• 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 implementing navigation of a vehicle in dependent upon stored navigation data (1), which comprises confidence levels (V, V1-Vn) that indicate confidence of correctness of the navigation data. The navigation data includes data objects (D) e.g. roads, which comprise attributes. A geographical position of the vehicle is determined, and an actual surrounding area of the vehicle is monitored. An actual attribute of the surrounding area is determined, and the geographical position is compared with the objects for identifying actual data objects. The attributes are selected from a group that includes a land attribute (D1), region attribute (D2), location attribute (D3), geographical data attribute (D4), map mistake attribute (D5), road name attribute (D6), road class attribute (D7), recording type attribute (D8), data source attribute (D9) and recording data attribute (D10). Independent claims are also included for the following: (1) a navigation system for a vehicle (2) a computer program with program code units for implementation of a navigation method.
    公开号:NL2006638A
    申请号:NL2006638
    申请日:2011-04-20
    公开日:2011-10-25
    发明作者:Andreas Vogel
    申请人:Bosch Gmbh Robert；
    IPC主号:
    专利说明:

    Title: Navigation system and navigation method for vehicles
    State of the art
    The invention relates to a navigation system and a navigation method for vehicles, in particular for motor vehicles.
    The road network is constantly changing, since more roads are being built, existing roads are being closed, roads are being renamed and the priority rules can change.
    For a conventional navigation system, this means that the database with which the navigation system works is usually outdated. Navigation devices are becoming increasingly common, recording the trajectory traveled by the vehicle. These routes can be signed into digital maps by users. For example, there is the OpenStreetMap project or an online editing option for a database of well-known card producers. In these projects, users can enter roads, change attributes, delete roads, and so on. The result is that the database that is made available for such projects is usually more up-to-date than a stored static database, but there is a risk that users - maliciously or accidentally - enter incorrect paths, incorrect attributes, etc. into the database. The quality mainly depends on how and by whom the data was collected. The spectrum ranges from professional digitizers with expensive equipment on the one hand to simple users who, for example, remember that there has probably been a road in one place. Each user accordingly supplies map data of various quality. There are therefore two aspects to map data, namely that map data is outdated and the producers of the map data have different reliability. Conventional navigation systems are designed on a similar quality of the map data and do not take into account map data of different quality.
    DE 102007058092 describes a navigation system, in which geographical objects display properties that additionally display an attribute "probability". This attribute "probability", however, does not concern the reliability of the specification of the properties, but a use value of the specification of the property at the time of use. For example, when specifying a gas station, the geographic position of the gas station is not called into question, but whether the gas station is open late at night if it is in a rural setting or in another road that is ridden low lies. Also of importance are the probability specifications of an average speed, since this information can be used to select a driving route with the driving time that is less spread than that of an alternative route. DE 2007058093 is also involved in optimizing the specification of driving time, fuel consumption and driving costs. Here too, the geographic data such as the length of the road and the value of the average speed are not questioned, but only checked how plausible the assumption of reaching the average speed, etc., is for the planned driving time.
    Disclosure of the invention
    On the other hand, the navigation system and the navigation method such as a computer program product according to the present invention offers the advantage that the navigation data has an attribute with respect to a reliability level for a correctness of the data and the navigation system uses these statements for the optimization for fulfilling the user's wish . The reliability level can be a number or a logical value, which indicates how reliable or reliable the relevant database of cards is.
    This attribute "reliability level" is preferably issued with respect to related data of a geometric development of the road concerned and to different data objects such as a street class, a one-way street, etc., which can also be an attribute of another data object.
    Advantageously, the confidence level records differently large areas or data groups. The reliability level can characterize the entire path or only selected attributes. For example, the geometry of a road can be reliable, because the user has often driven the road himself, while an attribute "street name" can already be outdated and not reliable. The confidence level can be provided for an entire area. Alternatively, however, each road can also have its own level of reliability. Furthermore, a road as a whole can be provided with a reliability level or each attribute can be provided separately with an associated reliability level.
    When making a database available, the map manufacturer can already assign the individual paths an initial level of reliability. A provider distinguishes according to the way of registering the navigation data, for example so-called A-data and B-data. The A data are, for example, roads recorded with a vehicle. The B data are, for example, scanned data from a map or an air intake and are therefore considered less reliable. In the system according to the invention, such a B data is assigned a lower level of reliability.
