• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The method involves determining a basic route (302) from a starting point (390) to a destination (399), and determining an interesting location (304) along the basic route. A bypass route (305) from the starting point to the destination is determined, where the bypass route bypasses the interesting location. The basic route and the bypass route are simultaneously output to a driver of a vehicle. The outputting of the basic route and bypass route is taken place by display of the base route and the bypass route in different colors and/or line types. Independent claims are also included for the following: (1) a computer program product comprising instructions to perform a method for assisting a driver during driving a vehicle from a starting point to a destination (2) a driver assistance device for assisting a driver during driving a vehicle from a starting point to a destination.
    公开号:NL2006637A
    申请号:NL2006637
    申请日:2011-04-20
    公开日:2011-10-25
    发明作者:Andreas Landau；Dominik Ebert
    申请人:Bosch Gmbh Robert；
    IPC主号:
    专利说明:

    Title: Method for assisting a driver and a driver assistant
    State of the art
    The present invention relates to a method for assisting a driver while driving a vehicle from a starting point to an end point. The invention further relates to a computer program product for carrying out such a method, as well as a driver assist device for assisting a driver during driving a vehicle from a starting point to an end point.
    Current driver assist devices of the aforementioned type, after entering an end point, enable an automatic route calculation from the current vehicle location as a starting point to the entered end point and guide the driver, for example, through individual images of the calculated driving route on a screen and / or the delivery of acoustic driving instructions from the relevant vehicle location at that time along the driving route to the end point. The route calculation takes place in the usual way, taking into account a determined or an optimization criterion determined on the consumer's side, such as the fastest or the shortest route from the start to the end point.
    If a vehicle driver wants to be guided from a current location to an end point via a certain route, the state of the art nowadays uses navigation devices to introduce so-called intermediate goals that lead the navigation device to route from the current location to to calculate the intermediate goal and from there to the actual end point and thereby to include certain preferred route sections in the route calculation.
    JP 2005 156535 A discloses a driver assist device which, when calculating the route, takes into account the location of places which are classified as dangerous and stored in a memory. When approaching such a place, the driver is warned by an announcement or by another instruction. However, this may not be possible or desirable at some points of interest or areas. For example, the direct display and warning of stationary speed controls in Germany is according to § 23 hst. lb StVO prohibited. Similarly, a direct warning may not be desirable for the driver if, for example, co-drivers do not have to be explicitly alerted to such points or the warning in itself, for example when the driver has been legally imposed to avoid a certain area.
    It is therefore desirable, when assisting the places of interest to the driver, to take a negative preference into account, without these places having to be indicated on their own or warned about these places.
    Disclosure of the invention
    Accordingly, a method is provided for assisting a driver in driving a vehicle from a starting point to an end point, which comprises a method step of determining a base route from the starting point to the end point. In a further process step, at least one point of interest is determined which is located along the base route. For example, the point of interest is located, where it can be a point, but also a route or an area, directly on the base route or also within a suitably defined environmental area of the base route. Furthermore, a detour route from the starting point to the end point is determined, which goes around the at least one point of interest. For example, the at least one point of interest is not on the detour route, or not within a correspondingly defined environmental area of the detour route. The basic route and the return route are both issued to the driver.
    Since both the base route and the detour route deviating therefrom are issued to the driver, it is recognizable for the driver that at least one point of interest lies on the base route between the starting point and the end point, without the point of interest itself having to be given or to be warned about it. Since the detour route goes around the at least one point of interest, it is made possible for the driver, corresponding to a negative preference for the at least one point of interest, to choose the detour route and thus avoid the at least one point of interest. If the driver chooses to follow the basic route, for example because the detouring route is considerably longer than the basic route, he can also adjust the driving style and other behavior to the availability of the at least one interesting place along the basic route.
    From further points of view, the invention provides a computer program product for performing the method and a driver assist device for assisting a driver in driving a vehicle from a star point to an end point.
    The computer program product comprises program code means for controlling the process steps.
