EP1311802A1 - Procede permettant d'obtenir une representation cartographique, et appareil de navigation y relatif - Google Patents

Procede permettant d'obtenir une representation cartographique, et appareil de navigation y relatif

Info

Publication number
EP1311802A1
EP1311802A1 EP00969199A EP00969199A EP1311802A1 EP 1311802 A1 EP1311802 A1 EP 1311802A1 EP 00969199 A EP00969199 A EP 00969199A EP 00969199 A EP00969199 A EP 00969199A EP 1311802 A1 EP1311802 A1 EP 1311802A1
Authority
EP
European Patent Office
Prior art keywords
road segment
road
segment
displacement
street
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP00969199A
Other languages
German (de)
English (en)
Inventor
Thomas Delling
Claus Fabig
Dieter Ritter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aumovio Germany GmbH
Original Assignee
Siemens AG
Siemens Corp
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 AG, Siemens Corp filed Critical Siemens AG
Publication of EP1311802A1 publication Critical patent/EP1311802A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/003—Maps
    • G09B29/006—Representation of non-cartographic information on maps, e.g. population distribution, wind direction, radiation levels, air and sea routes
    • G09B29/007—Representation of non-cartographic information on maps, e.g. population distribution, wind direction, radiation levels, air and sea routes using computer methods
    • 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
    • G01C21/3635—Guidance using 3D or perspective road maps
    • G01C21/3638—Guidance using 3D or perspective road maps including 3D objects and buildings

