WO2019138050A1

WO2019138050A1 - Deriving an item of secondary information from a digital navigation map

Info

Publication number: WO2019138050A1
Application number: PCT/EP2019/050653
Authority: WO
Inventors: Sebastian Skibinski
Original assignee: Audi Ag
Priority date: 2018-01-12
Filing date: 2019-01-11
Publication date: 2019-07-18
Also published as: DE102018200458A1

Abstract

The invention relates to a method for deriving an item of secondary information from a digital navigation map, a control device for a vehicle, and a vehicle.

Description

Deriving secondary information from a digital navigation map

DESCRIPTION: The present invention relates to a method for deriving a

Secondary information from a digital navigation map. Furthermore, the invention relates to a control device for a vehicle and a vehicle.

Digital maps are used to locate objects and usually comprise a plurality of primary information, each one an immovable object, such as a building or a

Street, assign one or more position information. A moving object with a known position, such as a mobile terminal or a vehicle, can then be continuously located relative to stationary objects covered by the digital map, so that a user of the terminal or a driver of the vehicle can navigate through the digital map Real time is possible.

A digital map is at least as large because of the large number of immovable objects present in reality

Variety of primary information, which is very complicated to create and continuously update the digital map. Manufacturers of digital cards therefore usually produce generic digital cards for economic reasons, but also in favor of good manageability and universal usability.

Accordingly, the problem arises for a provider of the digital map to compensate for high production costs or procurement costs by corresponding sales. Usually, the digital card becomes this Purpose to provide secondary information from external sources of information, such as localized advertisements, on product or service offerings paid for by the suppliers of the products or services. In this way, every user can enjoy free use of the digital map.

Thus, DE 20 2015 009 123 U1 discloses a method for displaying an advertisement of a provider on a terminal of a user. The advertisement is displayed on the terminal with a linked navigation reference regarding a location of the provider when a search term entered by the user matches a keyword of the advertisement and the terminal is located near the location of the provider, so that the user is on his way just have to choose a specific detour to get to the provider's location.

In the case of this purely text-based solution, the user must follow the linked navigation instruction in order to obtain on the terminal a map section with the location of the provider and a visualization of the detour. However, it may be desirable to display secondary information, possibly with a corresponding navigation instruction as the result of a search, directly in a map section.

DE 20 2014 010 918 U1 discloses a method suitable for this purpose, in which an advertisement is bundled with primary information of a digital map. The advertisement is displayed in the digital map adjacent to the primary information when the advertisement and the primary information relate to the same entity, such as a provider or a service provider.

However, superimposed secondary information may obscure important primary information, such as street names or the like, for the user of the digital map. This is especially true for large imaging scales the digital card problematic when the primary information is arranged close to each other.

In order to avoid this problem, DE 20 2009 018 792 U1 discloses a method for displaying secondary information comprising position information in a digital map. With the method, a graphic representation of the secondary information is placed at a display location in a section of the digital map visualized by means of a display device. In this case, taking into account a display scale of the map, a display location of the graphical representation based on the position information of the secondary information is determined by iterative shifting such that the graphical representation does not obscure a primary information. In other words, despite the secondary information displayed in the map, the primary information remains visible on the display.

To a large and increasing extent, digital maps are used as navigation maps in navigation systems of vehicles. They are usually visualized together with a location and an orientation of the respective vehicle and a planned route on a display device of a navigation system or an infotainment system and thus enable a driver of the vehicle to comfortably reach a specific destination. Above all vehicles with a self-propelled function (autonomous driving) are absolutely dependent on a current and high-precision digital navigation map.

However, for some functional systems of modern vehicles, primary information contained in the navigation map alone is insufficient. For example, an optical lane keeping system of a vehicle may be dependent on a lane marking or require a pilot system of the vehicle in an emergency as close as possible space for emergency stop of the vehicle. However, such secondary information is usually not part of a digital navigation map. Secondary information in the sense of the invention means information which is different from any primary information of the digital navigation map or a plurality of selected primary information of the digital navigation map. Accordingly, a travel route of the vehicle to a specific destination determined by a navigation device is not secondary information in the sense of the invention. For the determined travel route is defined by a specific sequence of roads or road sections to be traveled one after the other, and thus combines - although as such not present in the digital navigation map - only a plurality of primary information in a skilful manner.

The invention has for its object to provide a method for deriving secondary information from a digital navigation map. Further objects of the invention are to provide a control device for a vehicle and a vehicle.

An object of the present invention is thus a method for deriving secondary information from a digital navigation map. With such a method, secondary information which is not explicitly contained in the digital navigation map can be derived from primary information contained in the digital navigation map.

