Method of determining optimal route for vehicles

FIELD: physics; computer engineering.

SUBSTANCE: invention relates to traffic control and involves sending navigation instructions to a vehicle with a monitor which displays a map. According to the disclosed method, an electronic speed map of the road network of a residential area is made, where the said map, which is stored in a central station computer, shows the average traffic speed on each road. A road graph is made on the said map. Data of the road graph are corrected based on information on changes of road signs. Actual values of average speed on at least one segment of the road graph are sent from computers in the vehicles over a radio channel with given periodicity to the computer at the central station, and average traffic speed is determined from the said values. Further, deviation of actual values of average speed from model speed on the segment of the road graph are subtracted, and "jam" and "anti-jam" files are made from the said deviations. Taking into account these files and the weight of right and left turns, the model electronic speed map of the road network of the residential area is corrected. The recommended optimal route is determined taking into account specified parametres of the electronic speed map of the road network of the residential area, which is received by a subscriber from the central station with possibility of displaying the said routes on the said map on a monitor and displaying current position of the vehicle.

EFFECT: more accurate determination of a time-optimal route for a vehicle.

3 cl

 

The invention relates to systems for regulating the movement of vehicles, mostly individual, and more specifically to systems involving transmission of navigation commands to a vehicle with a computer and a display displaying a map of the road network of the settlement.

There is a method of displaying vehicle location on the electronic map in the radio traffic control ground transportation (RF patent No. 2207632 published 27.06.2003), in which through the use of temporary reference points and determine their location and the vehicle location in the reference coordinate system, which is selected flat rectangular Cartesian coordinate system, and use the reduction of vehicle location on the transport graph is provided in the end direct conversion radio navigation coordinates of the vehicle in display coordinates. The disadvantage of this method is that it cannot be applied to determine the optimal route of the vehicle.

The known method, which is implemented in the car navigation device having memory for storing electronic maps, on-Board computer, a display and a receiver for traffic information (patent I is onii No. 08044997, published 16.02.1996 year). The method is to determine the current coordinates of the vehicle, calculate the shortest route from the starting point to the ending point and display it on the display. On the receiver to receive traffic information from outside the radio message with information about traffic jams and problems in the traffic on the roads. This information is displayed on the display by changing the color of the road in places in a traffic jam and traffic, and the degree of discoloration indicates the degree of difficulty of movement of vehicles.

The disadvantage of this method is that it cannot be applied to determine the optimal route of the vehicle.

Closest to the claimed invention is selected as a prototype method for determining the optimal route of the vehicle in the conditions of settlement (patent RF №2153194 published

20.07.2000,) because it has its own set of characteristics that is closest to the essential features of the claimed invention. The method of determining the optimal route of the vehicle on the road network of the settlement of the prototype is that in the memory of the Central computer station type in the database e-road network map of the locality, based on the this electronic card and the prior motion parameters determine the average speed on each road, create a model electronic speed map of the road network of the settlement, which is injected into the memory of the Central computer station and broadcast to the subscribers of the radio channel, the Central station receives radio messages about the speeds in traffic, then produce better data about the speed of moving vehicles on the roads in the memory of the Central computer station and, if necessary, correct model electronic speed map of the road network locality by making the adjusted values of the speeds on each road, the radio channel transmit information on the updated parameters of the model electronic speed road network map of the locality subscribers, in computer memory of the subscriber enter data about the destination, determine the preferred route in accordance with the updated parameters of the model electronic speed road network map of the settlement, taken by the subscriber from the Central station with the possibility of rendering on the display screen of the subscriber of these routes for model electronic speed map of the road network of the settlement with the readout on her informational messages about the values of the speeds on the roads in the locality and display the current position of the Tr is Sportage means, in the process of movement along the selected route in case of change of parameters of model electronic speed road network map of the locality adjust the optimal route to the destination.

The disadvantage of the prototype is the low accuracy of the optimal route, as the current values of velocities considered for determining and identifying the average parameters, and the correction model electronic speed road network map of the village can be random due to the sharp neravnomernosti movement of the vehicle due to difficult driving conditions, especially in the metropolis.

The technical result of the invention is to improve the accuracy of determining the optimal time path of movement of the vehicle due to the new method of determining motion parameters, the method of forming a "mirror of the information and methods of accounting to calculate the optimum route, the efficiency of the road network locality and reducing the time of movement of vehicles to your destination.

