WO2012048988A1 - Procédé de détermination de position à l'aide d'un système de navigation et système de navigation associé - Google Patents

Procédé de détermination de position à l'aide d'un système de navigation et système de navigation associé Download PDF

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Publication number
WO2012048988A1
WO2012048988A1 PCT/EP2011/066221 EP2011066221W WO2012048988A1 WO 2012048988 A1 WO2012048988 A1 WO 2012048988A1 EP 2011066221 W EP2011066221 W EP 2011066221W WO 2012048988 A1 WO2012048988 A1 WO 2012048988A1
Authority
WO
WIPO (PCT)
Prior art keywords
location
identifiable
navigation system
navigation
digital map
Prior art date
Application number
PCT/EP2011/066221
Other languages
German (de)
English (en)
Inventor
Jan Wietse Balkema
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2012048988A1 publication Critical patent/WO2012048988A1/fr

Links

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
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/20—Scenes; Scene-specific elements in augmented reality scenes

Definitions

  • the present invention is directed to a method for location determination with a navigation system, with which a current location is satellite-based determined and found on a digital map.
  • the present invention further relates to a navigation system for operating such a method.
  • Accurate positioning is a prerequisite for many driver information and driver assistance functions, in particular navigation.
  • Navigation systems mostly use satellite-based positioning systems and in-vehicle sensor systems such as yaw rate and steering angle sensors for locating purposes.
  • yaw rate and steering angle sensors for locating purposes.
  • An inaccurate position determination is improved by the so-called map-matching method: when a position is measured a few meters beside a digitized road, the position is corrected so that it is adopted and displayed on the road.
  • navigation systems which are based on the reception of satellite signals, so-called GPS signals
  • navigation systems are also known, which are based on the reception of mobile radio signals.
  • mobile-based navigation systems are also not characterized by a higher accuracy of the position determination.
  • the digital map may be stored in a memory in the navigation system, and the location where the user is with the navigation system is displayed upon successful reception of the GPS signals and / or the mobile signals in the digital map.
  • the position determination on the digital road map may have deviations, either when the locating signals are not reliable or can be received in sufficient frequency. Basically, however, a high accuracy of the position determination is desired.
  • the high accuracy of determining the current location is particularly important when using driver assistance systems with safety components, e.g. with an automatic speed adjustment. Furthermore, if a precise location to be approached, for example, a house on a street with a given house number, so high accuracy is desirable here. In particular, intersections, lane change areas in multi-lane roads as well as other known and thus easily identifiable positions in the road are to be displayed with high accuracy via the navigation system, so that these places can be displayed particularly accurately with an increased traffic risk. In addition, however, the accurate display of landmarks outside the road is also desirable.
  • US 2002/01 13871 A1 represents a system in which images which may possibly be coupled with a message are transmitted to a central entity.
  • the images continue to receive metadata from a navigation system (position).
  • position In the central instance, images from the same object are collected and made available to other users.
  • RD-506023 A represents a system in which a camera system is used to detect the position change. It represents an alternative to an odometer.
  • the KR 2006077501 A uses a camera to photograph a room. After this, objects (dirt) and their position in the image are identified. These items are shipped to a cleaning robot with the job of cleaning the site.
  • current location is meant in particular a current location of the navigation system or a vehicle in which the navigation system is operated.
  • the invention includes the technical teaching that an identifiable location is determined on the digital map, and further that a pictorial image is taken of the identifiable location and compared to the identifiable location on the digital map, with a local distance between the identifiable location determined on the map Location and the identifiable location of the image recording is determined and used as a location correction or the correction of the systematic measurement error of the GPS.
  • the invention is based on the idea of providing, in addition to the received signal from the satellites or via mobile radio, a location correction which is based on the comparison of the location identified on the digital map with a pictorial image of the identifiable location.
  • the possible local difference between the identifiable location on the map and the identifiable location of the image capture allows location correction, which can improve the displayable accuracy of the position indication navigation system.
  • the provision of pictorial images of identifiable locations can take place continuously and without interaction with the user of the navigation system.
  • the navigation system can be used in a vehicle, and the vehicle passes through a plurality of successive identifiable places, which may for example be pre-stored or pre-marked.
  • the visual capture may be started to allow the comparison to provide location correction.
  • the inventive method can also be used, for example, to detect junctions of the highways or to detect the position of the vehicle on a particular lane, for example, border areas of the road are imaged and compared with the digital map ,