In the method according to the invention, the secondary information is derived from a control device of a vehicle by solving an optimization problem which is dependent on at least one primary information of the digital navigation map. In other words, one or more secondary information is found as a solution to an optimization problem. Optimization problems have to be solved in many different application areas. Accordingly, efficient algorithms for solving optimization problems are known. The control device can be a navigation system of the vehicle or a separate function device of the vehicle from the navigation system of the vehicle. In a preferred embodiment, the secondary information is described by means of a description language depending on the at least one primary information, in particular by means of a specially provided for digital navigation maps description language or by means of an extended for digital navigation maps existing description language. Description languages for formulating an optimization problem such as AMPL (A Mathematical Programming Language) are known. They allow a declarative formulation of the optimization problem and are easy to handle. However, their language scope is unsuitable and / or insufficient for primary navigation digital map information. A description language suitable for the method according to the invention can consequently be obtained by suitably adapting and / or expanding the language scope of an existing description language. Alternatively, the description language can also be developed specifically for digital navigation maps.

In a further embodiment, the secondary information is described depending on a foreign information from an external information source. In this way, further information, such as weather data or traffic alerts, can be taken into account in formulating the optimization problem, whereby improved fit and precision of the solutions found can be achieved.

In advantageous embodiments, the secondary information is described depending on vehicle information of the vehicle. Additional consideration of operating parameters of the vehicle, such as a vehicle speed, in describing secondary information to be derived can further enhance the precision of derived secondary information.

In further embodiments, the secondary information becomes a mandatory constraint and / or an optional constraint described. Boundary conditions are used to limit a solution space of an optimization problem. Compelling boundary conditions must be met by every solution. On the other hand, optional constraints allow for solutions that are not enough for them. As a result, an optional constraint may increase a solution space if the solution space were otherwise empty or too small.

In one embodiment, the description of the secondary information is automatically transformed into an optimization problem and the transformed optimization problem is solved by means of an interpreter associated with the description language and implemented in the control device. Existing descriptor languages have interpreters which ensure efficient transformation of the description and resolution of the optimization problem. Such interpreters may also be expanded at a reasonable cost if the language scope of the associated digital navigation map description language is extended. When using a description language specially developed for digital navigation maps, a corresponding special interpreter must also be developed. Such an interpreter can achieve particularly high efficiency thanks to its specialization.

In further embodiments, the optimization problem is solved analytically and / or numerically by the interpreter. Of course, an analytical, d. H. purely logical or algebraic solution of the optimization problem because of their high precision preferred. However, most optimization problems can not be solved analytically or with reasonable effort. In such cases, numerical solving can be a viable alternative.

In a preferred embodiment, the secondary information is derived for a functional system of a vehicle, in particular an assistance system, a pilot system, a protection system or a comfort system. As a result of ever more sophisticated functional systems of vehicles, these form one increasingly important field of application for the inventive method.

In further embodiments, the secondary information is transformed according to a requirement of the functional system. A secondary information found by solving the optimization problem is ideally in a generic format, which ensures its universal usability. For different functional systems, the generically formatted secondary information can then be transformed into different formats depending on the respective functional system. H. be converted.

Another object of the invention is a control device for a vehicle, which is configured to derive a secondary information by solving an optimization problem dependent on at least one primary information of a digital navigation map. The control unit makes it possible, based on primary information of the digital navigation map not to generate secondary information contained in the navigation map. The generated secondary information can be provided, for example, for functional devices of the vehicle. The control device preferably derives the secondary information by means of a method according to the invention.

The invention is also a vehicle with a control device according to the invention. Functional devices of the vehicle, thanks to the control unit, receive secondary information beyond primary information of a digital navigation map, thereby enabling an improved function of the vehicle.

A significant advantage of the method according to the invention is that in the digital navigation map not explicitly, but implicitly contained secondary information can be derived by means of an adequate description of the digital navigation map. Derived secondary information can be obtained from functional systems of the vehicle be used and thus allow an improved function of the vehicle.

The invention is illustrated schematically with reference to an embodiment in the drawings and will be further described with reference to the drawings. It shows:

Figure 1 is a schematic flow diagram of an embodiment of the method according to the invention;

FIG. 2 is a schematic symbol representation of a step in FIG

1 illustrated method;

FIG. 3 shows in a schematic symbol representation a further step of the method illustrated in FIG. 1;

FIG. 4 shows, in a schematic symbol representation, a further step of the method illustrated in FIG. 1; FIG. 5 shows, in a schematic symbol representation, a further step of the method illustrated in FIG. 1;

FIG. 6 is an exemplary illustration in a schematic symbol representation

Detail of a digital navigation map.