The technical result is achieved in that in the method of determining the optimal route of the vehicle on the road network locality, zakluchalsya, what form model electronic speed map of the road network locality, reflecting the average speed on each road, which is injected into the memory of the Central computer station and broadcast to computers vehicles subscribers through radio, the Central station receives messages about the speed and location under vehicles, then the correct model electronic speed map of the road network locality by making the adjusted values of the speeds on each road, transmit information to subscribers about the updated parameters of the model electronic speed road network map of the locality, based on the vehicle location of the subscriber and destination determine recommended optimal route taking into account the specified parameters model electronic speed road network map of the settlement, taken by the subscriber from the Central station with the possibility of rendering on the display screen of the subscriber of these routes for model electronic speed map of the road network of the settlement with the readout on her informational messages about the values of the speeds on the roads in the locality and display the current position of the transport media is TBA, in the process of movement along the selected route in case of change of parameters of model electronic speed road network map of the locality adjust the optimal routes to a destination, according to the invention, for model electronic speed map of the road network locality create traffic count, including line segments, concluded between the nodes of the graph, adjust the data traffic graph based on the information about the changed signs traffic from computers vehicles subscribers through radio periodically transmitted to the Central computer station actual values of average velocities, at least one road segment of the graph, and determine the average speed, calculate the deviation between the actual values for the mean and the model speed on the road segment count, and these deviations form files "tubes" and "antiphobic", then, given these files and the weight of right and left turns, correct model electronic speed map of the road network of the settlement.

Since the passage of one segment traffic graph may significantly depend on what's the next road segment count is the movement, for the more exact determination of the route as a parameter of motion take the average time of two adjacent segments traffic count. To do this, using computers vehicles subscribers determine the associated actual values of the two average velocities for a pair of connected road segments of the graph, and, depending on what the next road segment count operate, using the Central computer station create sets of values of average velocities for a pair of connected road segments of the graph and their deviations from the model velocity form files "tubes" and "antiphobic".

To find the best route taking into account the changing dynamics of congestion on the road network by passing on the same route, the radio channel to the Central computer station transmit information about the planned routes subscribers and additionally form files "tubes" and "antiphobic" for those segments traffic count, this will be a planned route.

The applicant held the patent information search, which is not identified technical solutions containing the claimed combination of features. Therefore, the technical solution can be considered new. The comparison of the proposed solutions with other technical solutions shows that the set of distinctive features that affect technical result includes new and known characteristics and in this combination for resh is of this task is unknown. The prior art is known about the impact on the specified technical result of the fact of transmission from computers vehicles subscribers own values mean velocities at the Central computer station. So, in a known way (Japan patent No. 07029098 from 31.01.1995, special vehicles equipped with a navigation device and a receiving/transmitting device, moving on the roads of the city and transmitted to the Central computer station data about their position and speed. The base station analyzes the received information, builds the map "traffic jams" and determines the route of the detour "tube". Map traffic and the recommended route connecting them, the base station transmits the radio channel drivers of vehicles. That is, in the known method does not use information about the velocities of the vehicles themselves subscribers. The prior art is unknown and it is not obvious to a person skilled impact to the specified technical result of the determination of the average speed by determining the average speeds on the same road segment count or more, such as two related segments traffic count, the formation of their deviations from the model velocities files "tubes" and "antiphobic" and the inclusion of these files in model electronic speed the Arte road network locality. Therefore, the proposed solution meets the criterion of "inventive step".

Method implemented in the system, which includes the associated channel radio navigation system space-based, computer Central station, which is used for receiving and processing information about the current state of the flow of the city, vehicles subscribers, equipped with a navigation device and a receiving/transmitting device.

Implementation of the invention is as follows.

Enter into computer memory, equipped with a display screen and located at the Central station, an electronic map of roads, streets or areas consisting of digitized map data.

On the electronic map to create a traffic count, including line segments, enclosed between the graph nodes. Under the road segment count refers to the linear plot between two nodes, generally between intersections. With line segments associated information about the areas of streets, roads. Originally by experts on the basis of a survey of experienced drivers and experts in traffic determine the average speed on the segment of the road network. Based on these data, determine the average speed on each road, create modelsolifluction speed map of the road network locality, which is injected into the memory of a Central computer station, and found on the map with a traffic count is broadcast to subscribers through radio. Such models can be generated for different time of day, holidays and weekends separately and stored together with the parameters of the road graph.

Data traffic graph adjusted on the basis of the information about the changed road safety signs.

From computers vehicles on the radio channel at specified intervals subscribers transmit to the Central computer station actual values of average velocities, at least one road segment of the graph, and on their basis to determine the average speed. Actual values of average velocities calculated by fixing the points of entry and exit of the segment and the time of his passing. Data "traffic jams" and "antiphobic" is determined as follows. Calculate the difference between the average value and the model speed on the segment. If received from the subscriber's current speed on the segment is less than the model by a specified amount, for a given segment forming a "tube", i.e. set to a speed equal received from the subscriber. If the current speed is more than the average, it generates an "anti the timid" on a similar principle. For "traffic" and "antiphobic" is also the time of their creation.

