Method and system for determining a navigation instruction for a vehicle

Abstract

Method for determining a navigation instruction for a vehicle (10) traveling along a route (14) with at least partially several lanes (12a, 12b, 12c) running in one direction of travel, comprising the following steps: a) determining a signal quality of a radio communication network in an environment of the vehicle (10) (step S1); b) from the determined signal quality, an averaged signal quality is calculated lane-specifically for an area which is determined by the lane width (B) of the respective lane (12a; 12b; 12c) and at least a first predeterminable distance (L) of the route ahead of the vehicle (10) on the respective lane (step S2); and c) Determining a lane change recommendation as a navigation instruction depending on the lane-specific calculated average signal qualities (step S3), wherein in step a) the signal quality of the radio communication network is predicted as a function of at least one parameter influencing the signal quality on the respective predeterminable route (L) of the route ahead of the vehicle (10), characterized by that the signal quality is predicted depending on at least one of the following parameters: - Position of at least one activated or to be activated radio communication device within the vehicle (10); - type and relative speed of at least one means of transport in the vicinity of the vehicle (10).

Description

[0001] The present invention relates to a method for determining a navigation instruction for a vehicle traveling along a route with, at least in part, multiple lanes running in one direction of travel. It further relates to a corresponding system for determining a navigation instruction for a vehicle.

[0002] In this context, a route refers to a road between a starting point and a destination, as displayed, for example, by a route planner. A route can, at least partially, i.e., over certain sections, have multiple lanes running in one direction. Multiple lanes therefore do not represent different routes, but are part of one and the same route.

[0003] Having said that, US 2021 / 0061306 A1 discloses a system and method for vehicle navigation, in which a navigation system for a vehicle may comprise at least one processor. The processor may be programmed to obtain a route from a location of the vehicle to a destination, receive signal information indicating a quality characteristic of a signal associated with at least one location along the route, determine a quality parameter for at least one operational characteristic associated with a communication system, and determine at least one change to the route for the vehicle based on the signal information and the quality parameter. In other words, at the vehicle's starting point, an assessment is made as to whether one route or the other is better with regard to a quality parameter for a communication system, and the navigation system then proposes the better route.Once a route has been selected, it will not be modified until the destination is reached. The assessment of the quality parameter must be based on the knowledge available at the vehicle's starting point.

[0004] Similarly, US 2009 / 0005073 A1 discloses a method comprising receiving destination information comprising a desired destination and receiving regional signal quality information comprising signal quality information associated with one or more regions of an area. The method also includes determining a first route to the desired destination based on the regional signal quality information.

[0005] US 2020 / 0070827 A1 relates to an autonomous vehicle comprising: a communication device configured to generate communication intensity information when communicating with an external device; and a controller configured to control the vehicle to drive based on the communication intensity information. Furthermore, a user interface device may output a map and acquired lane information through a display unit. In this case, the user interface device may output information about the required time or the arrival time at the destination when the vehicle travels according to the set route. In particular, the user interface device may also output information about shadow sections on the route. A control unit may determine whether there is a communication shadow section on the travel route.The communication shadow section may refer to an area in which no communication can take place, for example an underground road section, a tunnel section and a section near which there is no base station.

[0006] US 2017 / 0 160 742 A1 describes an autonomous vehicle that may include a communication system for communicating with a backend system, a sensor system for collecting sensor data representing an operating environment of the autonomous vehicle, and a control system that may process the sensor data to (i) perform a localization operation to determine a location and orientation of the autonomous vehicle within a given area, and (ii) autonomously operate the acceleration, braking, and steering systems of the autonomous vehicle within the given area. Based on the localization operation, the autonomous vehicle may implement a series of configuration commands to configure the communication system to send and receive data with the backend system using a number of specific network nodes.

[0007] From DE 10 2020 209 871 A1 a method for securing communication between a first vehicle and a second vehicle is known, wherein the first vehicle has a first communication device and the second vehicle has a second communication device, wherein the first vehicle forms a leading vehicle and the second vehicle forms a following vehicle, wherein data is exchanged between the first communication device and the second communication device via a wireless communication connection, wherein the communication connection has a transmission quality, wherein a future transmission quality is estimated and / or determined for the communication connection, wherein if the future transmission quality falls below a minimum transmission quality, a countermeasure is carried out to increase the transmission quality.