1 shows a schematic flowchart of an embodiment of the method 100 according to the invention for deriving a secondary information 51 from a digital navigation map 10. The digital navigation map 10 comprises a plurality of primary information 11, represented here in simplified form in the form of lanes and their spatial extent. The secondary information 51 is displayed in the form of two markings in a visualized section of the digital navigation map 10. It is not included in the digital navigation map 10, but is needed by a functional system of a vehicle 20 and used. The functional system can be an assistance system, a pilot system, a protection system or a comfort system of the vehicle 20.

In the method 100, the secondary information 51, as shown in FIG. 2, is derived from a control unit of the vehicle 20, by describing 110, the description 30 into an optimization problem 40 dependent on at least one primary information 11 of the digital navigation map 10 (see FIG and 4) transformed 120, the optimization problem 40 solved 130 and transformed 140 for the functional system of the vehicle 20.

FIG. 2 shows a step of the method 100 in a schematic symbol representation. In the step, the secondary information 51 is dependent on the at least one primary information 11, vehicle information, for example an operating parameter, of the vehicle 20 by means of a description language 31 specifically provided for a digital navigation map 10 and depending on at least one mandatory constraint and at least one optional constraint described 110. Alternatively, for describing an extended for a digital navigation map 10 existing description language 31 may be used. In addition, the secondary information 51 may also be described 110 depending on a foreign information from an external information source.

FIG. 3 shows in a schematic symbol representation a further step of the method 100. In the step, the description 30 of the secondary information 51 is automatically transformed 120 into an optimization problem 40. The optimization problem is merely exemplary and illustrative as a profiled surface, ie manifold, in one Represented three-dimensional space based on a Cartesian coordinate system whose extremes, ie minima or maxima, can form a solution space of the optimization problem. In concrete cases of application, a graphical representation of each of them can and will be provided Of course, optimization problems usually deviate from the shape shown here (see FIG. 6).

FIG. 4 shows, in a schematic symbol representation, a further step of the method 100 shown in FIG. 1. In the step, the transformed optimization problem 40 is solved analytically by means of an interpreter assigned to the description language 31 and implemented in the control unit, or if an analytical solution is impossible 130. The solution 50 obtained in the release 130 comprises the secondary information 51.

FIG. 5 shows in a schematic symbol representation a further step 140 of the method 100. In the step, the secondary information 51 encompassed by the solution 50 is transformed 140 according to a requirement of the functional system. The secondary information 51 not contained in the digital navigation map 10 is in the visualized section the digital navigation map 10 in the form of two markings.

FIG. 6 shows, in a schematic symbol representation, an exemplary section of the digital navigation map 10. The section shows a plurality of primary information 11 contained in the digital navigation map 10, each comprising at least one position and one extension of an immovable object. The primary information 11 includes a road section 200 which extends in a traveling direction 201, and two guardrails 203 which are disposed at opposite edges of the road section 200, extend in the traveling direction 201 and laterally delimit the road section 200.

Further, the primary information 11 includes a state strip 210, a right lane 211, a middle lane 212 and a left lane 213, which are arranged in a direction perpendicular to the direction of travel 201 transverse direction 202 from right to left side by side, and an emergency call 214 and a roadway lighting 215, which are arranged with respect to the direction of travel 201 one behind the other at the right edge of the road section 200.

The primary information 11 further comprises a tunnel 216 with a tunnel entrance and a tunnel exit, which are arranged relative to the direction of travel in each case at positions 204, 205, and a

Tunnelnotausgang 217, which is located in the tunnel 216 on the right lane edge.

The optimization problem illustrated in the example relates, as a concrete application, to finding a suitable position for an emergency stop of the vehicle 20. Each primary information 11 relevant to the emergency stop of the vehicle 20 is in each case a position-dependent core function in the form of a two-dimensional normal distribution, a logistic distribution or the like or a two-dimensional tensor product associated with corresponding one-dimensional distributions, which are here for the sake of clarity only one-dimensionally indicated in a cross section. The weighting factors associated with the relevant primary information 11 and the core functions associated therewith and each kernel function jointly define the optimization problem to be solved.

Specifically, the hard shoulder 210 has a core function "hard shoulder" 220, the right lane 211 a core function "right lane" 221, the middle lane 212 a core function "middle lane" 222, the left lane 213 a core function "left lane" 223 Emergency telephone 214 214 a core function "emergency call" 224, the roadway lighting 215 a core function "roadway lighting" 225, the tunnel 216 a core function "tunnel" 226 and the tunnel emergency exit 217 a core function "tunnel emergency exit" 227 assigned. Each kernel function 220, 221, 222, 223, 224, 225, 226, 227 is arranged at the position of the respectively assigned primary information 210, 211, 212, 213, 214, 215, 216, 217. The maximum value of each individual core function 220, 221, 222, 223, 224, 225, 226, 227 is the greater, the better the respective primary information 210, 211, 212, 213, 214, 215, 216, 217 for an emergency stop of the vehicle 20 is suitable. For example, the maximum values of the core functions 220, 221, 222, 223 increase from the left lane 223 toward the hard shoulder 220. Accordingly, an emergency stop of the vehicle 20 is considered the more advantageous, the further to the right he takes place, and should preferably be made on the stand strip 210.

