CN102032913B - Method for determining route of vehicle in navigation device - Google Patents
Method for determining route of vehicle in navigation device Download PDFInfo
- Publication number
- CN102032913B CN102032913B CN201010290932.6A CN201010290932A CN102032913B CN 102032913 B CN102032913 B CN 102032913B CN 201010290932 A CN201010290932 A CN 201010290932A CN 102032913 B CN102032913 B CN 102032913B
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- acceleration
- guider
- vehicle
- acceleration profile
- driver
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000001133 acceleration Effects 0.000 claims abstract description 120
- 238000001514 detection method Methods 0.000 abstract 1
- 238000004422 calculation algorithm Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000013500 data storage Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 239000004615 ingredient Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3484—Personalized, e.g. from learned user behaviour or user-defined profiles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Social Psychology (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The method discloses a method of determining route of vehicle in navigation device, wherein acceleration sensors (29) are responsible for obtaining acceleration speed. In order to provide a method of automatic detection of driver-vehicle-combination, the invention shall compares a set of acceleration profiles stored in the navigation device with an actual acceleration profile recorded by the navigation device.
Description
Technical field
The present invention relates to a kind of method for obtaining travel route by guider, wherein obtained by acceleration transducer adding
Speed.Moreover, it relates to be used to perform the device of methods described and computer program
Background technology
The method of the type that introductory song is referred to is well known in the art, and public for example in the A1 of DE 102,007 049 761
Open.The method is based on self study PNA (personal navigation assistant), i.e. based on mobile navigation system, by the mobile navigation system
Place determination can not only be performed, moreover it is possible to navigate.The PNA be this according to gps data obtain user current location and
The suitable route of data recommendation according to the map.Modern PNA includes in addition pressure transducer, rotational speed sensor and accelerates
Degree sensor.The pressure transducer is used to obtain rapid accurately height change information.In GPS failures, for example in tunnel
In the case of, modern PNA by the rotational speed sensor estimating speed and can recognize the change of travel direction.It is described to add
Velocity sensor can be the sensor of micromechanics, and for the acceleration transducer, mass is suspended on spring, the matter
Block is deflected by the acceleration for occurring.Various methods analyzes the deflection, so that acceleration can be by electrical measurement.Additionally,
For the route calculation by PNA and the time of advent forecast, the average expectation speed on various street types is also obtained.
Here, it is including to those skilled in the art and it is readily apparent that the offer information in street
Contact between type and average speed is calculating route and is giving the correct time in advance the time of advent, it is considered to average on various street types
Store in the form of desired speed, and the data in user data, that is, be stored in depositing for the data that can store user
In reservoir, so that stored user data that can be in the navigation system draws by computational algorithm and vehicle is existed
The deduction of the average speed on various street types.Learn automatically in this PNA, which kind of driver reaches on which kind of street type
Average speed.
But here it is essential that, start navigation system when perform inquiry, by the inquiry complete user-
The identification of vehicle combination.
The user data of storage refers to the data of the driver personal of storage, if so that different drivers or led
The user of boat system uses identical PNA using identical vehicle or in the case of mobile PNA, and navigation system is certainly
User data is reviewed dynamicly, then the adaptation as the basic computational algorithm for calculating on the driving style of driver can cause
Mistake.
Realize that inquiry that user-vehicle combination is recognized, when navigation system is started is driven it is meant that determining at the very start
The person of sailing, but the user of navigation system generally thinks that this is loaded down with trivial details and interference.
Therefore, task of the invention is, there is provided the method for the type that introductory song is referred to, by its automatically realize driver-
The identification of vehicle combination.
The task is solved by the feature described in claim 1.The present invention is advantageously improved and says in the dependent claims
It is bright.
The content of the invention
According to the present invention, driver-vehicle-combination is automatically recognized in order to pass through guider, will be in guider
The acceleration profile of storage is compared with the acceleration profile newly obtained by guider.
Basic idea is the comparison automatic identification user-vehicle combination by acceleration profile.For this purpose, at this
In bright scope, the specific acceleration profile of driver is produced, and it is compared with stored acceleration profile,
So that acceleration profile is consistent to mean to automatically identify user-vehicle-combination.
The acceleration profile, i.e. acceleration are drawn relative to the figure of time can pass through so-called acceleration transducer
With e measurement technology acquisition, for example, by determining the inertia force tested in mass is acted on.For example can determine by this way,
Increased with the speed for whether occurring during vehicle launch to a certain degree or speed is reduced.The acceleration for being obtained is converted into telecommunications
Number, so that forming the acceleration profile for characterizing each driver.
When starting, navigation system according to the comparison of the acceleration profile of the starting point obtained with regard to omniselector,
It is determined that there is which kind of user-vehicle combination.
