WO2005090918A1 - Procede et dispositif pour preciser les instructions de conduite d'un systeme de navigation - Google Patents

Procede et dispositif pour preciser les instructions de conduite d'un systeme de navigation Download PDF

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Publication number
WO2005090918A1
WO2005090918A1 PCT/EP2005/050865 EP2005050865W WO2005090918A1 WO 2005090918 A1 WO2005090918 A1 WO 2005090918A1 EP 2005050865 W EP2005050865 W EP 2005050865W WO 2005090918 A1 WO2005090918 A1 WO 2005090918A1
Authority
WO
WIPO (PCT)
Prior art keywords
navigation system
driving instructions
lane
driving
camera system
Prior art date
Application number
PCT/EP2005/050865
Other languages
German (de)
English (en)
Inventor
Antonius Johannes Hendriks
Thorsten KÖHLER
Hans-Wilhelm Ruehl
Original Assignee
Siemens Aktiengesellschaft
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 Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2005090918A1 publication Critical patent/WO2005090918A1/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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle

Definitions

  • the invention relates to a method and a device for specifying the driving instructions of a navigation system, in particular for motor vehicles.
  • Navigation systems in vehicles have been widely used in recent years.
  • the navigation data provide a global view of the driving environment from which the behavioral instructions are generated (e.g. "turn right now”).
  • the position of the vehicle in the map data is also often not known with sufficient accuracy. As a result, the exact time of the driving instructions can in many cases not be selected correctly by the navigation system.
  • GPS position and map material information that is available to the navigation system (GPS position and map material), as well as vehicle data (odometry) such as wheel speeds, speed, steering angle and the like have been used.
  • vehicle data odometry
  • the inaccuracy of the position determination with respect to the actual driving environment can be up to 50m.
  • camera systems for driver assistance functions such as lane detection or monitoring, for blind spots and lane changes, for obstacle warnings, for pre-crash sensing, for traffic sign recognition or the like will also play an important role.
  • these camera systems allow a precise local view of the driving environment.
  • DE 199 37 489 A1 discloses the combination of an environment detection with a GPS system.
  • the generation of driving instructions is not disclosed, nor is the effect of image processing on them.
  • No. 5,922,036 AI also discloses a method in which the number of lanes and the number of one's own lane are determined by means of a camera. Driving instructions are then generated from this together with a GPS-supported navigation system.
  • a disadvantage of this method is the determination of the number of lanes, since this can sometimes not be clearly determined by the perspective projection. There is also the risk of confusing the lane markings of the outer lanes with e.g. the guardrail. Another disadvantage is the possible one
  • a junction detection system that is based on the measurement of the widening of a lane marking and additionally or alternatively the widening of the lane. This is described in great detail.
  • a track position detection which, however, does not recognize the number of tracks as in US 5,922,036 AI, but bypasses the main disadvantage and uses the type of marking. If one line is solid, the other is dashed, the vehicle is on an edge lane. If both lines are dashed, the vehicle is in a middle lane.
  • technical measures must be specified to achieve the following goals: preparation and improvement of the driving instructions and improvement of the timing of the driving instructions.
  • the present invention advantageously makes an important simplification.
  • the lane recognition and the driving instructions generated from it are essentially based on the recognized type of lane marking.
  • a lane model in particular is not required, which advantageously saves considerable computing time.
  • driving instructions can be specified essentially on the basis of turning arrows • recognized by the camera system, stop lines, crosswalks, etc. of one's own and / or on an adjacent lane.
  • zebra crossings, arrows, stop lines, intersections, road junctions, traffic lights, and the like have a defined longitude and latitude, which advantageously allow a precise comparison with a corresponding entry in a map set, as a result of which a motor vehicle is more accurate can be localized and consequently navigated more precisely.
  • the position of a crossing vehicle in the image of the camera gives an indication of the exact one Position of your own vehicle relative to a distinctive road event entered in the navigation maps or data, such as intersections, junctions, exits or the like.
  • driving instructions can essentially be specified on the basis of traffic signs, traffic lights, oncoming and cross traffic, etc. recognized by the camera system, ie, when listed, this advantageously allows driving instructions to be generated depending on the current traffic situation.
  • driving instructions can be generated that relate to the type of lane currently being traveled (straight ahead, right turn, left turn, etc.).
  • driving instructions can be generated that relate relatively to the lane number currently being used (e.g. try to change two lanes to the left).
  • unnecessary driving instructions can advantageously be suppressed for the first time. For example, if the vehicle is already in a correct lane, or if the type of lane marking does not allow maneuvers, ie no "please turn if possible" with a solid center line or the like.
  • driving instructions or reminders of a previous driving instruction can be issued for the first time as soon as a change in the lane marking allows a driving maneuver (eg "The median now allows turning” or the like) and / or as soon as the type of lane marking changes a planned maneuver allows or requires (eg "Now right on the
  • the invention also relates to a device for carrying out the methods described above, namely a navigation system which comprises:
  • a camera system that detects the driving environment, especially in the front area, of the motor vehicle
