3D navigation system for motor vehicles

A 3D navigation system for motor vehicles includes a set-up combining a first motor vehicle and an environment scanner to generate a three-dimensional image of an environment around the first motor vehicle or at least a part of the environment around the first motor vehicle as well as at least a second motor vehicle and a communications connection between the first motor vehicle and the second motor vehicle for transmitting the three-dimensional image of the environment around the first motor vehicle or at least a part of the environment around the first motor vehicle to the second motor vehicle.

TECHNICAL FIELD

The invention concerns a 3D navigation system for motor vehicles.

SUMMARY

The purpose of the invention is to improve the 3D navigation for motor vehicles.

The afore-mentioned purpose can be achieved by a 3D navigation system that comprises a combination of a first motor vehicle and an environment scanner for generating a three-dimensional image of an environment of/around the first motor vehicle or at last a part of the environment of/around the first motor vehicle as well as at least a second motor vehicle and a communications connection between the first motor vehicle and the second motor vehicle for transmitting the three-dimensional image of the environment of/around the first motor vehicle or at last a part of the environment of/around the first motor vehicle to the second motor vehicle.

3D navigation in the sense of the invention makes it in particular possible to show a 3-dimensional image of a landscape or environment. This is different in particular from a so-called 3-dimensional depiction of a 2-dimentsional image, thus from looking at a 2-dimensional image from the bird's eye perspective. Such a depiction, often also described as 3D navigation, must not be confused with a 3D navigation in the sense of the invention.

An environment of/around a motor vehicle in the sense of the invention is above all an area around the motor vehicle scanned by an environment scanner of the motor vehicle and/or an area around the motor vehicle visible from the motor vehicle.

A 3-dimensional image of an environment or an area in the sense of the invention includes in particular only non-moving objects in the environment of the motor vehicle or in the area. A 3-dimensional image of an environment or an area in the sense of the invention is above all not a photographic depiction but specifically a simplified image that might show only the outlines of objects in the environment of the motor vehicle or in the area. A 3-dimensional image of an environment or an area in the sense of the invention may also be an image that indicates details between a photographic 3-dimensional image of objects in the environment of the motor vehicle or in the area and outlines of these objects.

A communications connection between the first motor vehicle and the second motor vehicle or a communications connection between two motor vehicle indicated in what follows is e.g. a vehicle-to-vehicle communications connection that does not need stationary communications nodes. Details of a suitable vehicle-to-vehicle communication without stationary communications nodes are e.g. disclosed in the article “Car-to-car Communication” by M. Bleyer, S. Waldenmaier, Funkschau (Radio Review) April 2002, pages 16-19. The communication between vehicles that are not necessarily in the mutual reception area, is established by routing the communication by way of a suitable forwarding/routing method through other, vehicles of the communications setup. In the process, according to the article “Geocast in Vehicular Environments: Caching and Transmission Range Control for Improved Efficiency” by C. Maihöfer, R. Eberhard, Intelligent Vehicles Symposium (Jun. 14-17, 2004), in Parma, arrangements can be made to emit so-called beacons that indicate the position of the transmitting motor vehicle.

Other details about car-to-car communication or the respective forwarding/routing method can be found in the articles cited in the afore-mentioned article “A survey on geocast routing protocols” by C. Maihöfer, IEEE, Communications Surveys and Tutorials, 2ndquarter issue, 2004, “Stored geocast” by C. Maihöfer, W. Franz, R. Eberhardt, Proceedings of Communication in Distributed Systems (KiVS), Leipzig, February 2003, pages 257-268, Springer Verlag (Publisher) and “Greedy perimeter stateless routing for wireless networks” by B.

Karp, H. T. Kung, Proceedings of the Sixth ACM/IEEE International Conference on Mobile Computing and Networking (MobiCom 2000), Boston, USA, August 2000, pages 243-254.

In an embodiment of the invention the setup or combination comprises at least twenty, preferably one hundred motor vehicles with on environment scanner each for generating a 3-dimensional image of an environment of the respective motor vehicle or at least a part of the environment of the respective motor vehicle.

In another embodiment of the invention the 3D navigation system includes also a stationary base station and a communications connection between the first motor vehicle and the stationary base station for transmitting the 3-dimensional image of the environment of the first motor vehicle or at least a part of the environment of the first motor vehicle to the stationary base station.

