contains the attributes FRC (see section 1.4.3.1) and FOW (see section 1.4.3.2) and two bits are reserved for future use. Table A29 shows the usage of each bit.
- Table A29 First attribute byte - valid for all LRPs 1.5.5.2 Second attribute byte (attr. 2)
- the second attribute byte contains the attributes LFRCNP (see section 1.4.3.5) and BEAR (see section 1.4.3.3). Table A30 shows the usage of each bit. This attribute is not valid for the last LRP since there is no LFRCNP information available.
- Table A30 Second attribute byte - valid for all LRPs, except the last LRP
- the third attribute byte contains the attribute DNP (see section 1.4.3.4) as shown inTable A31. This attribute is not valid for the last LRP since there is no DNP information available.
- the attribute 4 contains the BEAR information, the positive and negative offset flags (see section 1.4.5.1) and one bit is reserved for future use. This attribute is used for the last LRP, as shown in Table A32.
- the positive offset (POFF) and negative offset (NOFF) are only included if the corresponding flags in attribute 4 indicate their existence. Absent offset values indicate an offset of 0 meters. The offset values are calculated according to section 1.4.5., and bit usage for these offsets is shown in Tables A33, A34.
- the message size of a location reference depends on the number of LRPs included in the location reference. There must be at least two LRPs in the location reference. Also mandatory is the header with the status information. The following calculation and Table A35 show message sizes depending on the number of LRPs. • Header
- the location reference consists of three location reference points and Table A36 below shows the coordinates for the nodes (T), @ and (15). These nodes are the corresponding nodes to the location reference points. In preparation of the binary format this table also shows the relative coordinates.
- the node (T) corresponds to the location reference point 1 and will have coordinates in absolute format.
- Node @ corresponding to location reference point 2 will have relative coordinates to the location reference point 1.
- Node corresponding to location reference point 2 will also have relative coordinates but now referencing to location reference point 2.
- the relative longitude and latitude are calculated according Equation E3 above.
- the offsets being calculated in step 2 of the encoding process are shown in Table A37. In the binary data only the positive offset will appear because the negative offset is 0 and a missing offset will be treated as 0.
- Table A38 collects the relevant data for each location reference point from the underlying digital map, and through calculation. This includes the functional road class, the form of way and the bearing of the corresponding line. The needed information about the path between two subsequent location reference points is also shown (lowest functional road class and distance to the next location reference point).
- the BEAR, LFRCNP and DNP attributes are determined as described above:
- Table A39 Binary example: status byte
- Table A40 Binary example: LRP 1 - absolute longitude
- Table A41 Binary example: LRPl - absolute latitude
- Table A42 Binary example: LRPl - attribute 1
- Table A43 Binary example: LRPl - attribute 2
- Table A44 Binary example: LRPl - attribute 3
- Table A45 Binary example: LRP2 - relative longitude
- Table A46 Binary example: LRP2 - relative latitude
- Table A47 Binary example: LRP2 - attribute 1
- Table A48 Binary example: LRP2 - attribute 2
- Table A49 Binary example: LRP2 - attribute 3
- Table A50 Binary example: LRP3 - relative longitude
- Table A51 Binary example: LRP3 - relative latitude
- Table A52 Binary example: LRP3 - attribute 1
- Table A53 Binary example: LRP3 - attribute 4 Description POFF