The calculation of the optimal route in the following order. In the computer of the subscriber traffic graph complement data on the location of the vehicle and the destination, allowing the conversion radionavigation coordinates of the vehicle in display coordinates. The computer of the vehicle subscriber systematically interrogates and receives from the Central computer station files "tubes" and "antiphobic". The values of average speeds on segments of the road network is replaced by the value of "traffic jams" and "antiphobic" in that case, if the time from their creation does not exceed the specified value. Similarly carry out the proofs of road signs. Updated traffic count is used to search the optimal route. For additional information take into account the weight of right and left turns.

For a more precise definition of the route as a parameter of motion take the average time of two adjacent segments. To do this, using the computer, vehicle users determine the associated actual values of the two average velocities for a pair of connected road segments of the graph, and, depending on what the next segment done is make a motion, using the computer in the Central station generates a series of values of average velocities for pairs of linked segments and their deviations from the model velocity form files "tubes" and "antiphobic". Improving the accuracy of determination of the itinerary due to the fact that the time you pass one segment in an urban environment is insufficiently informative and can greatly depend on what the next segment is the movement. Turn to the left may take much longer time than turn to the right, and to find empirically the values of left and right scales is not always possible. By the present method, each segment of road graph is mapped to more than one value of average speed, and the set of values depending on what the next segment is the movement.

When a sufficient number of subscribers you can find a route taking into account the changing dynamics of congestion on the road network by passing on the route. To do this, the subscribers together with the data on the medium speed and your location is passed to the Central computer station is also information about current scheduled routes. Next, determine the number of vehicles that will appear on this road segment count in future moments of time. This characteristic of Sigma is the take into account when searching for the optimal route. The greater the number of vehicles will be on the same segment with the target at the time of his alleged passing, the less attractive this segment is for the desired route. The calculation of optimal routes is carried out with the aid of a computer's Central station. Finding the first route is carried out as described above. In addition to these files "tubes" and "antiphobic" form files "tubes" and "antiphobic" for those segments, which will be planned route. Calculated on the basis of a formula established empirically, taking into account that the presence of one car in a given time interval is equivalent to a proportional decrease in speed on the segment. The route calculation can be performed on the subscriber computer to transfer its settings on the computer is the Central station for subsequent calculation and distribution of additional traffic jam information is calculated based on the estimated time finding cars on the segments of the road network.

As practice has shown the implementation of the project (http://84.52.97.213/Forums/forum_posts.asp?TID=172), open sources of information available on the Internet and radio, provided the reliability of a "mirror" of the data is not more than 50%. In practice, this meant that choosing the optimal route is only half of the cases was indeed preferred, but in the other 50% of the optimal route was wrong. Message to the Central station by phone information about these tubes and mistakenly exhibited signs of restrained movement helped in some way to improve the quality and to increase the reliability of a "mirror" of information up to 60%. In practice, the implementation of the project by the present method was attended by more than 3000 subscribers. When using the proposed method improved the accuracy of determination of the optimum time-route to 90-95%. This improved accuracy, the efficiency of the road network locality and reducing the time the vehicle to the destination is achieved by a new method of determining the motion parameters on the road graph, the method of formation of a "mirror" of information, use of data on planned routes and their methods of accounting to calculate the optimal route. The calculation of optimal routes can be performed on the computer in the Central station and the subscriber computer.

To implement the invention can be used navigational instruments series CH, which operate on the signals of the navigation satellites of the Russian navigation system GLONASS and / or GPS system USA that provides more accurate and consistent determination of coordinates Tran is tailor tools in the complex environment of the modern city; radios can be selected on the basis of available channels and (or) communication systems (stand-alone, trunking, cellular, satellite); computer equipment can be selected by computer based on the requirements of expediting processing of incoming information; as a means of driving interface can be used in liquid crystal display and a touch pad for cursor control.

Experimental application of the method showed that the claimed technical solution allows to solve the problem of increasing the accuracy of determining the route, which cannot be achieved using the previously developed methods, especially in the city.