    If a user loads data in his navigation system that does not come from a professional supplier, for example from OpenStreetMap, then the user or the manager of the data collection project can determine how strongly the data of the single data suppliers are trusted and provide a corresponding level of reliability. In this context, it can be queried, for example, with what equipment the data was determined, for example whether the data was included in the map data by GPS or based on a person's memory.
    If a user drives with the aid of the navigation system, it can be determined in the Map Matching method how well the geometry of the map database corresponds to the measured position. This can lead to a correction of the reliability level of the navigation data. Furthermore, a user can inform the navigation system if the map database is wrong; that is, if the user recognized a wrong street name or a wrong one-way street or the like.
    If there are major deviations between the map database and reality, the reliability level for this data supplier is lowered. A distinction can be made here between whether the general confidence level is reduced or, for example, only the confidence level for an attribute, such as street names. If, on the other hand, the navigation data correspond very well with the real environment, the reliability level can be increased at least for the currently used road in itself and also the reliability level for the associated data supplier.
    Immediately after the data collection, the collected data starts to age. A data collection date is also available with the data. The confidence level calculated according to the above criteria can now be reduced depending on the time elapsed since the data collection. In addition, the level of reliability in certain attributes of an object, such as, for example, one-way rules, names, turn-off regulations of a road can fall faster over time than in the pure geometry and topology of an object.
    With the Map Matching method, a position of the vehicle determined per sensor is projected into the digital road network.
    The reliability level of the geometry data can be taken into account in the Map Matching and the approximate size of the map error. With a very low level of reliability, the map error or the allowable or possible deviation can thus be increased and a corresponding path in the digital network can be sought with a greater tolerance. In particular, with a very low level of reliability, no feedback from the Map Matching to the position determination will take place.
    When searching for a route, the reliability level can be included as a further route search option. For example, the user can use a slider to indicate whether, if possible, he wants to drive only on roads with a high level of reliability or to what extent streets with a lower level of reliability may also be included in the route calculation. If the user wants to arrive at the destination with a reliable arrival time, the user therefore only chooses roads with a high level of reliability. However, if the user has time, then all paths can be included in the calculation, that is, the reliability level can be set less on the user's side.
    On roads with a high level of reliability, the target control can provide detailed information, for example a distance information up to a selection point or also announce or display the corresponding street names. If the reliability level is low, for example, the street name can no longer be called acoustic. A recommendation from the navigation system with a high level of reliability could for example be "turn left after 150 meters in the Dorpstraat". A corresponding recommendation with a low level of reliability is, for example, "shortly turn left if possible".
    If a target is entered in an area with a high level of reliability, a conventional target input is sufficient. For a region with a low level of reliability, for example, a target input can be automatically switched to a tolerant input mode, in which the exact spelling for the indicated purpose is not expected, but similar spellings are also tolerated. For such areas, the target can be presented to the user once again on a map after an entered target entry and thus again subjected to an optical check.
    For example, an electronic horizon is used to warn about bends. Such a bend warning can be connected to the associated geometry with the confidence level. At a high level of reliability, the vehicle can additionally cause a deceleration in addition to the warning. If the reliability in the map base is rather low, only an optical and / or acoustic warning for the bends of the navigation system is issued to the driver or the user.
    Embodiments of the invention will be further explained with reference to the drawings, in which:
    FIG. 1 shows a schematic representation of a navigation data structure used according to an embodiment of the present invention;
    FIG. 2 shows a block diagram of a navigation system according to an embodiment of the present invention;
    FIG. 3 shows a flow chart of a navigation method according to an embodiment of the present invention;
    FIG. 4 shows a front view of a navigation system according to an embodiment of the present invention with an input menu; and
    FIG. 5 shows a front view of a navigation system according to an embodiment of the present invention with a bend warning.
    It is noted that the figures are only schematic representations of the preferred embodiments of the invention which are described by way of non-limitative embodiments. In the figures, the same or corresponding parts are designated with the same reference numerals.
    In FIG. 1, a data structure of navigation data 1 is shown, which can be used in accordance with an embodiment of the present invention. The navigation data 1 contains data objects D which have associated sub-data objects or attributes D1, D2, D3, ... Dn. Each data object D and attribute D1, D2, D3, ... Dn is assigned a corresponding attribute confidence level V, VI, V2, V3, ... Vn, which indicates a confidence in the correctness of the relevant data. If the data object D is, for example, a road, then the associated sub-data objects or attributes can be:
    D1 - country D2 - region D3 - location D4 - geographical data D5 - map error of the geographical data D6 - name of the road D7 - class of the road D8 - way of registering D9 - data source, data supplier D10 - registration date
    Dn -...