In another embodiment of the invention the second motor vehicle includes a communications connection between the second motor vehicle and the stationary base station for transmitting the 3-dimensional image of an area around the second motor vehicle to the second motor vehicle.

An area around a motor vehicle in the sense of the invention may correspond to an environment of the motor vehicle in the sense of the invention. However, an area around a motor vehicle in the sense of the invention is in particular an area going beyond the environment of the motor vehicle. An area around a motor vehicle in the sense of the invention may be a borough of a city or an area similar to it, a town or an area similar to it, a county or an area similar to it, a federal state or an area similar to it and/or a country or an area similar to it.

In another embodiment of the invention the second motor vehicle includes a database of the 3-dimensional image of the area around the second motor vehicle.

In another embodiment of the invention the second motor vehicle includes a navigation module for updating the database after receiving a 3-dimensional image of an area around the second motor vehicle and/or a 3-dimensional image of the environment of the first motor vehicle or at least a part of the environment of the first motor vehicle.

In another embodiment of the invention the second motor vehicle includes a display device for displaying a 3-dimensional image, in particular an updated one, of the environment of the second motor vehicle or at least a part of the environment of the second motor vehicle.

The afore-mentioned purpose is achieved—in particular in connection with one or more of the aforementioned characteristics—by a method of 3D navigation whereby a 3-dimensional image of an environment of a first motor vehicle or at least a part of the environment of the first motor vehicle is generated, and whereby the 3-dimensional image of the environment of the first motor vehicle or at least a part of the environment of the first motor vehicle is transmitted to at least one second motor vehicle, in particular via a communications connection between the first motor vehicle and the second motor vehicle.

In an embodiment of the invention a database is updated by receiving a 3-dimensional image of an area around the second motor vehicle from a stationary base station and/or a 3-dimensional image of the environment of the first motor vehicle or at least a part of the environment of the first motor vehicle, in particular of the first motor vehicle.

In another embodiment of the invention a 3-dimensional image, in particular an updated one, of the enviromnent of the second motor vehicle or at least a part of the environment of the second motor vehicle is displayed with the help of a display device mounted in the second motor vehicle.

The afore-mentioned purpose is also achieved—in particular in connection with one or more of the afore-mentioned characteristics—by a method of 3D navigation whereby a 3-dimensional image of an environment of a first motor vehicle or at least a part of the environment of the first motor vehicle is generated, whereby a 3-dimensional image of an environment of a second motor vehicle or at least a part of the environment of the second motor vehicle is generated, whereby the 3-dimensional image of the environment of the first motor vehicle or at least of a part of the environment of the first motor vehicle as well as the 3-dimensional image of the environment of the second motor vehicle or at least a part of the environment of the second motor vehicle is transmitted to a stationary base station, and whereby a database assigned to the stationary base station is updated after receiving a 3-dimensional image of the environment of the first motor vehicle or a part of the environment of the first motor vehicle, provided that the received image of the environment of the first motor vehicle or a part of the environment of the first motor vehicle differs from the corresponding 3-dimensional image of the environment of the first motor vehicle or at least a part of the environment of the first motor vehicle stored in the database in the same way as a 3-dimensional image of the same environment recorded (and transmitted) by the second motor vehicle before a certain waiting period. The waiting period may be ‘zero’ but is preferably longer than 15 min, in particular longer than 60 min.

The afore-mentioned purpose is also achieved—in particular in connection with one or more of the afore-mentioned characteristics—by a 3D navigation system for motor vehicles whereby the 3D navigation system includes a setup or combination of at least twenty, preferably one hundred motor vehicles with one environment scanner each for generating a 3-dimensional image of the environment of the respective motor vehicle or at least a part of the environment of the respective motor vehicle, and a communications connection between each motor vehicle and a stationary base station for transmitting the 3-dimensional image of the environment of the respective motor vehicle or at least a part of the environment of the respective motor vehicle to the stationary base station.

In an embodiment of the invention the stationary base stations includes a database of a 3-dimensional image of an area and a navigation module for updating the database after receiving a 3-dimensional image of the environment of a motor vehicle or at least part of the environment of the motor vehicle.

In another embodiment of the invention the stationary base stations includes a database of a 3-dimensional image of an area and a navigation module for updating the database after receiving a 3-dimensional image of the environment of a motor vehicle or at least part of the environment of the motor vehicle, provided that the received 3-dimensional image of the environment of the motor vehicle or at least a part of the environment of the motor vehicle differs from the corresponding 3-dimensional image of the environment of the motor vehicle or at least a part of the environment of the motor vehicle stored in the database in the same way as a 3-dimensional image of the same environment recorded (and transmitted) by another motor vehicle before a certain waiting period.