- the full binary data stream will have a length of 24 bytes and consists of the following (ordered as bytes from left to right and top to down):
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Educational Technology (AREA)
- Educational Administration (AREA)
- Business, Economics & Management (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Instructional Devices (AREA)
- Information Retrieval, Db Structures And Fs Structures Therefor (AREA)
Abstract
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2009265793A AU2009265793A1 (en) | 2008-06-30 | 2009-06-29 | A method of resolving a location from encoded data representative thereof |
US12/736,714 US8818707B2 (en) | 2008-06-30 | 2009-06-29 | Method of resolving a location from encoded data representative thereof |
CA2725692A CA2725692C (en) | 2008-06-30 | 2009-06-29 | A method of resolving a location from encoded data representative thereof |
EP09772406.6A EP2304704B1 (en) | 2008-06-30 | 2009-06-29 | A method of resolving a location from encoded data representative thereof |
CN200980116958.4A CN102027521B (en) | 2008-06-30 | 2009-06-29 | The method of described position is resolved from locative encoded data |
JP2011515416A JP5587306B2 (en) | 2008-06-30 | 2009-06-29 | Method for resolving position from encoded data representing position |
BRPI0912270-2A BRPI0912270B1 (en) | 2008-06-30 | 2009-06-29 | METHOD OF SOLVING A LOCATION OF CODIFIED DATA REPRESENTATIVE OF THE SAME, NON-TRANSITIONAL MEDIA LEGIBLE BY COMPUTER, AND COMPUTER DEVICE |
RU2011103185/08A RU2490714C2 (en) | 2008-06-30 | 2009-06-29 | Method of determining location from encoded signals representing said location |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12949108P | 2008-06-30 | 2008-06-30 | |
US61/129,491 | 2008-06-30 | ||
US19302708P | 2008-10-22 | 2008-10-22 | |
US61/193,027 | 2008-10-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010000706A1 true WO2010000706A1 (en) | 2010-01-07 |
Family
ID=40976557
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2009/058130 WO2010000706A1 (en) | 2008-06-30 | 2009-06-29 | A method of resolving a location from encoded data representative thereof |
PCT/EP2009/058131 WO2010000707A1 (en) | 2008-06-30 | 2009-06-29 | An efficient location referencing method |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2009/058131 WO2010000707A1 (en) | 2008-06-30 | 2009-06-29 | An efficient location referencing method |
Country Status (11)
Country | Link |
---|---|
US (2) | US8626438B2 (en) |
EP (2) | EP2304704B1 (en) |
JP (2) | JP5587306B2 (en) |
KR (2) | KR101640461B1 (en) |
CN (3) | CN105136158B (en) |
AU (2) | AU2009265793A1 (en) |
BR (2) | BRPI0912786B1 (en) |
CA (2) | CA2725697C (en) |
RU (2) | RU2490714C2 (en) |
TW (2) | TWI465692B (en) |
WO (2) | WO2010000706A1 (en) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011127226A1 (en) | 2010-04-09 | 2011-10-13 | Tomtom North America, Inc. | A method of resolving a location from data representative thereof |
WO2012079984A1 (en) * | 2010-12-17 | 2012-06-21 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for compressing route data |
EP2385348A3 (en) * | 2010-03-11 | 2012-06-27 | Hitachi Automotive Systems, Ltd. | Road link string conversion method, road information providing device and road information providing system |
GB2487263A (en) * | 2011-01-11 | 2012-07-18 | Tomtom Dev Germany Gmbh | Map-agnostic on-the-fly location referencing method |
EP2659226A1 (en) * | 2010-12-31 | 2013-11-06 | Tomtom Germany GmbH & Co. KG | Graph based topological map matching |
EP2458332A3 (en) * | 2010-11-24 | 2014-10-15 | Denso Corporation | Road estimation device and method for estimating road |
EP2458330A3 (en) * | 2010-11-24 | 2014-10-15 | Denso Corporation | Road estimation device and method for estimating road |