    The computer program can be stored on a data carrier, such as on a memory chip or an optical data carrier or the like, and traded separately. For converting the method steps, the data carrier can be read by means of a corresponding reading device and a driver assist device and the program can thus be transferred to one program storage of the driver assist device.
    Alternatively, the computer program can also be made available from a server for downloading via a suitable data connection, for example via the internet. The download of the software can be released from the server operator against payment. This means that this computer program product is a separately tradable business asset.
    The driver assistant comprises a basic route determiner for determining a basic route from the starting point to the end point, a location determiner for determining at least one point of interest along the basic route, a second route determiner for determining a second route to the end point which at least one point of interest passes, and a dispensing unit for dispensing the base route and the return route to the driver.
    According to a preferred embodiment, the base route and the return route are delivered simultaneously. In this way the driver can immediately conclude without loss of time that the at least one point of interest lies between the start and end points.
    According to a preferred embodiment, delivery of the base route and the detour route takes place by showing the base route on a first map and displaying the detour route on a second map. For example, the display of two cards makes it very easy for the driver to notice that two routes are issued and conclude from this that the at least one point of interest is located within the area between the start and end points.
    According to a preferred embodiment, the delivery of the base route and the detour route takes place by showing the base route and the detour route in different assigned colors and / or line types. In this way, a large display surface can be used for displaying the common map. Differences between the two routes are immediately apparent.
    According to a preferred embodiment, the delivery of a base route and a detour route takes place optically, while the delivery of the respective others of the base route and the detour route takes place acoustically. The entire screen surface can be used, for example, to display the basic route, while particularly relevant acoustic announcements describe the detour route for assisting the driver.
    According to a preferred embodiment, determining the detour route comprises a step of determining a plurality of route elements, a step of determining for each route element the plurality of route elements, or the route element a fixed minimum distance to has the at least one point of interest, a step for marking the route elements, for each route element of the plurality of route elements if the route element does not show the minimum distance, and a step of merging an unmarked route elements of the multiple route elements to form the detour route. The minimum distance may, for example, be defined as the smallest distance between an arbitrary point of the relevant route element and an arbitrary point of the point of interest, or in another suitable manner, for example via the number of intersections or connection points between the relevant route element and a further route element lying at or near the point of interest. In this way, a detouring route is created that respects the minimum distance to the at least one point of interest at every point of the course.
    According to a preferred embodiment, the joining of the unmarked route elements comprises a step of determining a first and a second basic route part of the basic route that does not have such a marked route element such that the basic route between the first and the second basic route part has at least one marked route element, a step of joining unmarked route elements of the plurality of route elements, to form a part of the reverse route connecting the first and the second basic route part, as well as a step of joining the part of the detour route and the first and the second basic route piece and the first and the second basic route piece to form the detour route. In this way, a detour route, which for the most part corresponds to the basic route, is typically calculated and which effectively passes around the at least one point of interest. Because in the area of the part of the detour route the base route and the detour route deviate from each other, the driver can conclude that the at least one point of interest is in the corresponding area of the base route.
    According to a preferred embodiment, determining the detour route further comprises a step of merging unmarked route elements from the large amount of route elements to form a provisionally detour route from the starting point to the end point, and a step of assessing whether the provisional detour route fulfills a measurable quality criterion. If the provisional detour route fulfills the quality criterion, the provisional detour route is used as the detour route. Only if the provisional detour route does not fulfill the quality criterion, the detour route is formed by merging the part of the detour route and the first and the second basic route piece. This advantageously enables the driver to use a high quality detour route, along which there are no places of interest, if such a detour is possible at all. If this is not the case, the driver can substantially follow the course of the base route and always choose in the area of the at least one point of interest whether he wants to go around the point of interest with the associated detour route or deliberately follows the base route.