  • a computing unit in which driving instructions are generated on the basis of prepared map data, a position determination of the motor vehicle e.g. by means of GPS, odometry and / or the like, and the evaluation results of the image data recorded by the camera system.
  • the evaluation unit is part of the computing unit, the image data from the camera system preferably being transmitted to the evaluation unit via an LVDS connection.
  • an evaluation unit is provided in the camera system, which partially or completely (pre-) evaluates the captured image data, with partially or fully evaluated image data using a CAN, RS232, MOST, LIN or other suitable connection to the computing unit be transmitted.
  • the present invention is based on the knowledge of making use of the precision of the driving instructions of a navigation system, in particular for motor vehicles, of a camera system, for example the type of marking a lane (solid line, dashed line, change from solid line to dashed and vice versa) reliably detect.
  • the invention thus advantageously allows the position of a motor vehicle to be compared to markings stored in map data, such as lane changes, arrows, crosswalks, traffic lights, etc., to the map data, and thus more precise navigation than is known in the prior art.
  • a camera system consisting of a camera and an image processing computer is mounted, for example, on the windscreen in the area of the interior mirror.
  • the image area includes the course of the road in front of the vehicle with a total horizontal viewing angle of approx. 50 °.
  • the camera system recognizes its own lane, the type of lane marking, the number of existing lanes, turning arrows, stop lines, traffic signs, crosswalks, traffic lights and / or cross traffic, etc.
  • the information is sent as a message e.g. fed into the CAN bus, ie into the network hardware for data transmission in the vehicle. These messages / data are read out of the CAN by a navigation system and converted into improved driving instructions.
  • the system typically consists of: - a navigation system, which processes the map data, determines the position of the vehicle, for example using GPS and odometry, and generates driving instructions; - A camera system that detects the driving environment in the front area of the vehicle; such as
  • the navigation system must have an arithmetic unit, the camera system can have its own arithmetic unit.
  • the following cases are alternatively or cumulatively conceivable: - the camera transfers the image data to its own computing unit, the image data is evaluated on this computing unit and the results of the evaluation are transferred to the navigation computer using suitable hardware (for example CAN, RS232, MOST, LIN) , ....); - The camera transfers the image data to the navigation computer (e.g. via LVDS), the image data is evaluated on the navigation unit and incorporated into the results in the driving instructions.
  • the camera detects turn arrows on its own lane and notifies the driver of a change of lane if the turn arrow (eg straight arrow) does not match the upcoming turning maneuver ("turn right").
  • turn arrow eg straight arrow
  • a detection of the change in the type of lane marking e.g. from a solid to a dashed line
  • traffic signs e.g. stop sign, observe the right of way, priority street, ...
  • motorway exits are not recognized by widening the lane marking or the lane itself, but advantageously simply by changing from solid to dashed lines.
  • a further developed version of the system does not explicitly recognize departures, but the driving instruction can be generated simply because the type of lane marking is dashed at a certain point in time (as long as the type is solid, the instruction is suppressed). If a change of the right lane marking from a solid line to a dashed line is recognized on a freeway, the instruction "now turn right" can be given at this point.
  • this change is recognized approximately 25 to 50 m in front of the vehicle and the driving instructions are generated even earlier.
  • all markings can be used which give an indication of an intersection area. These are turning arrows, stop lines, traffic signs, crosswalks and traffic lights.
  • a comparison can be made with the information from the map data. For example, the position of crosswalks is available in map data.
  • intersection area Another indication of an intersection area is the detection of cross traffic.
  • the present invention advantageously minimizes the output of unnecessary and / or misleading driving instructions from a navigation system to the driver of a motor vehicle.
  • the current position of the vehicle in the map data of a conventional navigation system can often only be determined to within 50m using GPS (shadowing) and odometry.
  • the camera-based recognition of characteristic features such as turns, zebra stripes, stop lines, traffic signs, etc., which are recorded in the map data, enables the vehicle position to be compared in the map data for the first time, thereby making the timing of the driving instructions much more precise.
  • the present invention thus advantageously reduces the risk of accidents in road traffic.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé et un dispositif pour préciser les instructions de conduite d'un système de navigation conçu en particulier pour des véhicules automobiles. Selon l'invention, des données acquises au moyen d'un système de caméra et concernant l'environnement de conduite, en particulier à l'avant du véhicule automobile, sont introduites dans le système de navigation. Les instructions de conduite plus précises sont fondées, par exemple, essentiellement sur le type de marquage (ligne continue, ligne pointillée, passage de ligne continue à ligne pointillée, et vice versa) d'une voie de circulation ou d'autres objets de marquage/marques, identifié par le système de caméra. De manière avantageuse, cette invention permet de réduire au maximum les instructions de conduite inutiles et/ou trompeuses qui sont fournies par un système de navigation au conducteur d'un véhicule automobile, et réduit également, de manière avantageuse, le risque d'accident de la circulation routière.
PCT/EP2005/050865 2004-03-18 2005-03-01 Procede et dispositif pour preciser les instructions de conduite d'un systeme de navigation WO2005090918A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410013440 DE102004013440A1 (de) 2004-03-18 2004-03-18 Verfahren und Vorrichtung zur Präzisierung der Fahranweisungen eines Navigationssystems
DE102004013440.5 2004-03-18