[0008] Furthermore, methods for determining a lane change recommendation for a vehicle traveling along a route with, at least in part, multiple lanes running in one direction are known: For example, if a vehicle traveling on a roadway with multiple lanes approaches an intersection, a vehicle navigation system can output a lane change recommendation on a display device with regard to a turn to be made at the intersection. This directs the vehicle to the lane that is absolutely necessary or particularly suitable for the turn.

[0009] The object of the present invention is to provide a method and a system for determining a navigation instruction for a vehicle traveling along a route with at least partially several lanes running in one direction of travel, which enables an increase in traffic safety.

[0010] This object is achieved by the features of the independent patent claims. Advantageous embodiments emerge from the subclaims.

[0011] The present invention is based on the realization that road safety can be compromised if the communication connection is unexpectedly lost during a telephone call in the vehicle. Firstly, the driver turns his gaze away from the road and usually checks the connection status on a display device, for example, how many bars of a signal quality indicator are illuminated. As long as no bar or only one bar is illuminated, which the driver continuously checks, there is no point in redialing the caller. Only when the driver determines that the signal quality has increased to two or more bars is a new dialing process initiated, which in turn distracts the driver's attention at least partially from the traffic.Accordingly, road safety would be greatly enhanced if a way could be provided to reduce the number of dropped communication connections during in-vehicle telephone calls. Based on these considerations, the method according to the invention searches for the best possible lane in terms of signal quality of a radio communication network and issues a corresponding navigation instruction to change to this lane, provided the vehicle is not already traveling in the optimal lane and provided the change is permitted, i.e., it is not a lane separated from the vehicle's own lane by a solid line or that involves a different route.

[0012] Furthermore, advanced driver assistance systems (ADAS) are extremely dependent on wireless communication infrastructure. The network availability and quality of this infrastructure significantly determine the functionality, robustness, and reliability of a vehicle's ADAS and communication systems, which is particularly essential for partially or fully autonomous vehicle operation. The method can also be used, in particular, to improve Car2X communication.

[0013] A method according to the invention for determining navigation instructions for a vehicle traveling along a route with at least partially multiple lanes running in one direction of travel accordingly comprises a step a) in which the signal quality of a radio communication network in the vicinity of the vehicle is determined. In a step b), an average signal quality is calculated lane-specifically from the determined signal quality for an area determined by the lane width of the respective lane and at least a first predeterminable distance of the route ahead of the vehicle on the respective lane. Finally, in a step c), a lane change recommendation is determined depending on the lane-specifically calculated average signal qualities. The lane change recommendation can consist of suggesting a different lane than the one currently being traveled in.In the event that the currently occupied lane is already the optimal lane, the lane change recommendation consists of instructing the driver and / or the vehicle to continue in that lane. Strictly speaking, step c) therefore involves determining a lane change recommendation or a recommendation to maintain a currently occupied lane.

[0014] By calculating the determined signal quality in step b) in the manner specified, a decision can be made, at least for this first predeterminable route, as to which lane is better in terms of the signal quality of the radio communication network.

[0015] Accordingly, if the calculated average signal quality for at least the first specified distance of another lane is better than that of the currently occupied lane, a recommendation to change lanes to the other lane is issued, or a lane change to the other lane is performed autonomously or semi-autonomously. Otherwise, it is recommended to continue driving in the currently occupied lane. Since a lane change is not required, such a recommendation can be omitted.

[0016] According to a preferred development, step b) can also be carried out for at least a second predeterminable route, wherein the second predeterminable route follows the first predeterminable route, wherein in step c) the lane change recommendation is determined as a function of the lane-specific calculated signal qualities of at least the first and second routes. In this context, a recommendation to change lanes to the other lane can only be issued or a lane change to the other lane can be carried out autonomously or semi-autonomously if the calculated average signal quality for at least the first and second predeterminable routes of another lane is better than that of the lane currently being traveled in.This measure takes into account the fact that if it is already foreseeable that the lane currently being used will soon be the lane offering the best signal quality of the radio communication network, an interim change to another lane is suppressed. This avoids unnecessarily frequent lane changes. However, if a comparison of the determined signal quality reveals that another lane not currently being used provides a signal quality that is above a threshold at which a loss of radio connection is likely, and the signal quality of the currently used lane is below this threshold, the suppression of the lane change can be lifted, thus issuing a lane change recommendation.

[0017] The length of each specified route can be varied depending on the vehicle speed and / or traffic density. Accordingly, the specified route is increased at higher vehicle speeds, as well as at lower traffic density.