    Brief description of the drawings
    The present invention is explained below with reference to preferred embodiments and the accompanying figures. In the figures:
    FIG. 1 is a schematic block diagram of a driver assist device according to an embodiment;
    FIG. 2 is a flow chart of a method for assisting a driver according to an embodiment;
    FIG. 3A-C show the steps of a method according to an embodiment on the basis of an exemplary cut-out of a digital card;
    FIG. 4 is an example of a screen display generated by the method of FIGS. 3A-C.
    It is noted that the figures are only schematic representations of preferred embodiments of the invention which are described by way of non-limitative embodiments.
    In the figures, the same reference numerals denote identical or functional parts, insofar as the opposite is not indicated.
    The driver assist device 100 shown diagrammatically in Fig. 1 is a vehicle navigation device which is, for example, designed separately in a main unit 101 and a dispensing unit 109 with a screen 108 and a loudspeaker 110. The driver assist device 100 may, for example, be built into a portable housing or be arranged for mounting at a suitable location on the vehicle dashboard. Digital map data 121 are stored in a data storage 120 of the main unit 101, to which the sub-units 116, 118, 102, 104, 106 of the main unit 101 described below can be accessed, for example, via a bus system (not shown).
    The main unit 101 shows a location determiner 116, which receives signals from navigation satellites such as, for example, from the GPS or GLONASS system from an antenna 114, and makes the location 390 present from the satellite signals available on the output side. Furthermore, the main unit 101 shows an input keyboard 118 for inputting a desired end point 399. The input keyboard 118 may, for example, also be combined with a display 108 to form a touch screen. A basic route determiner 102 of the main unit 101 for determining 202 a basic route 302 from a current location 390 as a starting point to the end point 399 based on the digital map data 121 is on the input side with the outputs of the location determiner 116 and the input keyboard 118 as well as on the output side connected to the delivery unit 109, a locator 104 and a determiner of the return route 106. The locator 104 is arranged, based on the basic route 102 determined by the basic route determiner 103 and the digital map data 121, to determine a definable definition of corresponding points of interest 304, which lie along the basic route 102, on the output side of the determiner of the detour route 106. The determiner of the detour route 106 is arranged, based on the base route 102, the points of interest 304 and the digital map data 121, to determine a detour route 305 from the starting point 390 to the end point 399, which surrounds the at least one point of interest 304 going. At the output side, the determiner of the detour route 106 for issuing the detour route 305 is connected to the delivery unit 109.
    During operation of the driver assistant 100, the location determiner 116 determines the current location 390 of the vehicle based on the received satellite signals and possibly further data such as the digital map data 121. The vehicle driver enters an end point 399 on the input keyboard 118, to which he wants to move the vehicle from location 390 as a starting point. The basic route determiner 102 determines a base route 302 from the starting point 390 to the endpoint 399 based on the starting point 390, the ending point 391 and the digital map data 121, which is optimized, for example, with respect to the driving time. The locator 104 determines, based on the base route 102 and the digital map data 121, a definable definition of corresponding points of interest 304 that lie along the base route 102. The definition of points of interest 304 and the criterion for proximity to the base route 302 may, for example, be determined by the manufacturer or pre-selected by the driver via, for example, an input keyboard 118. The determiner of the detour route 106 now determines, based on the base route 102, the points of interest 304 and the digital map data 121, a detour route 305 from the starting point 390 to the end point 399, which goes around the at least one point of interest 304.
    The main unit 101 forwards both the base route 302 and the bypass route 305 to the delivery unit 109. The delivery unit 109 displays both routes 302, 305 simultaneously on the display 108, which for this purpose is shown in an upper display half 111 for displaying the base route 102 on a first map and a lower display half 112 for displaying the reverse route 102 is graphically subdivided on a second card. Via the loudspeaker 110, additional row of instructions are acoustically delivered, which leads the driver along one of the two routes 302, 305, for example the return route 305.