EP2458334A3 (en) * | 2010-11-24 | 2014-10-22 | Denso Corporation | Road estimation device and method for estimating road |
EP2458333A3 (en) * | 2010-11-24 | 2014-10-22 | Denso Corporation | Road estimation device and method for estimating road |
WO2015082639A1 (en) * | 2013-12-04 | 2015-06-11 | Tomtom Development Germany Gmbh | A method of resolving a point location from encoded data representative thereof |
EP3109594A1 (en) * | 2015-06-22 | 2016-12-28 | HERE Global B.V. | Midpoint-based map-agnostic navigation routing |
EP3470790A4 (en) * | 2016-06-10 | 2020-01-15 | Hitachi Automotive Systems, Ltd. | Information processing device and travel control system |
Families Citing this family (43)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6587781B2 (en) | 2000-08-28 | 2003-07-01 | Estimotion, Inc. | Method and system for modeling and processing vehicular traffic data and information and applying thereof |
US7620402B2 (en) | 2004-07-09 | 2009-11-17 | Itis Uk Limited | System and method for geographically locating a mobile device |
JP5535711B2 (en) * | 2010-03-24 | 2014-07-02 | アルパイン株式会社 | Car navigation system and traffic information display method |
US8496164B2 (en) * | 2010-05-19 | 2013-07-30 | Arinc Incorporated | Method and apparatus for customer/passenger specific interactive flight information data notification using boarding pass barcode scanning capabilities on low-cost display devices |
US8723888B2 (en) | 2010-10-29 | 2014-05-13 | Core Wireless Licensing, S.a.r.l. | Method and apparatus for determining location offset information |
EP2500887B1 (en) * | 2011-03-17 | 2020-09-09 | Harman Becker Automotive Systems GmbH | Description of a Road Segment Using ISO 17572-3 |
GB2492369B (en) | 2011-06-29 | 2014-04-02 | Itis Holdings Plc | Method and system for collecting traffic data |
EP2729458B1 (en) | 2011-07-08 | 2016-10-05 | Syngenta Participations AG | Processes for the preparation of thietanamine |
TWI454663B (en) * | 2011-11-22 | 2014-10-01 | Core Wireless Licensing Sarl | Method, apparatus and computer-readable storage medium for determining location offset information |
TWI475192B (en) * | 2012-05-11 | 2015-03-01 | Wistron Corp | Navigation method, navigation system and map data downloading metnod for navigation |
US9159153B2 (en) | 2012-06-05 | 2015-10-13 | Apple Inc. | Method, system and apparatus for providing visual feedback of a map view change |
US9997069B2 (en) | 2012-06-05 | 2018-06-12 | Apple Inc. | Context-aware voice guidance |
US10156455B2 (en) | 2012-06-05 | 2018-12-18 | Apple Inc. | Context-aware voice guidance |
US9111380B2 (en) * | 2012-06-05 | 2015-08-18 | Apple Inc. | Rendering maps |
US10176633B2 (en) | 2012-06-05 | 2019-01-08 | Apple Inc. | Integrated mapping and navigation application |
US9482296B2 (en) | 2012-06-05 | 2016-11-01 | Apple Inc. | Rendering road signs during navigation |
US9886794B2 (en) | 2012-06-05 | 2018-02-06 | Apple Inc. | Problem reporting in maps |
US9052197B2 (en) | 2012-06-05 | 2015-06-09 | Apple Inc. | Providing navigation instructions while device is in locked mode |
US9418672B2 (en) | 2012-06-05 | 2016-08-16 | Apple Inc. | Navigation application with adaptive instruction text |
US11935190B2 (en) | 2012-06-10 | 2024-03-19 | Apple Inc. | Representing traffic along a route |
US9171464B2 (en) | 2012-06-10 | 2015-10-27 | Apple Inc. | Encoded representation of route data |
GB201219742D0 (en) * | 2012-11-02 | 2012-12-12 | Tom Tom Int Bv | Methods and systems for generating a horizon for use in an advanced driver assistance system (adas) |
CN103106258B (en) * | 2013-01-24 | 2016-02-10 | 北京世纪高通科技有限公司 | A kind of method of dynamic position decoding and device |
US9063916B2 (en) | 2013-02-27 | 2015-06-23 | Oracle International Corporation | Compact encoding of node locations |
US8942727B1 (en) | 2014-04-11 | 2015-01-27 | ACR Development, Inc. | User Location Tracking |