[0018] According to the invention, in step a) the signal quality of the radio communication network is predicted as a function of at least one parameter influencing the signal quality on the respective predeterminable section of the route ahead of the vehicle. If there is no development, so that no reflections interfere with the signal quality, this can be measured up to a distance of 50 meters in front of the vehicle. However, a prediction as a function of a parameter influencing the signal quality on the respective predeterminable section of the route ahead of the vehicle can also be made over greater distances, since such factors influencing signal quality are often already included in the map material of navigation systems. In particular, the signal quality can be predicted as a function of at least one of the following parameters: development and / or tree population and / or terrain profile along a predeterminable section of the route ahead of the vehicle.Of particular importance here, however, according to the present invention, are parameters which could not yet have been known at the time the route was started, i.e. parameters which are based on unforeseeable events, such as the position of at least one radio communication device which is activated or to be activated within the vehicle, i.e. which of several people in the vehicle is making or intends to make a telephone call, the type and relative speed of at least one means of transport in the vicinity of the vehicle or current construction sites.

[0019] Buildings, trees, or the terrain can lead to shadowing, and thus to poor network coverage. Depending on whether the front passenger is on the phone or a passenger sitting behind the driver, different lanes may be optimal in terms of signal quality. The type and relative speed of at least one vehicle in the vicinity of the vehicle affect the fact that, for example, a truck about to be overtaken in the other lane can lead to shadowing of the radio network and thus to a deterioration in signal quality. In this respect, a lane could be recommended that is as far away as possible from the truck about to be overtaken. This is particularly relevant on motorways with three or more lanes running in one direction.

[0020] Preferably, in step a) the signal quality of the radio communication network continues to be measured.

[0021] Preferably, in step a) the signal quality for different antennas arranged in the vehicle is determined, with average signal qualities for the different antennas being calculated in step b), with the lane change recommendation being determined in step c) depending on the average signal qualities calculated for the different antennas. Since vehicles today have multiple antennas, a forecast can be made as to what the signal quality will be when using the antenna at the front right, front left, rear right, or rear left over the predefined route. If, for example, a difference of 2 dB results, this difference could be sufficient to maintain the network, i.e. a connection loss could be avoided. In this respect, the antenna that can provide the best signal quality for the predefined route, taking into account a possible lane change, is given priority.

[0022] A particularly preferred development is characterized in that step b) is further carried out for at least two partial lanes of the respective lane which are narrower than the lane and run in the longitudinal direction of the lane, wherein a partial lane change recommendation is determined depending on the averaged signal qualities calculated for each partial lane. This measure takes into account the fact that a vehicle on a lane can occupy different positions in the transverse direction of the lane, whereby the signal quality provided in these different positions can differ from one another. Since even small improvements in signal quality can often prevent a connection being lost, simply changing the position within a lane can bring about an improvement in signal quality.In particular, if the lane already being used is the one with the best signal quality, this can achieve even further improvement, as changing lanes in this situation would only result in a deterioration in signal quality. Therefore, in this context, it is preferable to check whether the lane width exceeds the vehicle width by a predefined value before calculating the signal quality for each lane section, and to only perform the calculation if the result is positive. The predefined value can be 1 meter, for example. This ensures that there is sufficient space for different positions to be taken up in the lane. If the lane is narrow, this option for improving signal quality is not available.

[0023] A lane naturally has a left and a right edge zone in the longitudinal direction. With regard to the lane-specific calculation, a first lane may comprise the left edge zone and a second lane may comprise the right edge zone of the lane.

[0024] A predicted signal quality can be used in advance as a decision criterion when selecting a route. Thus, before step a), a starting point and a destination can be determined for a journey. The signal quality of a radio communication network is determined at the starting point for different routes between the starting point and the destination before the start. A vehicle's navigation system is designed to prioritize the route for which the best average signal quality has been determined according to predefined evaluation criteria. A route may have one or more lanes running in one direction of travel in certain sections.By combining the selection of a route with the best signal quality and the selection of the lane on this route that provides the best signal quality among the lanes, the overall signal quality can be approximately the best possible, which can only be improved by making a lane-specific evaluation and recommendation.

[0025] A system according to the invention for determining a navigation instruction for a vehicle traveling along a route with at least partially several lanes running in one direction of travel comprises a signal quality determination device designed to determine a signal quality of a radio communication network in an environment of the vehicle, and a calculation device coupled to the signal quality determination device, which is designed to calculate from the determined signal quality, in a lane-specific manner, an averaged signal quality for an area determined by the lane width of the respective lane and at least a first predeterminable distance of the route ahead of the vehicle on the respective lane, wherein the calculation device is further designedto determine a lane change recommendation as a navigation instruction depending on the lane-specific calculated average signal qualities.