By thereby ensuring that according to the method for the present invention, navigation system is based on the acceleration for measuring or therefrom obtains
Acceleration profile, be based on which in known driver's data determining.Followed by driver's data energy
Enough calculate other prediction, such as the forecast time of advent.
By the acceleration profile stored in navigation system and the acceleration profile phase newly obtained by navigation system
Relatively, preferably by obtaining the similarity between the acceleration profile for being stored and the new acceleration profile for obtaining.
Can realize in this way in the distribution each other of single acceleration profile and from there through the acceleration compared
Degree scattergram draws the deduction to the desired average speed on various street types.
In the preferred design of the present invention, obtain in the acceleration profile for being stored and the new acceleration for obtaining
Similarity between scattergram.Here is related, i.e., to the linear relationship between the accekeration in multiple acceleration profiles
Description, can be used as using for calculating the effective instrument of similarity.If applied in acceleration profile and second
On acceleration profile, therefore the correlation is have value as multiphase for describing acceleration profile to be checked.In addition,
The similarity known be also suitable for described in labelling it is related, known the similarity such as correlation coefficient or information theory it is similar
Degree.
The modification of one practicality of the present invention is so designed that, that is, store the acceleration profile of the current acquirement of dissmilarity.
Which ensure that, according in the range of the method for the present invention, the deposit in terms of acceleration profile is available.The deposit can
For relatively using with the acceleration profile that obtains afterwards.
Advantageously acceleration profile is obtained by the acceleration transducer of three axles.The acceleration transducer of three axle is navigation
The ingredient of device, and be for example made up of the single-axis acceleration sensors of three orthogonal settings, or by monolithic vibrator
(Einmassenschwinger) constitute, deflection of the monolithic vibrator on all three directions is detected.Using three
The advantage of axle acceleration sensor is to obtain acceleration information as much as possible in acceleration profile.
It is so designed that according to another favourable design of the present invention, i.e., similarity is obtained by processor.For this
Processor obtains various features parameter for each axle with time sequencing from the acceleration signal, for example impact (ballistic kick, plus
The derivative of speed), acceleration maximum, acceleration minima.Thus phase is calculated compared with acquired acceleration profile
Like degree.
Alternatively, the similarity can be obtained by neuroid within the scope of the invention.For this purpose, navigation system
Additionally include known neuroid processor and acceleration transducer.In this favourable design of the present invention
In, navigation system is actively informed in the study stage, is who drives.Neuroid processor here learns, multiple drivers
Between difference on the acceleration signal produced by acceleration transducer at which.Various choosings are given with regard to the study stage
Select.On the one hand, the study stage can be so designed that, i.e., start navigation system when driver is determined by inquiry so that
Navigation system obtains from this point on characteristic.There is also such probability, i.e. navigation system and receive acceleration information first,
So that analyzing the acceleration profile in same place in the case of the multiple data records that there is acceleration information.Thus most
Obtain eventually, which data record is similar.In order to technically realize, driver is actively informed in the study stage gives navigation system
System, is arranged within the scope of the invention, and navigation system has display unit, preferred LCD, and with input equipment, preferably has
Touch screen.Here preferably has such probability in the navigation system, that is, add different user and incite somebody to action corresponding different
Driving behavior, traveling prediction etc. be assigned to the user.Subsequently, when navigation system starts, user is inquired, should be added
Which scattergram carried.
In order to determine driver as precisely as possible, it is advantageous to obtain multiple acceleration profiles of driver, so as to
Accurately describing as far as possible for the driving behavior with regard to driver is obtained in this way.Therefore, it is navigation system by this purpose
A user obtain multiple acceleration profiles.
Additionally, the present invention is designed to carry out guider, computer program, the machine-readable data knot of methods described
Structure and machine-readable data medium.
Description of the drawings
The present invention will be explained further according to appended accompanying drawing in embodiment below.
In accompanying drawing：
Fig. 1 shows the flow chart of foundation the inventive method,
Fig. 2 shows the acceleration profile according to the present invention, and
Fig. 3 shows navigation system.
Specific embodiment
The method for schematically showing in FIG is used to automatically recognize driver-vehicle combination.
Methods described starts from by navigation system and true for the GLONASS (global positioning system) of positioning
Determine the position 10 of vehicle.
Global Navigation System is the very famous instrument for positioning, described to be positioned for navigation, and such as vehicle is led
Boat.In the range of the foundation method of the present invention advantageously, position 10 is determined often in contact with where.In this regard, family
Parking stall be especially suitable for.
From the beginning of driver, the driver passes through the flow chart of the foundation method of the present invention that thus figure 1 illustrates
For example pour out parking stall and leave the parking stall of his family, here turn right and subsequently braking stop, and straighten wheel and to
Preacceleration.These driving maneuver actions or thus obtained kinematic data, such as set out, brake and vehicle curve half
Footpath, characterizes the combination of driver and vehicle.