Publications (1)

Publication Number Publication Date
WO2005090918A1 true WO2005090918A1 (fr) 2005-09-29

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DE (1) DE102004013440A1 (fr)
WO (1) WO2005090918A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1830161A1 (fr) * 2004-12-24 2007-09-05 Fujitsu Ten Limited Dispositif de conduite assistee
DE102010029822A1 (de) 2010-06-08 2011-12-08 Bayerische Motoren Werke Aktiengesellschaft Kraftfahrzeug mit einem Navigationssystem
WO2011157251A1 (fr) * 2010-06-15 2011-12-22 Conti Temic Microelectronic Gmbh Procédé pour fusionner un système de reconnaissance d'un panneau de signalisation et un système de reconnaissance de voie d'un véhicule automobile
US8121350B2 (en) 2006-12-29 2012-02-21 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. Apparatus, method and computer program for determining a position on the basis of a camera image from a camera
EP2505962A1 (fr) * 2011-03-31 2012-10-03 Technisat Digital Gmbh Procédé de fonctionnement d'un dispositif de navigation agencé dans un véhicule et dispositif de navigation
DE102012025067A1 (de) * 2012-12-19 2014-06-26 Valeo Schalter Und Sensoren Gmbh Fahrerassistenzeinrichtung mit kombinierter Verkehrszeichenerfassung und Markierungserfassung für ein Kraftfahrzeug und entsprechendes Verfahren
US9697430B2 (en) 2013-10-01 2017-07-04 Conti Temic Microelectronic Gmbh Method and apparatus for identifying road signs
CN107923760A (zh) * 2015-07-27 2018-04-17 日产自动车株式会社 路径引导装置以及路径引导方法
CN112747765A (zh) * 2021-01-08 2021-05-04 重庆长安汽车股份有限公司 一种基于导航与传感器融合的路径推送方法、***及存储介质

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DE102006036999B4 (de) 2006-08-02 2023-11-16 Volkswagen Ag Fahrzeugpositions-Ermittlungsvorrichtung und Verfahren zum Ermitteln einer Positionsinformation für ein Fahrzeug
DE102010062129B4 (de) 2010-11-29 2024-04-18 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bereitstellen einer virtuellen Begrenzung eines Fahrstreifens
DE102011118161B3 (de) 2011-11-10 2013-03-28 Audi Ag Verfahren zur Positionsbestimmung
DE102012023867A1 (de) * 2012-12-06 2014-06-12 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Verkehrsampelerkennung
CN104978867A (zh) * 2014-04-08 2015-10-14 北京数码视讯科技股份有限公司 一种车辆管理***、方法和设备
DE102017217747A1 (de) * 2017-10-05 2019-04-11 Volkswagen Aktiengesellschaft Verfahren zum Betrieb eines Navigationssystems