Definitions

  • the invention relates to a method for obtaining a map representation from digitized street segments and digitized objects that come from different databases, and a navigation device suitable for the map representation.
  • a navigation device is known from JP 62-93614 A, in which images of a plurality of predetermined points are stored within a database. If a driver approaches such a point, the corresponding image is output.
  • the images usually have to be taken individually, photographed, digitized and placed in a database with street segments at the corresponding coordinates. The effort for this is considerable.
  • map display Since the map display is obtained from two separate databases, data from objects can be used in a street network to display three-dimensional objects, such as buildings or distinctive points in nature. those that are automatically recorded with their coordinates using aerial photographs of airplanes or satellites and stored in a database.
  • digital road maps which consist of a network of road segments with associated nodes, for displaying the roads running in a map view. This digital road network can be used to calculate a route from a starting point to a destination selected by a user.
  • the three-dimensional objects are regularly saved using descriptive geometric shapes, e.g. B. as flat polygons, curved surfaces or so-called NURBS surfaces.
  • the surface can also be stored in the form of a texture in another database for the corresponding object.
  • street segments and objects can overlap.
  • the street segment and the object may be shifted against one another and / or the base area of the object may be reduced.
  • the three-dimensional scene modeling obtained according to the invention from the separate databases is suitable both for direct output on a monitor of a navigation device or a computer and for storage in a single database which can then be accessed by a terminal device (navigation device or computer).
  • nal known digital assistant handheld PC or notebook.
  • Individual scenes selected by a user can be transmitted to the mobile device via a wired or wireless interface such as Bluetooth. Such a scene enables a user to orientate himself on site.
  • the data can be transferred from a home PC or from a navigation device when leaving a vehicle.
  • FIGS. 1 shows a navigation device
  • FIGS. 2 and 3 each show a top view of an object
  • FIGS. 4-11 the displacement of one object in each case
  • FIGS. 12-14 the displacement and reduction of an object
  • FIGS. 15-17 the displacement of an object by means of a multi-stage relaxation process
  • FIG. 20 shows a map which shows street segments with three-dimensional objects.
  • FIG. 1 shows a navigation device 1 with a working memory 11, which is assigned to a microprocessor 12.
  • a range finder 13 (odometer) is connected to the microprocessor 12 in the same way as a direction meter 14 (gyroscope), a drive 16 for a storage medium 161 and a display direction 17 via a system bus 15.
  • the navigation device has a satellite receiver, not shown.
  • Two symbolically represented databases 2 and 3 are stored on the storage medium 161, which is a DVD (Digital Versatile Disk).
  • a network of road segments and nodes is stored, which the microprocessor 12 accesses via the drive 16 to calculate an optimal route from a starting point to a destination.
  • the road segments are determined by the coordinates of the nodes that define the segments.
  • the road segments and nodes form a road network from two-dimensional geographic information system data, part of which is shown on the display device 17.
  • the database 3 contains three-dimensional objects, in particular city and building models, which are available as vector graphics.
  • the database contains additional information about the objects, namely their surface condition or texture, images of vegetation, street lamps and traffic lights.
  • databases with three-dimensional terrain models and additional information on points or objects of general interest can also be contained on the storage medium 161.
  • FIG. 2 shows a top view of an object 30.
  • This is a building, and more precisely a building or house with a rectangular floor plan, which is delimited by edges 31 and 32 of different lengths.
  • the center of gravity of the plan of the object is identified by reference number 33.
  • FIG. 3 shows an object 30 with a more complicated structure in the same way.
  • FIG. 4 illustrates the floor plan of an object 30 which protrudes into a street and forms an overlap area 4 with it.
  • the street of the associated database is only available as a sequence of one-dimensional segments 20, it is displayed two-dimensionally on the display device.
  • the one-dimensional road segment 20 is reproduced as the center line of the road.
  • boundary lines 21 and 22 are drawn on both sides of the center line.
  • the width of the road ie the distance to be reproduced between the boundary lines, is determined by its road class, unless explicit additional information about the road width is available or if the boundary lines are not themselves stored in digitized form in the database.
  • a check is carried out to determine whether a displacement is permissible in the specific case.
  • An object such as a bridge that crosses a street must not be moved away from a street. The same applies if a road runs into a tunnel under an object.
  • a suitable criterion for determining the permissibility of a shift is the reduction in the base area of the object by at least 30% to 60%.
  • the proportions of the edges 31, 32 of the object delimiting the floor plan are to be maintained.
  • the dashed line inside the object 30 shows an area reduced to 60% of the original area.
  • the center of gravity 33 was not changed locally due to the reduction of the floor plan. Since the reduced footprint no longer overlaps the street, a shift is permitted.
  • the direction r in which the object 30 is to be displaced relative to the road segment 23 or its boundary lines 21 and 22, is perpendicular to a cutting line 23, which is defined by two intersections S1 and S2 between the road segment 20 or one of the boundary lines 21 or 22 and two edges 31, 32 of the object is formed.
  • a cutting line 23 which is defined by two intersections S1 and S2 between the road segment 20 or one of the boundary lines 21 or 22 and two edges 31, 32 of the object is formed.
  • a two-dimensional representation of the road in which the road, as shown, is depicted not only as a line but with a naturalistic roadway, one of the boundary lines 21, 22 is regularly used as the starting point for determining the direction r and an amount d for the shift used.
  • the road contour or boundary line 21 that lies on the side facing the surface center of gravity 33 of the object 30 is preferably used.
  • the amount d or the distance by which a displacement has to take place in order to make the overlapping area disappear completely results from the distance between the segment 20, and here more precisely the boundary line 21, 22 which faces the object 30 and that Point of the object 30 which projects the furthest beyond the segment 20 and more precisely beyond the boundary line 21, 22.
  • FIG. 5 shows the floor plan of a building which projects into a street with a corner. The lateral displacement is determined in the same way as in FIG. 4.
  • Section lines 23 result in the same direction of displacement r.
  • the amount d that the object is facing the road has to be pushed is in turn determined by the distance between the boundary line 21 facing the object 30 and the point of the object which extends beyond this boundary line in the direction of the street and beyond.
  • the boundary lines 21 of the road segment 20 facing the centroid 33 of the object 30 intersect the object in two intersections S1 and S2.
  • the boundary line 22 facing away from the center of gravity of the object intersects the contour or the outline of the object several times. Only the intersection line 23 between the intersection points S1 and S2 between the boundary line 21 and the outline or the edges of the object is used to form the displacement direction r.
  • the object 30 is again intersected by the boundary line 21 facing the centroid 33 and the second boundary line 22.
  • the cutting lines run parallel to each other and therefore only one direction of displacement r is possible.
  • the object illustrated in FIG. 11 is intersected by two adjacent, parallel streets.
  • the directions of displacement rl and r2 are opposite to each other.
  • the amounts of the shift d1 and d2 are approximately equal.
  • the lateral correction of the object 30 must be carried out by scaling in the directions r1 and r2.
  • the amounts d1 and d2 with which the edges 31 and 32 of the object have to be shifted for the purpose of reduction are determined as described above. When reducing the area, the ratios of the edges 31 and 32 or the aspect ratios remain constant.
  • object 30 is arranged between two streets.
  • the object 30 is cut twice by the boundary lines of one of the two roads, so that two overlap areas 4 are created.
  • two different directions rl and r2 and the amounts dl and d2 for the respective directions for the distance of the displacement can be determined.
  • FIG. 13 shows the object 30 after its displacement by the amounts dl and d2 in the directions rl and r2. Because of the displacement carried out, the object 30 now partially covers the neighboring street. A new displacement direction r3 and a corresponding amount d3 for the necessary distance of the displacement can be calculated in the manner described above.
  • the lateral displacement of the object 30 does not take place by a displacement, but rather by scaling the object, since it does not fit between the streets at this relative position.
  • Figure 14 shows the result of the scaling.
  • the opposite edges 31 of the object have been shortened by the amount d3.
  • object 30 now fits between the two streets.
  • FIG. 15 shows the same initial scene as FIG. 12. In the following, however, a relaxation method is used for the correction.
  • a shift in the direction r2 is shown in FIG. However, the associated amount for the shift d2 was multiplied by a factor f ⁇ 1.
  • the factor f was chosen to be 0, 6, so that there was only a shift in the direction r2 by 60% of the amount defined by D2.
  • the floor plan would also have had to be reduced. This would also have been carried out iteratively in the manner described above with a reduced amount while maintaining the proportions of the floor plan. In general, all corrections are made cyclically with a variable factor f until there is no longer any overlap area.
  • FIG. 18 shows a three-dimensional object that was recorded with an aerial photograph and converted into a vector graphic.
  • the vector graphic is a cubic shape.
  • the object is determined by its three-dimensional coordinates in the x, y and z directions.
  • a two-dimensional coordinate x and y direction is assigned to all corner points of the floor plan of the object.
  • an object is stored as a field with the corner points of its floor plan and the data for its height in Gauss-Krüger coordinates.
  • Figure 19 illustrates a bordered road consisting of two adjacent, successive road segments.
  • the angle at which the road segments meet was distorted or rounded by a non-linear interpolation, so that the intersecting road segments do not form an edge, but an arc.
  • the road segments were also provided with boundary lines.
  • the position of the road segments is defined by successive nodes.
  • the position of the nodes is given from the O-meridian through Greenwich and the equator in latitudes and longitudes.
  • the data for the three-dimensional objects to be displayed and for the street segments must be merged and transferred to a common coordinate system for output on the display device.
  • a coordinate system according to Gauss-Krüger is used as the common coordinate system for the road segments and the three-dimensional objects.
  • polygonal, three-dimensional description data with the floor plans of the objects, their height information and additional information are obtained from the three-dimensional geographic information system data.
  • FIG. 20 shows a map representation which was obtained from digitized street segments of the first database and three-dimensional objects from the second database.
  • the three-dimensional objects (buildings) were moved in relation to the street segments in the manner described above and, if necessary, reduced in size.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Ecology (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Mathematical Physics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Processing Or Creating Images (AREA)
  • Instructional Devices (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé permettant d'obtenir une représentation cartographique, selon lequel, à partir de segments de rues numérisés (20) émanant d'une première banque de données, et d'objets tridimensionnels numérisés (30) émanant d'une seconde banque de données, les coordonnées géographiques d'un segment de rue sont comparées avec celles d'un objet. Si le segment de rue et l'objet se recouvrent, on procède à une translation. Un appareil de navigation fournit la représentation ainsi obtenue sur un dispositif d'affichage.
EP00969199A 2000-08-24 2000-08-24 Procede permettant d'obtenir une representation cartographique, et appareil de navigation y relatif Withdrawn EP1311802A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/DE2000/002907 WO2002016874A1 (fr) 2000-08-24 2000-08-24 Procede permettant d'obtenir une representation cartographique, et appareil de navigation y relatif