Navigation system can be accurate to several meters and determine position 10 by the GLONASS for positioning.So
And, in order to pass through the relatively short apart from estimated acceleration of vehicle, the degree of accuracy is inadequate.Additionally, the degree of accuracy of gps data is being beaten
The very first time for opening navigation system is just considerably restricted.
In order to here is compensated, it is arranged such that by acceleration sensing in the range of the foundation method of the present invention
Device recording acceleration data 11.Advantageously, acceleration information is obtained on all three directions, that is to say, that using three axles
Acceleration transducer.The acceleration transducer records the acceleration profile of the acceleration with regard to the neighbouring appearance in position 10
Figure.Checked by measure 13 in another method and step by the form being integrated in guider simultaneously, with regard to position 10
Which kind of degree recorded acceleration profile 18,19,20 arrives.If drawn in the measure 14 of upchecking exist with regard to position 10
Achieve in the past acceleration profile Figure 18,19,20, then the acceleration profile is provided, to pass through in another method and step
Measure 15 to determine and be distributed the similarity between Figure 12 and acceleration profile Figure 18,19,20 in current acceleration.If another inspection
Test and drawn by measure 21, acceleration profile Figure 12 is similar to known driver, that is to say, that with the acceleration point
One in cloth Figure 18,19,20 is similar, then by the characteristic of the known driver, the desired average speed for for example being calculated,
Loaded in the form of user data, that is to say, that in being stored in data storage 16.The number being stored in data storage 16
According to be used subsequently to further route calculation and the time of advent forecast.
Draw if based on the form being integrated in the guider, do not collected with regard to driving in the past with regard to position 10
The data of the acceleration of the person of sailing, then be first stored in acceleration profile Figure 12 in data base 17.If confirmed by measure 15,
There is no the similarity with known distribution figure, that is to say, that if acceleration profile Figure 12 and acceleration profile Figure 18,19,
Any one in 20 is all dissimilar, or the past does not collect data in position 10, then acceleration profile Figure 12 also by
In being stored in data base 17.Data base 17 also has different driver 18, drivers 19 in addition to having acceleration profile Figure 12
Add with the recorded user data of driver 20 and with regard to feature of the driver 18,19,20 at defined location
Velocity contour, in the case where these user data and acceleration profile in database purchase are reviewed, to have
To determine the bigger deposit of similarity and potential admissible data for using.Here data base 17 also provides and includes
Provide the data of the available explanation of data collected in the past with regard to how many.
The various acceleration profiles obtained by 3-axis acceleration sensor are learnt by Fig. 2, it uses letter a) in fig. 2
To e) mark.Acceleration profile a) is to scattergram d) being stored in navigation system, and acceleration profile e) is newly to take
The scattergram for obtaining.Curve 23,32 shows the acceleration elapsed with time t, i.e., in shown in FIG acceleration profile,
The acceleration of vehicle is drawn relative to the time.Curve 23,32 reflects driving by illustrating different accelerating curves
The special driving behavior of member.
Driving maneuver action constitutes the basis of acceleration profile a) shown in figure 2 to the curve 23,32 in e), should
Driving maneuver action is shown as by two drivers in respective vehicle on short distance section：Parking stall is poured out, reversing is turned to
A left side, straight into roundabout, and leaves the roundabout again afterwards at 270 °, is subsequently having pas afterwards at about 50 meters
Road before brake and stop, wherein in the case of by roundabout, occurring until 0.5g (g=9.81m/s2) it is additional
Centrifugal acceleration, the centrifugal acceleration only manifests in curve 23.Acceleration profile a) and b) phase of driver A is shown
The accelerating curve answered, and draw by scattergram c) and d) with regard to the corresponding accelerating curve of driver B.By in acquirement
Acceleration profile e) and the stored acceleration profile a) can be based on the song of curve 23 to the comparison between d)
The acceleration profile e) is explicitly assigned to driver A by wire shaped.In this system, it is known that acceleration profile a) and b)
From driver A, acceleration profile c) and d) from driver B.It is determined that drawing in the range of the similarity, acceleration
Scattergram a) and b) with acceleration profile c) with d) compare more similar to accelerating curve e).Different curve shape heres by
The different driving behavior of driver A and B is produced.