    A method for assisting a driver while driving a vehicle from a starting point to an end point will now be explained with reference to the flowchart in Fig. 2, with selected method steps additionally illustrated in Figs. 3A-C. Figure 3A shows a cut-out of a digital map, which simply shows a checkerboard-like pattern of intersecting streets. The digital data of the map, which are stored in a memory of a vehicle navigation system, describe a number of so-called edges or route elements 310, which in each case correspond to a street section between two intersections 311.
    The driver starts the method by entering an end point 399 to step 200 where the vehicle is to be moved. If the starting point 390 of the desired route does not match the current position, it is also entered. In step 202 follows the calculation of a base route 302 according to the driver's input. For this purpose, as is known in known vehicle navigation devices, route elements 310 are selected from the digital map data and connected to each other such that the base route 302 connects the starting point 390 to the end point 399 and is optimized with respect to an optimization parameter such as, for example, the travel time or the road length.
    After calculating the base route 302 in step 202, it is checked in selection step 204 whether there are points of interest 304, 305 along the base route 302. Points of interest 304, 305 are here understood to be points, trajectories or areas which, according to a predetermined definition, for example by the manufacturer or the driver, will be taken into consideration for route planning without this being directly indicated. For example, data about the length and extent of the points of interest can be stored in connection with the digital map data. In selection step 204, for example, it is checked whether points of interest 304, 305 exist within a suitable fixed environment of the base route 302. For example, for the point of interest 305 shown in Fig. 3A, it is determined by comparison with an identifiable threshold distance 312 that it is in too great a distance 315 to the base route to be considered lying along the base route 102, while a further interesting location 304 based on a shorter distance 314 when judging along the base route 102. If it is determined in selection step 204 that there are no places of interest along the base route 102, the method branches to step 224, where the base route 102 is delivered as with a known vehicle navigation device.
    If, on the other hand, it is determined in selection step 204 that points of interest 304 lie along the base route 102, the method according to step 206 branches, where such route elements 310 'on which or where points of interest 304, 305 are situated are marked, for example by placing a bit or storing these route elements 310 'in a reference table. In Fig. 3B-C the marking is symbolized by means of a slash 7 ". The threshold of proximity, for example, as described for selection step 204, serves as a criterion of proximity, which is suitably selected just as in selection step 204. In order to limit the computing effort, preferably only such route elements are checked, which lie in a suitable area to be defined 308, for example an ellipse, which comprises the start 390 and end point 399.
    In selection step 208, it is checked whether the driver has activated an option of the driver assist device that corresponds to a route that is desired free of points of interest 304, 305, even if this route possibly has a longer driving time or road route than the basic route 102. In in the case that this option is active, in step 210 such a route is determined as a provisional detour route 305. For this purpose, as in step 202, route elements 310 from the digital map data are selected and connected to each other in such a way that the provisional detour route 305 connects from the starting point 390 to the end point 399 and is optimized with regard to an optimization parameter such as, for example, the driving time or the road route. . Distinctively from step 202, the route elements 310 "marked in step 206 are thereby excluded from use, so that the provisional detour route 305 only shows unmarked route elements 310.
    In a first quality control step 212 it is checked as a first quality criterion whether the provisional detour route 305 is within a defined area, preferably the area 208 already defined in step 206. In a second quality control step 213 a second quality criterion is checked, or the provisional bypass route 305 fulfills a measurable quality with regard to the route target criteria (e.g., the driving time), for which the provisional bypass route 305 has been optimized. If both quality criteria are met, the provisional detour route 305 in selection step 214 is presented to the driver for acceptance. If the driver accepts the provisional detour route 305, it is issued as a definitive detour route in step 220, that is, to guide the driver instead of the base route 302.