[0026] The invention also includes further developments of the system according to the invention that have features already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the system according to the invention are not described again here.

[0027] The invention also includes combinations of the features of the described embodiments.

[0028] Exemplary embodiments of the invention are described below. These show: Fig. 1 a schematic representation to explain the method according to the invention; and Fig. 2 shows a signal flow graph to explain an embodiment of the method according to the invention.

[0029] The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

[0030] In the figures, functionally identical elements are provided with the same reference numerals.

[0031] Fig. In this context, Figure 1 shows a schematic representation to explain the method according to the invention. A vehicle 10 travels a route between a starting point and a destination, wherein the route comprises, at least in sections, several lanes 12a, 12b, 12c running in one direction of travel. The lanes 12a, 12b, 12c form a unidirectional roadway or street 14. The roadway 14 crosses a roadway 16, which also has three lanes 18a, 18b, 18c. Various transmitting / receiving devices 20a, 20b, 20c are arranged along the roadway 14. These transmitting / receiving devices can operate according to the same radio standards or different radio standards, for example, GSM, LTE, GPS / dGPS, pWLAN. The spatial areas into which the transmitting / receiving devices 20a, 20b, 20c radiate are designated 22a, 22b, 22c.

[0032] Using a signal quality determination device 24 arranged in the vehicle, the vehicle 14 determines the signal quality of a radio communication network in its surroundings. The gradient field resulting from the overlap of the respective networks of the transmitting / receiving devices 20a, 20b, 20c is indicated schematically at 26 and shows corresponding contour line regions with different signal quality. From the determined signal quality, a lane-specific average signal quality is calculated using a calculation device 25 for an area determined by the lane width of the respective lane 12a, 12b, 12c and at least a first predeterminable distance L of the route ahead of the vehicle on the respective lane 12a, 12b, 12c.

[0033] Arrows 28a, 28b, and 28c indicate areas with poor network coverage. Arrow 30 indicates an area with increased interference. Within the predefined route L, an arrow 32 indicates an area with good network coverage. As vehicle 10 moves along roadway 14, a route 34 optimal in terms of signal quality is created by successively determining the respective areas with the best network coverage.

[0034] As indicated by arrow 36, this is accompanied by a lane change, after which vehicle 10 is recommended to change lanes from lane 12b to lane 12c at route point P. "Recommendation" here means that a lane change is suggested to the driver via an output device on vehicle 10. The driver can then decide whether or not to follow the suggestion. In partially or fully autonomous vehicles, the lane change recommendation can be implemented automatically. At point Q, another lane change is recommended, in this case from lane 12c back to lane 12b.

[0035] Fig.2 shows a signal flow graph to explain an exemplary embodiment of a method according to the invention. Accordingly, in step S1, a signal quality of a radio communication network in an environment of the vehicle 10 is determined. In step S2, an averaged signal quality is calculated from the determined signal quality on a lane-specific basis by means of a calculation device 25 coupled to the signal quality determination device 24 for an area determined by the lane width B of the respective lane and at least a first predeterminable distance L of the route ahead of the vehicle 10 on the respective lane 12a, 12b, 12c. In step S3, a lane change recommendation is determined depending on the lane-specifically calculated averaged signal qualities. List of reference symbols 10 motor vehicle 12a lane 12b lane 12c lane 14 Roadway 16 lane 18a lane 18b lane 18c lane 20a Transmitting / receiving device 20b Transmitting / receiving device 20c Transmitting / Receiving Device 22a area 22b area 22c area 24 Signal quality determination device 25 Calculation device 26 Gradient field 28a Arrow 28b Arrow 28c Arrow 30 arrow 32 Arrow 34 Route 36 Arrow B Lane width L Distance P route point Q point S1 step S2 step S3 step