    The data objects D and associated attributes as well as the associated confidence levels V are preferably stored in a data storage for navigation data.
    The data for the regions in a determined country, for example, was supplied by a non-professional data provider D9, which enjoys moderate reliability. For example, the reliability level VI for the country can have the highest possible confidence level and does not change by entering the data for the region. Initially, all read-in data for the region D2 and for further attributes D3 ... Dn of the object receive the initial reliability level Vi from the relevant data provider.
    First of all, the geographical data D4 as well as the attributes "name of the street" D6 and "class of the street" D7 of the street object have the confidence level V4, V6, V7 with the value Vi. The corresponding applies to all data objects and attributes of the region or of the geographical area of the region.
    A user can now change accordingly with the knowledge of the manner of determining D8 of the navigation data of the confidence level for groups of data. In the present example, it first of all maintains the initial confidence level Vi and uses a navigation system with the Map Matching function and then makes a change in the confidence level V based on its experiences.
    The user determines, for example, that the names D6 and the classification D7 of the streets are very reliable, but the geographical data D4 are less reliable. As a result, the user increases the confidence level V6 and V7 with respect to the classification and the names at a higher value and reduces the confidence level V4 with respect to the geographic data to a lower value as well as the confidence level V5 with regard to the map error D5 to an even lower value.
    Over time, the confidence levels of all navigation data of the region can be automatically reduced in accordance with the increasing age of the data together with the use of the recording date D10.
    In FIG. 2, a navigation system 10 according to an embodiment of the present invention is shown. The navigation system 10 shows an evaluation unit 11 connected to a data storage 12 for navigation data, a Human Machine Interface HMI13 and a unit 14 for position and environmental determination. The HMI 13 shows control elements 15 and a delivery unit 16. The position and environment determination unit 14 shows an antenna 17 for receiving GPS signals and is connected to a camera 18.
    Navigation system 10 is connected to the one shown in FIG. 3 diagram of the navigation method according to an embodiment of the present invention illustrated in FIG. The navigation method is based on navigation data with the data shown in FIG. 1 known data structure, which have an attribute reliability levels (V, VI, V2, V3, ... Vn) for the correctness of the navigation data (D, D1, D2, D3, ... Dn). The navigation data is preferably stored in the data storage 12 of the navigation system 10. Basic values or initial values for the confidence levels are preset as the starting point for the method. The navigation method starts with a method step a), namely determining the geographical position of the vehicle. This includes the evaluation of a GPS (Global Positioning System) signal received via the antenna 17 in the position and environmental determination unit 14. Thereafter - in a further process step b) - an observation of the current environment and the determination of current attributes of the environment - then possibly also in parallel thereto. This includes, for example, the evaluation of the image recorded by the camera 18, which is provided in the position and environment determination unit 14, in particular of recorded traffic signs, but also of other environmental features that can be used as attributes in the navigation data saved. The position and environmental determination unit 14 records all sensory information required for the method and passes it on to the evaluation unit 11. This is followed by the method step c), namely a Map Matching comparison of the determined geographical position with the geographical data objects for identifying a current geographical data object. The evaluation unit 11 receives the geographic data objects in the vicinity of the current position of the vehicle from the data storage 12. On the basis of these geographic data objects D, the evaluation unit 11 attempts by means of the map error to use an actual geographical data object identify where or on which the navigation system 10 is located. If no current geographical data object D can be identified, the method branches to method step d), namely reducing the confidence level of a geographical area in which the vehicle is located and returns to method step a). In this case, the map database is so bad that the current geographic location is not displayed on the map as data object D. Reducing the reliability level of the geographical area can optionally also take place if a predetermined road piece has been covered, if, for example, the map used is not allowed to display small private areas according to regulations.
    If a current geographical data object D, for example a street, a place or a parking garage can be identified, the method branches to method step e), namely the implementation of the following method steps for predetermined attributes of the navigation data to the identified data object D as a loop for all preset attributes. In this loop, the method step f) is a comparison of the attributes of the navigation data for the identified data object with the determined current attributes of the environment. In the comparison, traffic restrictions on the basis of the traffic signs known from the camera image are compared with the traffic restrictions stored in the navigation data with the current geographical data object D. Furthermore, the user can be involved and attributes, for example street names, compare, respectively identify or not identify.