Motor vehicles in the sense of the invention are in particular land vehicles individually used in road traffic. Motor vehicles in the sense of the invention are in particular land vehicles with a combustion motor.

Other advantages and details are shown in the following description of the examples of embodiment.

DETAILED DESCRIPTION

FIG. 1shows an example of embodiment of a 3D navigation system for motor vehicles. The 3D navigation system for motor vehicles includes a setup or combination combining of at least twenty, preferably one hundred motor vehicles according to the motor vehicle indicated by reference1.FIG. 2shows an example of the motor vehicle1.

The motor vehicle1includes a positioning system23, e.g. in the form of a GPS positioning system, based on signals from satellites10,11,12,13for determining the GEO location of the motor vehicle1. The motor vehicle1also includes an environment scanner20for generating a 3-dimensional image I3D of an environment8of the motor vehicle1or at least of a part of the environment8of the motor vehicle1. The environment scanner20includes a sensor24and an analyzer21. The sensor24may include a camera, a stereo camera, a laser scanner, LIDAR or a radar device, in particular a radar device for determining a differential speed, a distance and an angle between an object and the motor vehicle1. A suitable laser scanner may e.g. be ordered from SICK AG, Sebastian-Kneipp-Str. 1, 79183 Waldkirch, Federal Republic of Germany. An environment of the motor vehicle1in the sense of the invention is in particular an area in front of the motor vehicle1or around the motor vehicle1that can be scanned by the environment scanner20or the sensor24.

The analyzer21is used first to determine the speed of the objects recognized by the sensor24in the environment8of the motor vehicle1via the speed v of the motor vehicle1. Depending on the GEO location of the motor vehicle1, the analyzer21prepares, from the objects at rest in the environment8of the motor vehicle1, a 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1. A suitable method is e.g. shown in the article “Fusion of Realities for Vehicle Navigation” by Zhencheng Hu, Keiichi Uchimura and Hanqing Lu which can be retrieved from the Internet.

The motor vehicle1includes also a navigation module22. In a simple embodiment the navigation module22includes an interface to the bus system28through which the speed v of the motor vehicle1can be transmitted by a motor vehicle control29to the navigation module22, and an interface to a communications device27. With the communications device27a communications connection15can be established between the motor vehicle1and another motor vehicle indicated by reference2for transmitting the 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1to the motor vehicle2. In addition, a communications connection16can be established via the communications device27between the motor vehicle1and a stationary base station5for transmitting the 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1to the stationary base station5. The stationary base station5also includes e.g. an antenna indicated by reference6.

The present example of embodiment also provides that the motor vehicle1includes a database26of the 3-dimensional image of an area around the motor vehicle1. An area around the motor vehicle1may be an environment of the motor vehicle1. However, an area around the motor vehicle1is in particular an area going beyond the environment of the motor vehicle1. An area around the motor vehicle1may the borough of a city or an area similar to it, a town or an area similar to it, a county or an area similar to it, a federal state or an area similar to it and/or a country or an area similar to it. In the present example of embodiment the navigation module22serves also for administering or for updating the database26described inFIG. 3. According to the present example of embodiment the motor vehicle1also includes a display device25, an example of which is shown inFIG. 4, for displaying an image of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1and/or for displaying an image of an area around the motor vehicle1or at least a part of the area around the motor vehicle1. The large image displayed here inFIG. 4by the display device25is an example of embodiment of an image of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1, and the small image displayed inFIG. 4by the display device25is an example of embodiment of an image of an area around the motor vehicle1or at least a part of the area around the motor vehicle1.

FIG. 3shows the principle of an example of embodiment of the motor vehicle2. The motor vehicle2includes a positioning system23corresponding to the positioning system33, a display device25corresponding to display device35for displaying an image of the environment9of the motor vehicle2or at least a part of the environment9of the motor vehicle2and/or for displaying an image of an area around the motor vehicle2or at least a part of the area around the motor vehicle2depending on the GEO location of the motor vehicle2and a database36of a 3-dimensional image of an area around the motor vehicle2corresponding in principle to the database26.