  • the method of the present invention is useful when moving a vehicle through a city or across a highway to indicate places with increased traffic risk or desired locations of the user with increased accuracy.
  • an image acquisition system in particular a camera system can be provided, with which the current location is recorded.
  • the image acquisition system may be part of a driver information system and / or a driver assistance system of a vehicle.
  • the navigation system can be operated in a vehicle, in particular the navigation system can be permanently installed in the structure of the vehicle.
  • the image acquisition system, in particular the camera system may be permanently installed in the structure of the vehicle. If the image acquisition system is part of driver information systems (FIS) and / or driver assistance systems (FAS), then the image acquisition system can be used both as a functional component of the FIS and / or the FAS, and at the same time it can serve for navigation with the navigation system according to the invention.
  • FIS driver information systems
  • FAS driver assistance systems
  • the core of the invention forms the connection between the driver information systems and / or driver assistance systems of a vehicle, and the navigation according to the invention can in turn support the driver information system (FIS) and / or the driver assistance system (FAS), since for these systems the absolute position of the vehicle is highly relevant in the environment of an identifiable location.
  • the correction data are basically always and everywhere available.
  • no further fee-based correction data is required.
  • Essential to the invention is therefore the connection of a GPS system with a video sensor system and with a digital road map.
  • the video sensor provides a relationship between the digital road map and the real world that reflects the position.
  • the navigation system provides a relationship between the digital road map and the real world in the approximate position. Now that these two relationships are combined, the systematic
  • Measurement errors of GPS systems are canceled by a self-calculated correction signal.
  • the identifiable location may advantageously be a traffic facility and in particular an intersection, a junction, a driveway, a descent, a
  • the one or more identifiable locations may be stored in the digital map, so that whenever the navigation system encounters an identifiable location via satellite navigation or mobile radio navigation, the method according to the invention is initiated.
  • the user can be informed about the course of the method according to the invention and about the location correction by the navigation system via a display means in the navigation system.
  • the digital map can be stored on a data carrier, in particular on a data carrier of the navigation system.
  • the determined local difference may be used to calibrate position estimates.
  • a correction signal can be generated by the determined local difference, and based on the Correction signal the user is displayed the correct position on a display means.
  • the present invention offers a combination of the known navigation with a navigation system on the one hand and driver information systems and driver assistance systems on the other hand.
  • Driver information and assistance systems serve as parking aids, for example, so that the navigation system initially approaches an approximate location with the aid of satellite-based or mobile-radio-based navigation. If the driver wishes to park his vehicle, a parking area with a large number of parking spaces can be pre-stored as an identifiable location in the digital map.
  • the navigation system receives the input from the driver to park the vehicle, then the navigation from the macro navigation, namely the approaching of the approximate location from a distance, becomes a micro-navigation so that the imaging system is switched on in the transition from macro navigation to micro-navigation , Subsequently, the location identifiable on the digital map, namely the parking area, is determined, and a pictorial image is taken of the identifiable location by the image capture system and compared with the identifiable location on the map.
  • the location correction is performed. Subsequently, the micro-navigation is continued and the driver assistance system can navigate the vehicle to a parking space, in particular into a parking space, based on the use of the image acquisition system. Consequently, with the method according to the invention, not only a simple location correction of a GPS signal or a mobile signal is possible, but a seamless transition from a macro navigation (conventional navigation system with guidance of the route) to a micro-navigation is possible, wherein the micro-navigation preferably starts when the location correction has been done on the digital map.
  • the object of the present invention is further achieved by a navigation system for operating a method as described above.
  • Figure 1 is a schematic representation of a procedure for navigation with a navigation system according to the present invention.
  • Figure 2 is a schematic view of a navigation system for carrying out a method according to the present invention.
  • FIG. 1 schematically shows the method for navigation with a navigation system 1 according to the invention.
  • a GPS receiver 2 and a 5 imaging system 3 in the form of a box are also shown schematically.
  • the navigation system 1, the GPS receiving device 2 and the image acquisition system 3 are embodied as part of a vehicle 4 or integrated in the structure of the vehicle 4. o
  • the method begins (indicated by 5) first with the determination of a current location by means of the GPS receiver 2.
  • the determination of the current location can be received by means of a mobile device, based on which also a location determination is possible.