Fig. 3 show with reference 100 mark guider, the guider include in known manner for
Measure 24 that is self-positioning and being consequently for determination current vehicle location.Measure 24 for example can be for receiving gps satellite positioning
The receptor of signal.In addition guider 100 includes traditional service unit 25, can be input into by the user of vehicle by it
Traveling destination.Primary processor 26 is the ingredient of central control unit 28, and the primary processor 26 is calculated from Current vehicle position
The route that be input into traveling destination is reached via traffic road gauze is put, the traffic road gauze is deposited in the form of map datum
The map datum is stored in memorizer 22.The component of these known navigation system 100 will be additionally by preferred
Acceleration transducer 29 for 3-axis acceleration sensor is supplemented.The here of primary processor 26 can so be located to accelerate described in reason
The acceleration signal that degree sensor 29 is produced, i.e., be directed to each axle from the acceleration signal as processor 26 with time sequencing
Middle acquisition various features parameter, for example, impact (ballistic kick, the derivative of acceleration), maximum, minima.For these characteristic parameters
Record, calculates similarity, the acceleration profile compared with acceleration profile Figure 30 being also stored in memorizer 22
30 in the form of data record.Within the scope of the invention it is also possible that acceleration profile Figure 30 of the storage
In being stored in another memorizer 31.
In addition within the scope of the invention, it is provided with for the computer program of the navigation system 100.The meter
Calculation machine program product is included and completed by processor 26 and including the route calculation algorithm according to the method for the present invention.
Claims (5)
1. it is a kind of by guider obtain travel route method, wherein by acceleration transducer (29) obtain acceleration, its
Be characterised by, in order to automatically recognize driver-vehicle-combination by the guider, will in the guider institute
Storage multiple acceleration profiles (18,19,20,30) with the acceleration profile (12) newly obtained by the guider
Compare.
2. method according to claim 1, it is characterised in that obtain in stored multiple acceleration profiles
(18,19,20, the similarity 30) and between the acceleration profile (12) of the new acquirement.
3. method according to claim 2, it is characterised in that dissimilar new acquirement acceleration profile (12) is stored
In data base (17).
4. the method according to any one in aforementioned claim, it is characterised in that for the guider makes
User obtains multiple acceleration profiles.
5. guider (100), with memorizer (27,31) and processor (26) and with acceleration transducer (29), institute
The acceleration signal for stating acceleration transducer generation is processed in processor (26), it is characterised in that in the memorizer
(27,31) in the multiple acceleration profiles of storage (18,19,20,30), so that in order to pass through the guider (100) identification
Driver-vehicle-combination, can by the multiple acceleration profiles for being stored with newly taken by the acceleration transducer (29)
The acceleration profile for obtaining compares.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE200910044981 DE102009044981A1 (en) | 2009-09-24 | 2009-09-24 | Method for determining driving route of vehicle, has comparing set of acceleration profiles stored in navigation device with actual acceleration profile recorded by navigation device for automatic detection of driver-vehicle-combination |
| DE102009044981.7 | 2009-09-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102032913A CN102032913A (en) | 2011-04-27 |
| CN102032913B true CN102032913B (en) | 2017-04-12 |
Family
ID=43662571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010290932.6A Expired - Fee Related CN102032913B (en) | 2009-09-24 | 2010-09-21 | Method for determining route of vehicle in navigation device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102032913B (en) |
| DE (1) | DE102009044981A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5598411B2 (en) * | 2011-04-20 | 2014-10-01 | 日産自動車株式会社 | Vehicle information providing device |
| CN103175535B (en) * | 2013-02-27 | 2016-08-24 | 深圳市凯立德科技股份有限公司 | A kind of shake air navigation aid and mobile navigation equipment |
| CN110160534A (en) * | 2018-02-11 | 2019-08-23 | 中兴通讯股份有限公司 | A kind of air navigation aid, device, equipment and storage medium |
| CN112902946B (en) * | 2021-01-14 | 2024-01-30 | 南京英锐创电子科技有限公司 | Tire condition detection method, apparatus, computer device, and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101036066A (en) * | 2004-10-01 | 2007-09-12 | 罗伯特·博世有限公司 | Driver assisting method and device |
| CN101326425A (en) * | 2005-12-09 | 2008-12-17 | 通用汽车环球科技运作公司 | Speed control method for vehicle approaching and traveling on a curve |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10339647A1 (en) * | 2003-08-28 | 2005-03-24 | Robert Bosch Gmbh | Device for driver warning |
| DE102004048010A1 (en) * | 2004-10-01 | 2006-04-06 | Robert Bosch Gmbh | Method and device for driver assistance |
| DE102007049761A1 (en) | 2007-10-16 | 2009-04-23 | Navigon Ag | Method for operating a mobile navigation device in a vehicle |
-
2009
- 2009-09-24 DE DE200910044981 patent/DE102009044981A1/en not_active Withdrawn
-
2010
- 2010-09-21 CN CN201010290932.6A patent/CN102032913B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101036066A (en) * | 2004-10-01 | 2007-09-12 | 罗伯特·博世有限公司 | Driver assisting method and device |
| CN101326425A (en) * | 2005-12-09 | 2008-12-17 | 通用汽车环球科技运作公司 | Speed control method for vehicle approaching and traveling on a curve |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102009044981A1 (en) | 2011-03-31 |
| CN102032913A (en) | 2011-04-27 |
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Granted publication date: 20170412 Termination date: 20210921 |