US9413707B2 (en) | 2014-04-11 | 2016-08-09 | ACR Development, Inc. | Automated user task management |
CN105677686B (en) * | 2014-11-21 | 2019-06-21 | 高德软件有限公司 | A kind of road codes method and device |
KR101776739B1 (en) | 2016-04-29 | 2017-09-08 | 현대자동차 주식회사 | Navigation and traffic information matching method thereof |
MX2018015694A (en) * | 2016-06-22 | 2019-05-27 | Ericsson Telefon Ab L M | Candidate link locating by a wireless terminal. |
TWI585365B (en) * | 2016-10-13 | 2017-06-01 | 范振國 | Indoor navigation system and method based on relevancy of road signs |
CN107818131A (en) * | 2017-09-20 | 2018-03-20 | 上海保橙网络科技有限公司 | A kind of method for comparing travel paths using string of binary characters |
CN107832376B (en) * | 2017-10-30 | 2020-05-12 | 沈阳世纪高通科技有限公司 | Method and device for selecting position reference point |
CN110345950B (en) * | 2018-04-08 | 2021-06-08 | 阿里巴巴(中国)有限公司 | Road coding method and road matching method |
US11035681B2 (en) * | 2018-07-20 | 2021-06-15 | Verizon Patent And Licensing Inc. | Preserving original route information after recalculation of a route |
WO2020157990A1 (en) * | 2019-02-01 | 2020-08-06 | 日本電気株式会社 | Path planning device, path planning method, and computer-readable recording medium |
EP3742116A1 (en) * | 2019-05-22 | 2020-11-25 | Harman Becker Automotive Systems GmbH | Path data for navigation systems |
CN110618684A (en) * | 2019-10-18 | 2019-12-27 | 辽宁瀚海工业机电设备有限公司 | AGV control method based on binary code and server thereof |
US10969232B1 (en) * | 2019-12-06 | 2021-04-06 | Ushr Inc. | Alignment of standard-definition and High-Definition maps |
WO2021192054A1 (en) * | 2020-03-24 | 2021-09-30 | 三菱電機株式会社 | Map matching device and map matching method |
CN111860885B (en) * | 2020-07-07 | 2024-04-05 | 智能云科(沈阳)信息科技有限公司 | Method for identifying process route abnormality |
DE102021205517A1 (en) | 2021-05-31 | 2022-12-01 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for determining an attribute on a digital map for a vehicle |
KR102474014B1 (en) * | 2022-03-28 | 2022-12-06 | 주식회사 위밋모빌리티 | Method and apparatus for finding matching routes between different map databases |
CN115292434B (en) * | 2022-09-29 | 2022-12-13 | 四川省交通勘察设计研究院有限公司 | GIS route visualization interaction method based on map engine |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11258981A (en) * | 1998-03-11 | 1999-09-24 | Alpine Electronics Inc | Map data updating method of navigation device |
US20030083813A1 (en) * | 2001-10-31 | 2003-05-01 | Samsung Electronics Co., Ltd. | Navigation system for providing real-time traffic information and traffic information processing method by the same |
US20040039524A1 (en) * | 2001-01-29 | 2004-02-26 | Matsushita Electric Industrial Co., Ltd | Method and apparatus for transmitting position information on a digital map |
US20050187708A1 (en) * | 2001-04-23 | 2005-08-25 | Lg Electronics Inc. | Apparatus and method for processing traffic information |
Family Cites Families (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7003A (en) * | 1850-01-08 | Method oe counterbalancing sash by means of a heavy weight | ||
US6092022A (en) * | 1997-02-28 | 2000-07-18 | Trimble Navigation | Optimal survey map projection system |
WO1998054682A1 (en) * | 1997-05-30 | 1998-12-03 | Booth David S | Generation and delivery of travel-related, location-sensitive information |
US6192314B1 (en) | 1998-03-25 | 2001-02-20 | Navigation Technologies Corp. | Method and system for route calculation in a navigation application |
RU2153194C1 (en) * | 1999-06-21 | 2000-07-20 | Ашурков Виктор Васильевич | Method for detection of optimal route for vehicle which drives in city |
JP2001021377A (en) | 1999-07-12 | 2001-01-26 | Clarion Co Ltd | Automobile navigation system and recording medium for navigation |