  • the determination of the current location can be made on a route that is driven between a start location and a destination by a user.
  • Location is preferably an identifiable location with a feature that relates to a conspicuity in the road, such as a crossroad, a junction and / or a large space, or a conspicuousness of the environment, such as a special building, a bridge or the like.
  • a conspicuity in the road such as a crossroad, a junction and / or a large space, or a conspicuousness of the environment, such as a special building, a bridge or the like.
  • the identifiable locations of the current location should be immobile and permanent.
  • the determination of the current location is described with the method step of determining the GPS position 6, and the achievable accuracy by the simple determination of the current location by the determination 6 of the GPS position is about 4 to 9 meters.
  • the GPS position can be found in the GPS Receiving device 2 carried out a correction 7 of the current position, for example by a map matching method.
  • the current position Upon receipt of the possible accuracy by the simple GPS receiver 2, the current position is provided to the navigation system 1 in a step for transmission 8 of the position.
  • the transmission 8 of the position can be further transmitted by a feedback step 9 again to the step 6 of determining the GPS position. This creates a loop for the continuous determination of the current location with increased accuracy.
  • the position determination 10 can near a feature in the street - .verlauf or be positioned in the environment, whereupon an initialization
  • a position correction based on the feature takes place. Also by the initialization of the position correction 11, the initialized position correction can be fed back again to the step of position determination 10 by means of a further feedback step 12.
  • the vehicle 4 also has an image acquisition system 3, which is part of a driver information system and / or a driver assistance system.
  • the image acquisition system 3 can be designed as a camera system with which an identifiable location of the road or surroundings can be photographically recorded or filmed.
  • a correction signal can be provided in a step of determining the local difference between the position provided by the navigation system 1 and the step of initializing the position correction 11 and the actual position.
  • this correction signal is used for a step of re-determining 14 the position.
  • FIG. 2 shows, in a schematic representation, the navigation system 1 with a display means 15, which is embodied as an HMI (Human Machine Interface).
  • the navigation system 1 can be integrated in the structure of the vehicle, the GPS receiving device 2 likewise being integrated into the structure of the vehicle. can be integrated.
  • the GPS receiver 2 signals can be received from a GPS satellite 16, so that according to the prior art, a current location can be determined, the determination is an accuracy of about 4 to 9 meters.
  • a mobile radio device 17 may be provided, so that based on the reception of mobile radio signals also a position determination is possible.
  • an image acquisition system 3 in the form of a camera system is shown, which may be part of a driver information system and / or a driver assistance system.
  • the image acquisition system 3 identifiable locations in the vicinity of the current location can be captured and the image acquisition is made available to the navigation system 1.
  • the determination 13 of the local difference takes place, wherein the difference is determined between the currently determined location based on the
  • both distances and directions can be determined. For example, if the vehicle 4 is located in the inner city, several junctions, intersections, crossings, road junctions and the like follow one another in the course of the road. These identifiable locations can be photographed and / or filmed with the image acquisition system 3, so that subsequently the comparison with the position of the GPS signal takes place. For example, if the GPS signal indicates that the vehicle is 100 meters in front of the intersection, however, if the imaging system is filming the intersection at a distance of 40 meters, the location can be corrected by 60 meters.
  • the present invention is not limited in its execution to the above-mentioned preferred embodiment. Rather, a number of variants is conceivable, which makes use of the illustrated solution even with fundamentally different types of use. All features and / or advantages resulting from the claims, the description or the drawings, including constructional details, spatial arrangements and method steps, can be essential to the invention, both individually and in the most diverse combinations.
  • a macro navigation namely the uncorrected navigation by means of the GPS receiver 2 or by data reception by the mobile device 17 barrier-free in a micro-navigation can be converted, namely the navigation of the vehicle by means of the driver information system and / or the driver assistance system.
  • the vehicle 4 can be parked with sufficient accuracy, for example in a parking space, and supported by the driver assistance system until the final parking position is reached.
  • the display means 15 in the macro-navigation phase, the road course of a digitized road map which may be stored in the navigation system 1 can be displayed.
  • the method according to the invention can only begin below a maximum speed, and when the vehicle approaches the destination, for example a parking space, the driver of the vehicle can already recognize the parking space.
  • the display in the display means 15 can switch over to the display of the parking aid, whereby the location correction has already expired in the background according to the inventive method.