Claims

[1] Method for determining a navigation instruction for a vehicle (10) traveling along a route (14) with at least partially several lanes (12a, 12b, 12c) running in one direction of travel, comprising the following steps: a) determining a signal quality of a radio communication network in an environment of the vehicle (10) (step S1); b) from the determined signal quality, an averaged signal quality is calculated lane-specifically for an area which is determined by the lane width (B) of the respective lane (12a; 12b; 12c) and at least a first predeterminable distance (L) of the route ahead of the vehicle (10) on the respective lane (step S2); and c) Determining a lane change recommendation as a navigation instruction depending on the lane-specific calculated average signal qualities (step S3), wherein in step a) the signal quality of the radio communication network is predicted as a function of at least one parameter influencing the signal quality on the respective predeterminable route (L) of the route ahead of the vehicle (10), characterized by , that the signal quality is predicted depending on at least one of the following parameters: - Position of at least one activated or to be activated radio communication device within the vehicle (10); - type and relative speed of at least one means of transport in the vicinity of the vehicle (10). [2] Method according to claim 1, characterized bythat if the calculated average signal quality for at least the first predeterminable distance (L) of another lane (12c) is better than that of the lane currently being traveled (12b), a recommendation to change lanes to the other lane (12c) is issued or a lane change to the other lane (12c) is carried out autonomously or semi-autonomously. [3] Method according to one of the preceding claims, characterized by that step b) is further carried out for at least a second predeterminable route, wherein the second predeterminable route follows the first predeterminable route (L), wherein in step c) the lane change recommendation is determined as a function of the lane-specifically calculated signal qualities of at least the first and the second route. [4] Method according to claim 3, characterized bythat only if the calculated average signal quality for at least the first and the second predeterminable route of another lane (12c) is better than that of the lane (12b) currently being traveled, a recommendation to change lanes to the other lane (12c) is issued or a lane change to the other lane (12c) is carried out autonomously or semi-autonomously. [5] Method according to one of the preceding claims, characterized by that the length of the respective predeterminable route (L) is varied depending on a vehicle speed and / or traffic density. [6] Method according to one of the preceding claims, characterized by that in step a) the signal quality of the radio communication network is measured. [7] Method according to claim 6, characterized by that the signal quality is further predicted depending on at least one of the following parameters: - Development and / or tree population and / or terrain profile along a predeterminable route (L) of the route ahead of the vehicle (10). [8] Method according to one of the preceding claims, characterized by that in step a) the signal quality for different antennas arranged in the vehicle (10) is determined, wherein in step b) averaged signal qualities for the different antennas are calculated, wherein in step c) the lane change recommendation is determined as a function of the averaged signal qualities calculated for the different antennas. [9] Method according to one of the preceding claims, characterized bythat step b) is further carried out for at least two partial lanes of the respective lane (12a; 12b; 12c) which have a smaller width than the lane (12a, 12b, 12c) and run in the longitudinal direction of the lane (12a; 12b; 12c), wherein a partial lane change recommendation is determined as a function of the averaged signal qualities calculated specifically for the partial lane. [10] Method according to claim 9, characterized by that before the partial lane-specific calculation of the signal quality, it is checked whether the width (B) of the lane (12a; 12b; 12c) exceeds the vehicle width by a predeterminable value, and the partial lane-specific calculation is only carried out if the result of the test is positive. [11] Method according to one of claims 9 or 10, characterized bythat the lane (12a; 12b; 12c) has a left and a right edge region in the longitudinal direction, wherein a first partial lane comprises the left edge region and a second partial lane comprises the right edge region. [12] Method according to one of the preceding claims, characterized by that before step a) a starting point and a destination are determined for a journey, wherein the signal quality of a radio communication network is determined before the start at the starting point for different routes between the starting point and the destination, wherein a navigation system of the vehicle (10) is designed to prioritize the route for which a best average signal quality was determined according to predeterminable assessment criteria, wherein a route has at least in sections one or more lanes (12a, 12b, 12c) running in one direction of travel. [13] System for determining a navigation instruction for a vehicle (10) traveling along a route with at least partially several lanes (12a, 12b, 12c) running in one direction of travel, comprising: - a signal quality determination device (24) which is designed to determine a signal quality of a radio communication network in an environment of the vehicle (10); and - a calculation device (25) coupled to the signal quality determination device (24), which is designed to calculate from the determined signal quality a lane-specific average signal quality for an area which is determined by the lane width (B) of the respective lane (12a; 12b; 12c) and at least a first predeterminable distance (L) of the route ahead of the vehicle (10) on the respective lane (12a; 12b; 12c), wherein the calculation device (25) is further designed to determine a lane change recommendation as a navigation instruction depending on the lane-specific calculated average signal qualities, wherein the signal quality determination device (24) is further designed to predict the signal quality of the radio communication network as a function of at least one parameter influencing the signal quality on the respective predeterminable route (L) of the route ahead of the vehicle (10), characterized by , that the signal quality determination device is designed to predict the signal quality depending on at least one of the following parameters: - Position of at least one activated or to be activated radio communication device within the vehicle (10); - type and relative speed of at least one means of transport in the vicinity of the vehicle (10).

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