EP1224645B2 (en) | 1999-09-07 | 2010-02-17 | Robert Bosch Gmbh | Method for coding and decoding objects in a road traffic network |
AU7991400A (en) * | 1999-10-19 | 2001-04-30 | American Calcar, Inc. | Technique for effective navigation based on user preferences |
US6405128B1 (en) * | 1999-12-20 | 2002-06-11 | Navigation Technologies Corp. | Method and system for providing an electronic horizon in an advanced driver assistance system architecture |
US6415226B1 (en) * | 1999-12-20 | 2002-07-02 | Navigation Technologies Corp. | Method and system for providing safe routes using a navigation system |
JP2001289646A (en) * | 2000-04-06 | 2001-10-19 | Ap One System Co Ltd | Position information display system |
DE10061044C2 (en) * | 2000-12-08 | 2002-10-31 | Bosch Gmbh Robert | Procedure for the automatic deletion of a traffic report |
JP3656604B2 (en) | 2001-04-27 | 2005-06-08 | 住友電気工業株式会社 | Link travel time estimation apparatus and method |
US6594576B2 (en) * | 2001-07-03 | 2003-07-15 | At Road, Inc. | Using location data to determine traffic information |
RU2208765C1 (en) * | 2001-12-11 | 2003-07-20 | 16 Центральный научно-исследовательский испытательный институт | Navigational device |
TWI245511B (en) * | 2002-01-10 | 2005-12-11 | Harris Corp | Wireless communication network including directional and omni-directional communication links and related methods |
JP2003233768A (en) * | 2002-02-12 | 2003-08-22 | Univ Tokyo | Dual dijkstra's algorithm for searching a plurality of routes |
US7221287B2 (en) * | 2002-03-05 | 2007-05-22 | Triangle Software Llc | Three-dimensional traffic report |
JP3909831B2 (en) | 2002-03-28 | 2007-04-25 | 松下電器産業株式会社 | Shape vector generation apparatus, shape vector generation method, and shape vector generation program |
AU2003223090A1 (en) | 2002-04-30 | 2003-11-17 | Telmap Ltd. | Template-based map distribution system |
EP1532600B1 (en) | 2002-08-29 | 2008-03-26 | Itis Holdings Plc | Apparatus and method for providing traffic information |
US7079946B2 (en) * | 2003-08-29 | 2006-07-18 | Denso Corporation | Iterative logical renewal of navigable map database |
KR100667487B1 (en) * | 2004-04-23 | 2007-01-10 | 엘지전자 주식회사 | Method for mapping map data |
KR100667518B1 (en) * | 2004-04-23 | 2007-01-10 | 엘지전자 주식회사 | Apparatus and method for processing traffic information |
CN100334429C (en) * | 2004-05-08 | 2007-08-29 | 曲声波 | Data storage and update method for electronic map |
JP2005345527A (en) | 2004-05-31 | 2005-12-15 | Matsushita Electric Ind Co Ltd | Map information correcting system, map information correction method, program, map information provision system using the same, and information acquisition system |
DE102004044968A1 (en) | 2004-09-16 | 2006-04-06 | Siemens Ag | Navigation system and method for determining a route |
US20060247852A1 (en) * | 2005-04-29 | 2006-11-02 | Kortge James M | System and method for providing safety-optimized navigation route planning |
RU2272255C1 (en) | 2005-05-11 | 2006-03-20 | Общество с ограниченной ответственностью "АЛЬТОНИКА" (ООО "АЛЬТОНИКА") | Dev for determining position of vehicle |
JP4507991B2 (en) * | 2005-06-09 | 2010-07-21 | ソニー株式会社 | Information processing apparatus, information processing method, and program |
JP2007104543A (en) * | 2005-10-07 | 2007-04-19 | Matsushita Electric Ind Co Ltd | Apparatus and method for compressing latitude/longitude data stream |
CN1979597A (en) * | 2005-12-01 | 2007-06-13 | 李伟 | City road and public traffic station code and method and device for releasing inquiry |
GB2443472A (en) | 2006-10-30 | 2008-05-07 | Cotares Ltd | Method of generating routes |
EP1921421A1 (en) * | 2006-11-10 | 2008-05-14 | Harman Becker Automotive Systems GmbH | Method and device for providing travel time information |
