WO2019138050A1 - Dérivation d'une information secondaire à partir d'une carte de navigation numérique - Google Patents

Dérivation d'une information secondaire à partir d'une carte de navigation numérique Download PDF

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Publication number
WO2019138050A1
WO2019138050A1 PCT/EP2019/050653 EP2019050653W WO2019138050A1 WO 2019138050 A1 WO2019138050 A1 WO 2019138050A1 EP 2019050653 W EP2019050653 W EP 2019050653W WO 2019138050 A1 WO2019138050 A1 WO 2019138050A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
vehicle
secondary information
navigation map
optimization problem
Prior art date
Application number
PCT/EP2019/050653
Other languages
German (de)
English (en)
Inventor
Sebastian Skibinski
Original Assignee
Audi Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Audi Ag filed Critical Audi Ag
Publication of WO2019138050A1 publication Critical patent/WO2019138050A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data

Definitions

  • the present invention relates to a method for deriving a
  • 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
  • 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
  • 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.
  • 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.
  • the user 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 2009 018 792 U1 discloses a method for displaying secondary information comprising position information in a digital map.
  • 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.
  • 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.
  • the primary information remains visible on the display.
  • 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.
  • 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.
  • secondary information which is not explicitly contained in the digital navigation map can be derived from primary information contained in the digital navigation map.
  • 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.
  • 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.
  • 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.
  • AMPL A Mathematical Programming Language
  • AMPL Mathematical Programming Language
  • 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.
  • the description language can also be developed specifically for digital navigation maps.
  • the secondary information is described depending on a foreign information from an external information source.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a corresponding special interpreter must also be developed. Such an interpreter can achieve particularly high efficiency thanks to its specialization.
  • the optimization problem is solved analytically and / or numerically by the interpreter.
  • an analytical, d. H. purely logical or algebraic solution of the optimization problem because of their high precision preferred.
  • most optimization problems can not be solved analytically or with reasonable effort. In such cases, numerical solving can be a viable alternative.
  • 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.
  • a functional system of a vehicle in particular an assistance system, a pilot system, a protection system or a comfort system.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • the secondary information 51 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.
  • 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.
  • vehicle information for example an operating parameter
  • a description language 31 specifically provided for a digital navigation map 10
  • at least one mandatory constraint and at least one optional constraint described 110 for describing an extended for a digital navigation map 10 existing description language 31 may be used.
  • 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.
  • 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.
  • a graphical representation of each of them can and will be provided
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • each core function disappears beyond the guardrails 203.
  • 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.
  • 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.
  • 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.
  • 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.

Abstract

L'invention concerne un procédé pour dériver une information secondaire à partir d'une carte de navigation numérique, un calculateur pour un véhicule ainsi qu'un véhicule.
PCT/EP2019/050653 2018-01-12 2019-01-11 Dérivation d'une information secondaire à partir d'une carte de navigation numérique WO2019138050A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018200458.7A DE102018200458A1 (de) 2018-01-12 2018-01-12 Ableiten einer Sekundärinformation aus einer digitalen Navigationskarte
DE102018200458.7 2018-01-12

Publications (1)

Publication Number Publication Date
WO2019138050A1 true WO2019138050A1 (fr) 2019-07-18

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Application Number Title Priority Date Filing Date
PCT/EP2019/050653 WO2019138050A1 (fr) 2018-01-12 2019-01-11 Dérivation d'une information secondaire à partir d'une carte de navigation numérique

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DE (1) DE102018200458A1 (fr)
WO (1) WO2019138050A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110276592A1 (en) * 2009-01-21 2011-11-10 Sidharta Gautama Geodatabase information processing
DE202009018792U1 (de) 2008-04-18 2013-05-28 Google Inc. System zur Inhaltspostenplatzierung
US20150149070A1 (en) * 1999-04-19 2015-05-28 Bruce W. DeKock System for providing traffic information
DE202015009123U1 (de) 2014-06-24 2016-11-07 Google Inc. Umwegbasierte Inhaltsauswahlen
DE202014010918U1 (de) 2013-03-14 2017-01-20 Google Inc. Das Clustering von Werbeanzeigen mit organischen Karteninhalten

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8666662B2 (en) * 2008-06-11 2014-03-04 Mitsubishi Electric Corporation Navigation device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150149070A1 (en) * 1999-04-19 2015-05-28 Bruce W. DeKock System for providing traffic information
DE202009018792U1 (de) 2008-04-18 2013-05-28 Google Inc. System zur Inhaltspostenplatzierung
US20110276592A1 (en) * 2009-01-21 2011-11-10 Sidharta Gautama Geodatabase information processing
DE202014010918U1 (de) 2013-03-14 2017-01-20 Google Inc. Das Clustering von Werbeanzeigen mit organischen Karteninhalten
DE202015009123U1 (de) 2014-06-24 2016-11-07 Google Inc. Umwegbasierte Inhaltsauswahlen

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