1. The method of determining the optimal route of the vehicle on the road network of the settlement, namely, that form a model electronic speed map of the road network locality, reflecting the average speed on each road, which is injected into the memory of the Central computer station and broadcast to computers vehicles subscribers through radio, the Central station receives messages about the speed and location under vehicles, then the correct model power is ing speed map of the road network locality by making the adjusted values of the speeds on each road, transmit information to subscribers about the updated parameters of the electronic high-speed road network map of the locality, based on the vehicle location of the subscriber and the destination featured determine the best route taking into account the specified parameters of the electronic high-speed road network map of the settlement, taken by the subscriber from the Central station with the possibility of rendering on the display screen of the subscriber of these routes for model electronic speed map of the road network of the settlement with the readout on her informational messages about the values of the speeds on the roads in the locality and display the current position of the vehicle is in motion on the selected route in case of change of parameters of electronic high-speed road network map of the village item adjust the optimal routes to a destination, wherein the at model electronic speed map of the road network locality create traffic count, including line segments, enclosed between the graph nodes and the corresponding edges of the graph, adjust the data traffic graph based on the information about the changed signs traffic from computers vehicles subscribers on the radio channel with a given the second frequency are transmitted to the Central computer station actual values of average velocities at least one road segment of the graph and determine the average speed, calculate the deviation between the actual values for the mean and model velocities in the segment, and these deviations form files "tubes" and "antiphobic", then, given these files and the weight of right and left turns, correct model electronic speed map of the road network of the settlement.

2. The method according to claim 1, characterized in that using computers vehicles subscribers determine the associated actual values of the two average velocities for a pair of connected road segments of the graph, and, depending on what the next segment is the movement, using the Central computer station create sets of values of average velocities for a pair of connected road segments of the graph, and their deviations from the model velocity form files "tubes" and "antiphobic".

3. The method according to claim 1 or 2, characterized in that the radio channel to the Central computer station transmit information about the planned routes subscribers and additionally form files "tubes" and "antiphobic" for those segments traffic count, this will be a planned route.



 

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3 cl, 13 dwg

FIELD: transporting.

SUBSTANCE: location information of objects of images photographed by a camera and location information of display objects, such as a building included in the map data are calculated based on location information of the camera. The calculated location information is used to match the objects with the display objects. The image photographed by the camera is displayed on a screen. Text information of display objects matched to the objects is read out from the map data and is displayed on the locations of the objects displayed on the screen. If a user moves, a travel route is guided using the matching information between the objects and display objects, so the user can be guided with the travel route while personally checking objects such as a building.

EFFECT: accomplishment of enhanced precision navigation tasks.

32 cl, 8 dwg

FIELD: physics; computer engineering.

SUBSTANCE: invention relates to traffic control and involves sending navigation instructions to a vehicle with a monitor which displays a map. According to the disclosed method, an electronic speed map of the road network of a residential area is made, where the said map, which is stored in a central station computer, shows the average traffic speed on each road. A road graph is made on the said map. Data of the road graph are corrected based on information on changes of road signs. Actual values of average speed on at least one segment of the road graph are sent from computers in the vehicles over a radio channel with given periodicity to the computer at the central station, and average traffic speed is determined from the said values. Further, deviation of actual values of average speed from model speed on the segment of the road graph are subtracted, and "jam" and "anti-jam" files are made from the said deviations. Taking into account these files and the weight of right and left turns, the model electronic speed map of the road network of the residential area is corrected. The recommended optimal route is determined taking into account specified parametres of the electronic speed map of the road network of the residential area, which is received by a subscriber from the central station with possibility of displaying the said routes on the said map on a monitor and displaying current position of the vehicle.

EFFECT: more accurate determination of a time-optimal route for a vehicle.

3 cl

FIELD: physics; navigation.

SUBSTANCE: invention relates to navigation systems. The result is achieved due to that, the navigation system has memory configured for storing map data, an input device configured for obtaining information related to an intersection being approached by a vehicle, a GPS-device, a sensor device configured for determining direction of movement of the vehicle, a controller configured for making a map of the intersection, indication of movement of the vehicle on the road leading to the intersection and at least one road leading away from the intersection and arrows indicating the proposed route for approaching the intersection and movement away from it, with the controller configured for calculating the relative angle between the road leading to the intersection and at least one road leading away from the intersection, and formation of an indicator for movement of the vehicle through gradual painting of an arrow or gradual fading of the arrow and a display control unit configured for displaying the intersection map, indicating movement of the vehicle and arrows.

EFFECT: formation and display of approximate configuration of the intersection without need for large number of calculations and possibility of using the proposed navigation system for low power terminals.

12 cl, 12 dwg

FIELD: physics.

SUBSTANCE: display device for a transportation vehicle includes: device which locates the transportation vehicle; apparatus for obtaining map data in area where the transportation vehicle is located; and display control apparatus which establishes the road marking based on the location of the transportation vehicle and map data, and which controls the display device in order to display the image of the map in the area where the transportation vehicle is located and an image of the road marking. The road marking separates traffic lanes and is placed on the road where the transportation vehicle is located.

EFFECT: higher accuracy of locating a transportation vehicle.

6 cl, 8 dwg

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