Publications (1)

Publication Number Publication Date
EP1311802A1 true EP1311802A1 (fr) 2003-05-21

Family

ID=5647856

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00969199A Withdrawn EP1311802A1 (fr) 2000-08-24 2000-08-24 Procede permettant d'obtenir une representation cartographique, et appareil de navigation y relatif

Country Status (4)

Country Link
US (1) US6678610B2 (fr)
EP (1) EP1311802A1 (fr)
JP (1) JP2004507723A (fr)
WO (1) WO2002016874A1 (fr)

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JP3481168B2 (ja) 1999-08-27 2003-12-22 松下電器産業株式会社 デジタル地図の位置情報伝達方法
JP5041638B2 (ja) 2000-12-08 2012-10-03 パナソニック株式会社 デジタル地図の位置情報伝達方法とそれに使用する装置
JP4663136B2 (ja) 2001-01-29 2011-03-30 パナソニック株式会社 デジタル地図の位置情報伝達方法と装置
JP4749594B2 (ja) 2001-04-27 2011-08-17 パナソニック株式会社 デジタル地図の位置情報伝達方法
JP4230132B2 (ja) 2001-05-01 2009-02-25 パナソニック株式会社 デジタル地図の形状ベクトルの符号化方法と位置情報伝達方法とそれを実施する装置
JP3955472B2 (ja) * 2002-01-10 2007-08-08 三菱電機株式会社 ナビゲーション装置および地図情報記憶媒体および交差点地先情報提供方法
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Also Published As

Publication number Publication date
WO2002016874A1 (fr) 2002-02-28
US20030154021A1 (en) 2003-08-14
US6678610B2 (en) 2004-01-13
JP2004507723A (ja) 2004-03-11

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