    If the driver has not activated the option checked in option step 208, the provisional detour route 305 of a quality criteria checked in the quality control steps 212, 213 does not fulfill, or the driver does not adopt the provisional detour route 305 in option step 214, the method branches to step 216 In this step, intermediate goals are determined along the base route 302. For this purpose, starting at the starting point 390, such nodes 391, 392, i.e. contact points of the route elements, are determined as intermediate targets, against which a route element 310 not marked in step 206 collides with a marked route element 310 ". In the case shown in Fig. 3C, this leads to a division of the basic route 302 into a first basic route piece 317 between the starting point 390 and a first intermediate goal 391, a second basic route piece 327 between a second intermediate goal 392 and the end point 399 as well as between the first 391 and the second 392 intermediate target intermediate part of the basic route 302. The first 317 and the second 327 basic route part only show unmarked route elements 310, the intermediate part consisting exclusively of marked route elements 310 '.
    If, in the general case, if there are several points of interest along the base route 302 that deviate from the illustration in Fig. 3C, then more intermediate targets are determined which separate alternating base route pieces with unmarked route elements and spacers with marked route elements. If two interesting places are in the immediate vicinity, or if the street graph is grounded in such a way that the zones of the marked route elements belonging to both places intersect, the two interesting places are treated as a reversible obstacle with a larger radius. Likewise, optionally, the marking of the route elements is modified such that the start and end points are accessible, to enable the reliability of a detour route.
    In step 318, for each intermediate part of the base route determined in step 216, which has marked route elements, a part of the detour route 307 is determined. For this purpose, route elements 310 from the digital map data are selected and connected to each other in such a way that the part of the surrounding route 307 connects that intermediate target 391 and the intermediate target 392 behind the intermediate and with respect to an optimization parameter such as for example, the driving time or the road route has been optimized. As in step 210, the route elements 310 "marked in step 206 are thereby excluded from use, so that the part of the return route 307 only has unmarked route elements 310. Subsequently, a detour route 306 is formed by replacing, in the base route 302, all of the route elements 310 'which are marked are replaced by the corresponding parts of the detour route 307, determined in step 216. For the example shown in Figs. 3A-C this means that the detour route 306 is joined by the first base route piece 317, the detour route piece 307 and the second base route piece 327.
    In other words, a route is calculated in step 218 which does not use all intermediate targets 391, 392 after the order and route elements 310 "marked as unreachable. In this way a detour route 306 is created, which, although substantially the same as the base route 302, nevertheless chooses another route before an interesting location and shortly thereafter leads back to the base route.
    After calculating the detour route 306 in step 218, both the detour route 306 with intermediate targets as well as the base route 302 in step 222 are shown simultaneously. This can be carried out, for example, by means of a split screen or by different colors or line types for the two routes. FIG. 4 shows a possible image, the base route 302 being shown as a dashed line and the reverse route 306 being shown as a dashed route. In alternative embodiments, a voice delivery unit may be used because, depending on a driver's wish, for example, the base route 302 appears on the screen, but the reverse route 306 is broadcast. In this case, the driver can compare whether the two issues match or not. The issuing of two different routes informs the driver that he is approaching an interesting place, without directly showing it or warning it. This is present as long as the detour route is not identical to the base route. If the driver returns to the base route, he can again assume that, according to the stored data, there is no point of interest along the current route as long as the return route 306 is in accordance with the base route 302.
    The invention is not limited to the exemplary embodiments shown here. Many variants are possible and are understood to fall within the scope of the invention as set forth in the following claims.
    权利要求:
    Claims (10)
    [1]
    A method for assisting a driver while driving a vehicle from a starting point (390) to an end point (339), comprising the following steps: - determining (202) a base route (302) from the starting point (390 ) to the end point (399); - determining (204) at least one point of interest (304) along the base route (302); - determining (204-210, 218) a detour route (305, 306) from the starting point (390) to the end point (339), which goes around the at least one point of interest (304); and delivering (222) the base route (302) and the return route (305, 306) to the driver.
    [2]
    The method of claim 1, wherein the base route (302) and the return route (306) are delivered simultaneously.
    [3]
    The method of claim 1 or 2, wherein delivering (222) the base route (302) and the detour route (306) by indicating the base route (302) on a first map (401) and indicating the reverse route (306) takes place on a second map (402).