AU2007359782A1 (en) * | 2007-10-02 | 2009-04-09 | Tele Atlas B.V. | Method of capturing linear features along a reference-line across a surface for use in a map database |
RU2011102588A (en) * | 2008-06-25 | 2012-07-27 | Томтом Интернэшнл Б.В. (Nl) | NAVIGATION DEVICE AND METHOD FOR DETECTING WHICH A SEARCH FOR A PARKING PLACE IS CARRYING OUT |
US8285485B2 (en) * | 2010-03-18 | 2012-10-09 | Harman International Industries, Incorporated | Vehicle navigation system with route determination based on a measure of sportiness |
-
2009
- 2009-06-29 JP JP2011515416A patent/JP5587306B2/en active Active
- 2009-06-29 EP EP09772406.6A patent/EP2304704B1/en active Active
- 2009-06-29 JP JP2011515417A patent/JP5667974B2/en active Active
- 2009-06-29 CN CN201510509363.2A patent/CN105136158B/en active Active
- 2009-06-29 US US12/736,713 patent/US8626438B2/en active Active
- 2009-06-29 BR BRPI0912786-0A patent/BRPI0912786B1/en active IP Right Grant
- 2009-06-29 BR BRPI0912270-2A patent/BRPI0912270B1/en active IP Right Grant
- 2009-06-29 US US12/736,714 patent/US8818707B2/en active Active
- 2009-06-29 CN CN2009801168276A patent/CN102027520A/en active Pending
- 2009-06-29 WO PCT/EP2009/058130 patent/WO2010000706A1/en active Application Filing
- 2009-06-29 EP EP09772407.4A patent/EP2297719B1/en active Active
- 2009-06-29 AU AU2009265793A patent/AU2009265793A1/en not_active Abandoned
- 2009-06-29 RU RU2011103185/08A patent/RU2490714C2/en active
- 2009-06-29 KR KR1020107029936A patent/KR101640461B1/en active IP Right Grant
- 2009-06-29 CA CA2725697A patent/CA2725697C/en active Active
- 2009-06-29 AU AU2009265794A patent/AU2009265794A1/en not_active Abandoned
- 2009-06-29 WO PCT/EP2009/058131 patent/WO2010000707A1/en active Application Filing
- 2009-06-29 CN CN200980116958.4A patent/CN102027521B/en active Active
- 2009-06-29 CA CA2725692A patent/CA2725692C/en active Active
- 2009-06-29 KR KR1020107029830A patent/KR101595020B1/en active IP Right Grant
- 2009-06-29 RU RU2011103154/08A patent/RU2523171C2/en active
- 2009-06-30 TW TW098122181A patent/TWI465692B/en active
- 2009-06-30 TW TW098122183A patent/TWI465695B/en active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11258981A (en) * | 1998-03-11 | 1999-09-24 | Alpine Electronics Inc | Map data updating method of navigation device |
US20040039524A1 (en) * | 2001-01-29 | 2004-02-26 | Matsushita Electric Industrial Co., Ltd | Method and apparatus for transmitting position information on a digital map |
US20050187708A1 (en) * | 2001-04-23 | 2005-08-25 | Lg Electronics Inc. | Apparatus and method for processing traffic information |
US20030083813A1 (en) * | 2001-10-31 | 2003-05-01 | Samsung Electronics Co., Ltd. | Navigation system for providing real-time traffic information and traffic information processing method by the same |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8682578B2 (en) | 2010-03-11 | 2014-03-25 | Hitachi Automotive Systems, Ltd. | Road link string conversion method, road information providing device and road information providing system |
EP2385348A3 (en) * | 2010-03-11 | 2012-06-27 | Hitachi Automotive Systems, Ltd. | Road link string conversion method, road information providing device and road information providing system |
WO2011127226A1 (en) | 2010-04-09 | 2011-10-13 | Tomtom North America, Inc. | A method of resolving a location from data representative thereof |
EP2458333A3 (en) * | 2010-11-24 | 2014-10-22 | Denso Corporation | Road estimation device and method for estimating road |
EP2458334A3 (en) * | 2010-11-24 | 2014-10-22 | Denso Corporation | Road estimation device and method for estimating road |
EP2458330A3 (en) * | 2010-11-24 | 2014-10-15 | Denso Corporation | Road estimation device and method for estimating road |
EP2458332A3 (en) * | 2010-11-24 | 2014-10-15 | Denso Corporation | Road estimation device and method for estimating road |