The motor vehicle2also includes a communications device37corresponding in principle to the communications device27. Via a communications device37the communications connection15can be established between the motor vehicle2and the motor vehicle1for transmitting the 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1to the motor vehicle2. In addition, a communications connection17can be established via a communications device37between the motor vehicle2and a stationary base station5for transmitting a 3-dimensional image of an area around the motor vehicle2or at least a part of the area around the motor vehicle2from the stationary base station5to the motor vehicle2.

The motor vehicle2includes also a navigation module22for controlling the display device35depending on the position of the motor vehicle2and for updating the database36. For this purpose the process outlined inFIG. 5or inFIG. 6is implemented in the navigation module32. The process pursuant toFIG. 5begins with a step40in which a 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1received by the motor vehicle1and/or a 3-dimensional image of an area around the motor vehicle2or at least a part of the area around the motor vehicle2is read in.

The step40is followed by a query41as to whether a corresponding 3-dimensional image of the environment8of the motor vehicle1or the part of the environment8of the motor vehicle1or the area around the motor vehicle2or the part of the area around the motor vehicle2is in the database36.

If such a 3-dimensional image is in the database36, the query41is followed by query42as to whether the 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1received from the motor vehicle1or the 3-dimensional image of the area around the motor vehicle2or at least a part of the area around the motor vehicle2received from the stationary base station5differs from a corresponding image in the database36. If there is no corresponding 3-dimensional image in the database36, the query41is followed by query43.

If the 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1received from the motor vehicle1or the 3-dimensional image of the area around the motor vehicle2or at least a part of the area around the motor vehicle2received from the stationary base station5differs from a corresponding image in database36, query42is followed by step43.

In step43the database36is updated, i.e. the 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1received from the motor vehicle1or the 3-dimensional image of the area around the motor vehicle2or at least a part of the area around the motor vehicle2received from the stationary base station5is added to the database or a corresponding image in the database36is replaced, or is replaced in the parts that need updating, with the 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1received from the motor vehicle1or the 3-dimensional image of the area around the motor vehicle2or at least a part of the area around the motor vehicle2received from the stationary base station5.

FIG. 6shows an example of embodiment of another process that can be implemented in the navigation module32. Here the steps indicated with the references50and53basically correspond to the steps40and43and the queries indicated with the references51and562essentially correspond to queries41and42.

If the 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1received from the motor vehicle1or the 3-dimensional image of the area around the motor vehicle2or at least a part of the area around the motor vehicle2received from the stationary base station5differs from a corresponding image in database36, the query45as in query52is followed by query54.

Query54determines whether the received 3-dimensional image differs from the 3-dimensional image stored in the database in the same way as a 3-dimensional image of the same environment recorded (and transmitted) by another motor vehicle before the waiting period. The waiting period may be ‘zero’ but is preferably longer than 15 min, in particular longer than 60 min. If the received 3-dimensional image differs from the 3-dimensional image stored in the database in the same way as a 3-dimensional image of the same environment recorded (and transmitted) by another motor vehicle before the waiting period, the query54is followed by step53corresponding to step43. Otherwise the query54is followed by a step55in which the received 3-dimensional image or the difference between this 3-dimensional image and the 3-dimensional image stored in the database36is put into temporary storage. Contrary to an updated 3-dimensional image, the 3-dimensional image put into temporary storage cannot be displayed via the display device36.

Adjusted accordingly, a process shown inFIG. 5or a process shown inFIG. 6for updating the database26may also be implemented in the navigation module22. In this casethe 3-dimensional image I3D of the environment8of the motor vehicle1or at least a part of the environment8of the motor vehicle1scanned by the environment scanner20a 3-dimensional image of the environment of the other motor vehicle or at least a part of the environment of the other motor vehicle received by another motor vehicle and/ora 3-dimensional image of an area around the motor vehicle2or at least a part of the area around the motor vehicle2received by the stationary base station5
is read in step40or in step50. The steps43,53,55and the queries41,42,51,52,54are adjusted accordingly to these data.

An accordingly adjusted process shown inFIG. 5or inFIG. 6for updating a database66, shown inFIG. 1, of the stationary base station5may also be implemented in a corresponding navigation module62of the stationary base station5. In this case a 3-dimensional image of the environment of this motor vehicle or at least of a part of the environment of this motor vehicle received from a motor vehicle (e.g. motor vehicle1) is read in step40or step50. The steps43,53,55and the queries41,42,51,52,54are adjusted accordingly.

Motor vehicles such as motor vehicle1may be commercial motor vehicles such as taxis but also private vehicles.

REFERENCE LIST