    [4]
    The method of any one of the preceding claims, wherein delivering (222) the base route (302) and the detour route (306) by indicating the base route (302) and the detour route (306) in always different colors and / or line types.
    [5]
    The method of any one of the preceding claims, wherein delivering (222) the base route (302) and the reverse route (306) takes place optically and delivering (231) the other from the base route (302) and the reverse route ( 306) occurs acoustically.
    [6]
    A method according to any one of the preceding claims, wherein determining (204-210, 218) the return route (306) comprises: - determining a plurality of route elements (308); - determining (204), for each route element (310, 310 ') of the plurality of route elements (308), whether the route element has a detectable minimum distance (312) from the at least one point of interest (304) ; - marking (206) the route element, for each route element of the plurality of route elements (308), if the route element does not have a minimum distance (312); and - joining (210, 218) unmarked route elements (310) of the plurality of route elements (308) to form the reverse route (306).
    [7]
    The method of claim 6, wherein the joining (218) of the unmarked route elements comprises: - determining a first (390, 391) and a second (392, 399) basic route piece of the basic route (302), always has at least one unmarked route element (310), wherein the base route (302) has at least one marked route element (310 ') between a first (390, 391) and a second (392, 399) base route piece; - joining unmarked route elements (310) of the plurality of route elements (308) to form a detour (307) connecting the first (317) and the second (327) basic route piece (307); and - joining the detour route piece (307) and the first (317) and the second (327) basic route piece to form the detour route (306).
    [8]
    A method according to claim 7, wherein determining the detour route (204-210, 218) comprises: - joining (210) the unmarked route elements (310) of the plurality of route elements (308), to forming a provisional detour route (305) from the starting point (390) to the end point (399); and - assessing (212-214) whether the provisional detour route (305) fulfills a measurable quality criterion; the provisional detour route (305) being used as the detour route (306) if the provisional detour route (305) fulfills the quality criterion; and wherein the bypass route (306) is formed by merging the bypass route piece (307) and the first (317) and the second (327) base route piece if the provisional bypass route (305) does not fulfill the quality criterion.
    [9]
    A computer program product with program instructions, preferably stored on a machine-readable carrier, for carrying out the method according to any one of the preceding claims, if the program instructions are executed on a computer or a driver assistant device (100).
    [10]
    A driver assist device (100) for assisting a driver while driving a vehicle from a starting point (390) to an end point (399), comprising: a basic route determiner (102) for determining (202) a basic route (302) ) from the starting point (390) to the end point (399); - a locator (104) for determining (204) at least one point of interest (304) along the base route (302); - a detour determiner (106) for determining (204-210, 218) a detour route (305, 306) from the starting point (390) to the end point (399), which surrounds the at least one point of interest (304) is going; and - a delivery unit (109) for delivering (222) the base route (302) and the return route (305, 306) to the driver.
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    同族专利:
    公开号 | 公开日
    DE102010028107A1|2011-12-01|
    NL2006637C2|2014-02-10|
    引用文献:
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    DE19604892C1|1996-02-10|1997-07-24|Werner Schrimpf|Positioning system for motor vehicles|
    EP1847805A2|2006-04-17|2007-10-24|Xanavi Informatics Corporation|Navigation apparatus|
    JP2005156535A|2003-11-04|2005-06-16|Denso Corp|Travel assist device for vehicle and on-vehicle device|DE102015216169A1|2015-08-25|2017-03-02|Conti Temic Microelectronic Gmbh|Driver assistance device, motor vehicle with the driver assistance device and a method for assisting a driver when driving a motor vehicle|
    法律状态:
    2020-12-09| MM| Lapsed because of non-payment of the annual fee|Effective date: 20200501 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102010028107A|DE102010028107A1|2010-04-22|2010-04-22|Method for assisting driver during driving vehicle from starting point to destination, involves determining bypass route from starting point to destination, and outputting basic route and bypass route to driver of vehicle|
    DE102010028107|2010-04-22|
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