US20130282270A1 (en) * | 2010-12-17 | 2013-10-24 | Bayerische Motorn Werke Aktiengesellschaft | Method and Device for Compressing Route Data |
WO2012079984A1 (en) * | 2010-12-17 | 2012-06-21 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for compressing route data |
EP2659226A1 (en) * | 2010-12-31 | 2013-11-06 | Tomtom Germany GmbH & Co. KG | Graph based topological map matching |
US10614600B2 (en) | 2010-12-31 | 2020-04-07 | Tomtom Global Content B.V. | Graph based topological map matching |
WO2012095456A2 (en) | 2011-01-11 | 2012-07-19 | Tomtom Development Germany Gmbh | An efficient location referencing method |
GB2487263A (en) * | 2011-01-11 | 2012-07-18 | Tomtom Dev Germany Gmbh | Map-agnostic on-the-fly location referencing method |
US9697426B2 (en) | 2011-01-11 | 2017-07-04 | Tomtom Traffic B.V. | Efficient location referencing method |
WO2015082639A1 (en) * | 2013-12-04 | 2015-06-11 | Tomtom Development Germany Gmbh | A method of resolving a point location from encoded data representative thereof |
US10006774B2 (en) | 2013-12-04 | 2018-06-26 | Tomtom Traffic B.V. | Method of resolving a point location from encoded data representative thereof |
EP3109594A1 (en) * | 2015-06-22 | 2016-12-28 | HERE Global B.V. | Midpoint-based map-agnostic navigation routing |
US9933269B2 (en) | 2015-06-22 | 2018-04-03 | Here Global B.V. | Midpoint-based map-agnostic navigation routing |
US11125569B2 (en) | 2015-06-22 | 2021-09-21 | Here Global B.V. | Midpoint-based map-agnostic navigation routing |
EP3470790A4 (en) * | 2016-06-10 | 2020-01-15 | Hitachi Automotive Systems, Ltd. | Information processing device and travel control system |
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CA2725692C (en) | A method of resolving a location from encoded data representative thereof | |
US8954265B2 (en) | Method of resolving a location from data representative thereof | |
EP2663840B1 (en) | An efficient location referencing method | |
US8473203B2 (en) | System for power facility navigation | |
US20160313130A1 (en) | A method of resolving a point location from encoded data representative thereof | |
CN112444254B (en) | Method, apparatus and computer program product for generating correspondence between map versions | |
EP3411664B1 (en) | Efficient and error tolerant mapping from a source graph to a target graph | |
CN112444255B (en) | Method, apparatus and computer program product for generating correspondence between map versions | |
JP6208783B2 (en) | Electronic device and method for outputting and receiving position reference information |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200980116958.4 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 09772406 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2009265793 Country of ref document: AU |
|
WWE | Wipo information: entry into national phase |
Ref document number: 589224 Country of ref document: NZ |
|
ENP | Entry into the national phase |
Ref document number: 2011515416 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2725692 Country of ref document: CA |
|
ENP | Entry into the national phase |
Ref document number: 2009265793 Country of ref document: AU Date of ref document: 20090629 Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 7867/CHENP/2010 Country of ref document: IN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2009772406 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 12736714 Country of ref document: US |
|
ENP | Entry into the national phase |
Ref document number: 20107029936 Country of ref document: KR Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2011103185 Country of ref document: RU |
|
ENP | Entry into the national phase |
Ref document number: PI0912270 Country of ref document: BR Kind code of ref document: A2 Effective date: 20101124 |