    If the attribute of the navigation data with the identified data object D does not correspond to a particular current attribute of the environment, a method step g) follows to reduce or leave the reliability level of the attribute of the navigation data with the identified data object as well as a continuation of the method with process step e). A higher reliability level of the attribute is thereby reduced. However, a lower level of reliability can be left unchanged and thus confirmed. The loop continues. If the attribute of the navigation data with respect to the identified data object corresponds to a certain current attribute of the environment, in a method step h) an increase or failure to change the reliability level of the attribute of the navigation data relative to the identified data object and the continuing the process with process step e). A lower reliability level of the relevant attribute is thereby increased. However, a high level of reliability can be left unchanged. This can be seen as a saturation effect. The high level of reliability is thereby confirmed and the loop continues. After passing the loop for all predetermined attributes of the navigation data with the identified data object, i.e. at the end of the loop, the method is continued with method step a).
    In an optional variant of a method according to the invention, in process step f) there is a comparison of the current driving situation with the attributes of the navigation data and optionally the issuing of a warning, whereby the reliability level of the attribute is taken into consideration. Here it is checked whether the traffic restrictions determined with the environmental registration and the stored traffic restrictions, insofar as the corresponding attributes of the navigation data of the geographical objects have a high level of reliability, are observed by the driver.
    Also in process step f), a bend warning with the navigation data with a high level of reliability is possible if the current or the coming section of the route is determined by means of an attribute, a bend is determined with the help of an electronic horizon, and the current speed determined by the navigation system is significantly higher. is then the speed shown in an attribute of the turn for safe preparation of the turn. In such a case, a control signal can be issued which causes automatic braking of the vehicle.
    The navigation system 10 furthermore shows an interface (not shown) for exchanging reliability level data. This can be, for example, a commonly available data interface for loading navigation data per transmission cable or a USB interface or an air interface per radio or infrared, possibly a USB interface. A radio interface allows a connection to a local computer, for example via Bluetooth, or to an existing Wide Area Network (WAN) or to a mobile telephone network. The exchange of reliability level data follows in this example through the use of a central server. A user can download the current consumption level data made available on the server or, to the extent that the server allows it, transmit reliability level data changed from the user to the server. A commercial data provider can provide confidence level information to encourage the user to purchase up-to-date map material, while a non-commercial Internet community can centrally compare and make available confidence level information collected from its members. When exchanging reliability level data from / to the navigation system via a data carrier by means of a local computer or directly via a local computer, the connection between the local computer and the central server preferably takes place via the internet. When exchanging the confidence level data to / from the navigation system via a WAN or a mobile telephone network, the navigation system is directly connected to a central server.
    In FIG. 4 and FIG. 5, the navigation system 20 according to an embodiment of the present invention is depicted with the aspect of practical use with a display 21 in a housing 22. The housing 22 has a speaker 23 for announcing navigation directions. The display screen 21 is in the form of a touch screen and shows an input menu 24 for changing a previously valid reliability level V in field 25 of a data object in field 26. The selected change can be made for all data of the region in field 27 by Select in field 28. The value of the confidence level shown in field 25 is changed with a slider and taken over in memory with the operation of the memory key 30. The structure of the navigation system 20 corresponds to that of FIG. 2, wherein the HMI 13 described therein displays as touch elements 15 the touch screen display 21 with input menu 24 and as delivery unit 16 the display 21 and the loudspeaker 23.
    The navigation system 20 takes into account the future use of the set reliability levels V with a target control input and with a target control announcement via the speaker 23.
    In FIG. 5 it is for the purpose shown in FIG. 4, navigation system 20 according to the embodiment of the present invention with screen image 34 shows a navigation scene with a bend warning. The road 36 traveled by one's own vehicle, represented by the symbol 35, shows a bend 37. The navigation system 20 calculates that the speed shown in the field 38 is too high for safe cornering 37 and gives an optical bend warning in the The shape of the symbol 39 as well as an acoustic bend warning 40 via the loudspeaker 23, which takes into account a reliability level V. If the driver does not respond with a reduction in speed, the navigation system 20 causes an automatic braking of the vehicle. Per vehicle it can be any vehicle, in particular a motor vehicle. The vehicle can, for example, also be a rail vehicle, air vehicle or a ship.
    It is clear from the foregoing that the invention can advantageously be implemented in the form of software that is processed by a computer of the navigation system for the realization of the method. This software comprises program code means per se; known manner. The software can be stored and sold as a computer program product on data carriers, such as memory cards or optical data carriers. The software can also be made available on a data server for downloading via a data connection, for example via the internet. The download from the server can be released against payment.