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US5922036A (en) * 1996-05-28 1999-07-13 Matsushita Electric Industrial Co., Ltd. Lane detection sensor and navigation system employing the same
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WO2003017226A2 (fr) * 2001-08-07 2003-02-27 Siemens Aktiengesellschaft Procede et dispositif pour representer des indications de conduite dans des systemes de navigation pour vehicules automobiles
DE10210546A1 (de) * 2002-03-09 2003-09-18 Bosch Gmbh Robert Verfahren und System zur automatischen Fahrzeugführung

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US6577334B1 (en) * 1998-02-18 2003-06-10 Kabushikikaisha Equos Research Vehicle control
DE19948734A1 (de) * 1999-10-09 2001-04-12 Volkswagen Ag Verfahren und Einrichtung zum navigationsgestützten Befahren von Straßenstrecken
DE10334620B4 (de) * 2003-07-30 2023-07-06 Robert Bosch Gmbh Generierung von Verkehrshinweisen durch die Interpretation von Verkehrszeichenszenarien und Navigationsinformation in einem Fahrzeug

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
US5922036A (en) * 1996-05-28 1999-07-13 Matsushita Electric Industrial Co., Ltd. Lane detection sensor and navigation system employing the same
US5844505A (en) * 1997-04-01 1998-12-01 Sony Corporation Automobile navigation system
DE19937489A1 (de) * 1999-08-07 2001-02-08 Volkswagen Ag Verfahren zur Überwachung eines Fahrspurwechsels eines Kraftfahrzeuges
WO2003017226A2 (fr) * 2001-08-07 2003-02-27 Siemens Aktiengesellschaft Procede et dispositif pour representer des indications de conduite dans des systemes de navigation pour vehicules automobiles
DE10210546A1 (de) * 2002-03-09 2003-09-18 Bosch Gmbh Robert Verfahren und System zur automatischen Fahrzeugführung

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1830161A1 (fr) * 2004-12-24 2007-09-05 Fujitsu Ten Limited Dispositif de conduite assistee
EP1830161A4 (fr) * 2004-12-24 2012-06-20 Fujitsu Ten Ltd Dispositif de conduite assistee
US8121350B2 (en) 2006-12-29 2012-02-21 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. Apparatus, method and computer program for determining a position on the basis of a camera image from a camera
DE102010029822A1 (de) 2010-06-08 2011-12-08 Bayerische Motoren Werke Aktiengesellschaft Kraftfahrzeug mit einem Navigationssystem
US8886456B2 (en) 2010-06-08 2014-11-11 Bayerische Motoren Werke Aktiengesellschaft Motor vehicle having a navigation system
WO2011157251A1 (fr) * 2010-06-15 2011-12-22 Conti Temic Microelectronic Gmbh Procédé pour fusionner un système de reconnaissance d'un panneau de signalisation et un système de reconnaissance de voie d'un véhicule automobile
US9177212B2 (en) 2010-06-15 2015-11-03 Conti Temic Microelectronic Gmbh Method for combining a road sign recognition system and a lane detection system of a motor vehicle
EP2505962A1 (fr) * 2011-03-31 2012-10-03 Technisat Digital Gmbh Procédé de fonctionnement d'un dispositif de navigation agencé dans un véhicule et dispositif de navigation
DE102012025067A1 (de) * 2012-12-19 2014-06-26 Valeo Schalter Und Sensoren Gmbh Fahrerassistenzeinrichtung mit kombinierter Verkehrszeichenerfassung und Markierungserfassung für ein Kraftfahrzeug und entsprechendes Verfahren
US9697430B2 (en) 2013-10-01 2017-07-04 Conti Temic Microelectronic Gmbh Method and apparatus for identifying road signs
CN107923760A (zh) * 2015-07-27 2018-04-17 日产自动车株式会社 路径引导装置以及路径引导方法
CN112747765A (zh) * 2021-01-08 2021-05-04 重庆长安汽车股份有限公司 一种基于导航与传感器融合的路径推送方法、***及存储介质

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