The guardrails 203 form compelling boundary conditions, since an emergency stop of the vehicle 20 only comes into consideration between the guardrails 203. Correspondingly, each core function disappears beyond the guardrails 203. In the example shown, however, the tunnel 216 forms an optional boundary condition, since an emergency stop of the vehicle 20 in the tunnel 216 is generally undesirable. Exempted from this, however, is the tunnel emergency output 217. Accordingly, although the core function "tunnel" 226 disappears, it is superimposed within the tunnel 216 by the core function "tunnel emergency output" 227 having a non-zero maximum value. Alternatively, the tunnel 226 may also be treated as a constraining constraint to preclude an emergency stop of the vehicle 20 in the tunnel 216.

The overlay, d. H. Weighted sum, the core functions 220, 221, 222, 223, 224, 225, 226, 227 forms the profiled two-dimensional surface shown only symbolically in Figure 3 in three-dimensional space with several minima and maxima. Other core functions, not shown here, which are associated with operating parameters of the vehicle 20, for example a driving speed, or external information, such as weather data, may also be superimposed.

The corresponding optimization problem 40 is to find positions of local maxima. The maxima found in solving the optimization problem 40 correspond to an emergency stop of the vehicle 20 suitable positions, ie possible emergency stop positions, which from the Primary information 11 derived secondary information 51 form. Depending on a selected weighting of the core functions 220, 221, 222, 223, 224, 225, 226, 227 and other core functions not shown here, an emergency stop position for the vehicle 20 is determined as the solution to the optimization problem 40, which is located on the hard shoulder 210 on the emergency call column 214, may be arranged on the roadway lighting 215 or at the tunnel emergency exit 217.

LIST OF REFERENCE NUMBERS:

10 navigation map

11 primary information

20 vehicle

30 description

31 description language

40 optimization problem

50 solution

51 secondary information

100 methods for deriving

110 Describe

120 Transform

130 Loosen

140 Transform

200 road section

201 direction of travel

202 transverse direction

203 Guardrail

204 Position tunnel entrance

205 position tunnel exit

210 hard shoulder

211 right lane

212 middle lane

213 left lane

214 emergency pillar

215 roadway lighting

216 tunnels

217 tunnel emergency exit

220 core function "Streaks"

221 Core function "right lane"

222 core function "middle lane"

223 core function "left lane"

224 Core function "emergency call column"

225 Core function "Lane lighting" 226 Core Function "Tunnel"

227 Core function "Tunnel emergency exit"

Claims

CLAIMS:

A method (100) for deriving secondary information (51) from a digital navigation map (10), wherein the secondary information (51) from a control device of a vehicle (20) by releasing (130) one of at least one primary information (11) of digital navigation map (10) dependent optimization problem (40) is derived.

2. The method of claim 1, wherein the secondary information (51) by means of a description language (31) depending on the at least one primary information (11) described (110), in particular by means of a specially for a digital navigation map (10) provided description language (31 ) or by means of an existing existing digital navigation map (10)

Description language (31).

3. The method of claim 2, wherein the secondary information (51) depending on a foreign information from an external information source and / or depending on a vehicle information of the vehicle (20) described (110).

4. The method according to any one of claims 2 to 3 in which the

Secondary information (51) depending on at least one boundary condition described (110).

5. The method of claim 4, wherein the secondary information (51) depending on a mandatory constraint and / or an optional constraint described (110).

6. The method according to any one of claims 2 to 5, wherein the

Description (30) of the secondary information (51) automatically transformed into an optimization problem (40) (120) and the transformed optimization problem (40) by means of one of Description language (31) associated with and implemented in the controller interpreter solved (130).

The method of claim 6, wherein the optimization problem (40) is solved analytically and / or numerically by the interpreter (130).

8. The method according to any one of claims 1 to 7, wherein the secondary information (51) for a functional system of the vehicle (20), in particular an assistance system, a pilot system, a protection system or a comfort system, is derived and / or according to a

Requirement of a functional system of the vehicle (20) is transformed (140).

9. A control device for a vehicle (20), which is configured by releasing (130) one of at least one primary information (11) of a digital

Navigation map (10) dependent optimization problem (40) secondary information (51) derive.

10. vehicle (20) with a control device according to claim 9.