    The invention is not limited to the exemplary embodiments shown here. Many variants are possible and are understood to be within the scope of the invention as set forth in the following claims.
    权利要求:
    Claims (15)
    [1]
    A navigation method for a vehicle, wherein navigation of the vehicle takes place in dependence on stored navigation data, which exhibit confidence levels, which indicate a confidence in the accuracy of the navigation data.
    [2]
    Navigation method for a vehicle according to claim 1, wherein the navigation data is always an attribute of reliability levels (V, VI, V2, V3, ... Vn) for a correctness of the navigation data (D, D1, D2, D3, ... Dn) with the following process steps: a) determining the geographical position of the vehicle; b) observing the current environment of the vehicle and determining current attributes of the environment; c) comparing the determined geographical position of the vehicle with geographical data objects to identify a current geographical data object; - if no current geographical data object can be identified d) reducing the reliability level (V) of a geographical area and continuing the method with method step a); - if a current geographical data object can be identified e) carrying out the following method steps of certain attributes of the navigation data for the identified data object: f) comparing the attribute of the navigation data for the identified data object with the determined current environmental attributes ; - if the attribute of the navigation data for the identified data object does not correspond to a particular current attribute of the environment g) reducing or leaving the reliability level of the attribute of the navigation data for the identified data object and continuing the method step process method e); - if the attribute of the navigation data for the identified data object corresponds to a specific current attribute of the environment h) increasing or leaving unchanged the reliability level (V) of the attribute of the navigation data for the identified data object and continuing the method with process step e); - wherein after execution for all predetermined attributes of the navigation data for the identified data object, the method with method step a) is continued.
    [3]
    Navigation method according to claim 2, characterized in that in method step f) a comparison of the current driving situation with attributes of the navigation data and, if applicable, the issuing of a warning takes place, taking into account the reliability level of the attribute.
    [4]
    Navigation method according to claim 3, characterized in that if a warning is issued with navigation data with a high level of reliability, a signal is produced which causes an automatic braking of the vehicle.
    [5]
    A navigation method for a vehicle, wherein the navigation system (10, 20) performs a navigation of the vehicle depending on the navigation data, which have confidence levels (V), which indicate a confidence of the correctness of the navigation data.
    [6]
    Navigation method according to claim 5, characterized in that the navigation system (10, 20) has operating elements (15, 29, 30) for selecting and / or changing a selectable confidence level (V) and an evaluation unit (11) ) for executing the navigation by using the selectable confidence level (V).
    [7]
    Navigation system according to claims 5-6, characterized in that the navigation system (10, 20) has a device (14) for registering the environment.
    [8]
    A navigation system according to claims 5-7, characterized in that a confidence level (V4) indicates a confidence of the correctness of the geographical data (D4) of a data object (D).
    [9]
    Navigation system according to one of the preceding claims 5-8, characterized in that a confidence level (V2) indicates a correctness of the data of a geographical area (D2).
    [10]
    A navigation system according to any one of the preceding claims 5-9, characterized in that a confidence level (V8) indicates a way of registering (D8) the navigation data.
    [11]
    A navigation system according to any one of the preceding claims 5-10, characterized in that a confidence level (V9) indicates a credibility of a data provider (D9) of the navigation data.
    [12]
    A navigation system according to any one of the preceding claims 5-11, characterized in that a confidence level of the navigation data has a correction of the confidence level based on the age of the data depending on a recording date (D10) of the data.
    [13]
    A navigation system according to any one of the preceding claims 5-12, characterized in that a map error (D5) of the geographical data (D4) is determined by using the reliability level (V4) of this geographical data.
    [14]
    A navigation system according to any one of the preceding claims 5-13, characterized in that a reliability level of the navigation data has a correction on the basis of a Map Matching.
    [15]
    A computer program with program code means for converting the method according to one of claims 1-6 and / or the use in a navigation system according to one of claims 7-14.
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    法律状态:
    2021-12-08| MM| Lapsed because of non-payment of the annual fee|Effective date: 20210501 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102010028090|2010-04-22|
    DE102010028090A|DE102010028090A1|2010-04-22|2010-04-22|Method for navigating e.g. vehicle, involves implementing navigation of vehicle in dependent upon stored navigation data, which comprises confidence levels that indicate confidence of correctness of navigation data that includes objects|
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