Abstract

Procédé de navigation à l'aide d'un système de navigation permettant de déterminer par sattellite un lieu effectif et de le localiser sur une carte numérique. Selon l'invention, un lieu identifiable est déterminé sur la carte numérique, puis une image de ce lieu identifiable est prise et comparée avec le lieu identifiable sur la carte numérique, une différence de lieu entre le lieu identifiable déterminé sur la carte et le lieu identifiable de l'image prise étant déterminée et utilisée en vue d'une correction de la position.
PCT/EP2011/066221 2010-10-12 2011-09-19 Procédé de détermination de position à l'aide d'un système de navigation et système de navigation associé WO2012048988A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010042314A DE102010042314A1 (de) 2010-10-12 2010-10-12 Verfahren zur Ortsbestimmung mit einem Navigationssystem und Navigationssystem hierzu
DE102010042314.9 2010-10-12

Publications (1)

Publication Number Publication Date
WO2012048988A1 true WO2012048988A1 (fr) 2012-04-19

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DE (1) DE102010042314A1 (fr)
WO (1) WO2012048988A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
US10856758B2 (en) 2014-12-30 2020-12-08 General Electric Company Intracardiac localization and guidance system and method

Families Citing this family (2)

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DE102014011108A1 (de) * 2014-07-26 2016-01-28 Audi Ag Verfahren zum Betrieb eines Fahrerassistenzsystems zur Unterstützung eines Parkvorgangs sowie zugeordnetes Kraftfahrzeug
KR101843773B1 (ko) 2015-06-30 2018-05-14 엘지전자 주식회사 차량 운전 보조 장치, 차량용 디스플레이 장치 및 차량

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US20020113871A1 (en) 2001-02-19 2002-08-22 Fuji Xerox Co., Ltd. Method of manufacturing image display medium, and image display medium
DE10351669A1 (de) 2003-11-05 2005-06-09 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Handhabungsgeräts relativ zu einem Objekt
DE102004010197A1 (de) * 2004-03-02 2005-09-15 Ibeo Automobile Sensor Gmbh Verfahren zur Funktionskontrolle einer Positionsermittlungs- oder Umgebungserfassungseinrichtung eines Fahrzeugs oder zur Kontrolle einer digitalen Karte
KR20060077501A (ko) 2004-12-30 2006-07-05 엘지전자 주식회사 카메라가 탑재된 티브이 및 그 티브이의 영상 정보 제공방법과 그 시스템
WO2009098154A1 (fr) * 2008-02-04 2009-08-13 Tele Atlas North America Inc. Procédé de mise en correspondance de carte avec des objets détectés par capteur
EP2214122A1 (fr) * 2009-02-03 2010-08-04 Harman Becker Automotive Systems GmbH Procédés et dispositifs pour aider le conducteur d'un véhicule

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020113871A1 (en) 2001-02-19 2002-08-22 Fuji Xerox Co., Ltd. Method of manufacturing image display medium, and image display medium
DE10351669A1 (de) 2003-11-05 2005-06-09 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Handhabungsgeräts relativ zu einem Objekt
DE102004010197A1 (de) * 2004-03-02 2005-09-15 Ibeo Automobile Sensor Gmbh Verfahren zur Funktionskontrolle einer Positionsermittlungs- oder Umgebungserfassungseinrichtung eines Fahrzeugs oder zur Kontrolle einer digitalen Karte
KR20060077501A (ko) 2004-12-30 2006-07-05 엘지전자 주식회사 카메라가 탑재된 티브이 및 그 티브이의 영상 정보 제공방법과 그 시스템
WO2009098154A1 (fr) * 2008-02-04 2009-08-13 Tele Atlas North America Inc. Procédé de mise en correspondance de carte avec des objets détectés par capteur
EP2214122A1 (fr) * 2009-02-03 2010-08-04 Harman Becker Automotive Systems GmbH Procédés et dispositifs pour aider le conducteur d'un véhicule

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10856758B2 (en) 2014-12-30 2020-12-08 General Electric Company Intracardiac localization and guidance system and method

Also Published As

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