METHOD FOR NAVIGING A VEHICLE DURING OFF-ROAD DRIVING

Description

[0001] The invention relates to a method for navigating a vehicle during off-road driving using augmented display, wherein, when driving over terrain, a waypoint route comprising a plurality of waypoints is generated with respect to a section of the route traveled by a vehicle, at least on the basis of acquired satellite-based GEO position data of the vehicle.

[0002] German patent DE 10 2020 004 551 A1 discloses a method for providing data and / or information for off-road driving by a vehicle, in which the vehicle's surroundings are recorded. Furthermore, the data and / or information are displayed in an augmented representation within the real vehicle by means of a virtual vehicle driving ahead of the real vehicle, by overlaying the virtual vehicle onto a current representation of the surroundings.

[0003] EP 1 519 152 A1 describes a device and a method for displaying navigation instructions on a projection surface in a vehicle. The device comprises a navigation system that continuously determines the vehicle's position using a satellite-based system and uses an image generation unit to display the navigation instructions determined by the navigation system in an image of the vehicle's surroundings. The reliability of the position data is determined. The image generation unit displays the navigation instructions in different formats depending on the reliability of the position data.

[0004] The invention is based on the objective of providing a novel method for the augmented display of data and / or information for the navigation of a vehicle during off-road driving.

[0005] The problem is solved according to the invention by a method which has the features specified in claim 1.

[0006] Advantageous embodiments of the invention are the subject of the dependent claims.

[0007] A method for navigating a vehicle during off-road driving using augmented display provides that, when driving across terrain, a waypoint route comprising a plurality of waypoints is generated based on at least the acquired satellite-based GEO position data of the vehicle, with respect to a section of the route traveled by the vehicle. According to the invention, the generated waypoint route is transmitted to a central computing unit that is data-linked to the vehicle and made available to other vehicles by means of the central computing unit. Furthermore, when another vehicle with navigation activated subsequently drives across the terrain, the determined waypoint route is displayed, at least partially superimposed on a captured real-world environment of the vehicle, by means of successive portals that the vehicle passes through.

[0008] In particular, the vehicles are assigned to a vehicle fleet and linked to the central computer unit via data technology, so that the driving on the section of track and the vehicle settings, vehicle data and other driving dynamics data set on it can be recorded at regular intervals, stored on the vehicle and / or transmitted to the central computer unit.

[0009] By applying this method, waypoints are displayed via portals, ensuring that the representation of route information, especially with comparatively inaccurate geolocation data, follows a relatively robust concept. Navigation in terrain without roads is accomplished using these portals. They provide orientation by continuously displaying the direction in which the vehicle must travel.

[0010] In one implementation of the method, each determined waypoint of the waypoint route is displayed via a portal. Specifically, each waypoint is based on recorded GEO position data, which is captured at regular temporal and / or spatial intervals, allowing a sequence of portals to be created.

[0011] According to the invention, the individual portals marking the waypoint route, or the waypoint route itself, are displayed using the portals depending on an uncertainty factor determined based on a calculated frequency of capturing at least the GEO position data. This means that the individual portals of the waypoint route can be displayed differently according to the determined uncertainty factor, or all portals of the waypoint route can be displayed according to the determined uncertainty factor.

[0012] According to the invention, the width of the respective portal varies depending on the uncertainty factor, so that it is apparent to a driver of the other vehicle, depending on the width, that inaccuracies may exist and that, for this reason, the section of the route should be driven with increased attention.

[0013] According to the invention, the method provides that the respective portal is displayed wider when a high uncertainty factor is determined than when a low uncertainty factor is determined. At least the more GEO position data is available for the route segment, the more accurate the representation of the route segment using the waypoint route, and in particular using the portals. In other words, the more frequently the route segment is traveled in the terrain, the more GEO position data is available, and the more accurate the navigation can be using the portals that mark the waypoint route.

[0014] According to the invention, the level of uncertainty varies depending on the accuracy of at least the recorded GEO position data. As described above, the more GEO position data is available, the more accurate the navigation input becomes, so that with a large number of GEO position data points available for a given section of the route, the uncertainty factor is correspondingly low. If this section of the route has only been traveled and recorded once, the uncertainty factor is at its maximum.

[0015] In one version, the appearance of successive portals varies depending on a change in the underlying surface. This means that when transitioning from stone to gravel or to water, the color of the portals can change, with each type of surface being assigned a specific color. For example, water could be represented by the color blue and stone by gray, so that the portals along the track section are marked according to the respective surface.

[0016] In one implementation, the display of successive portals depends on the vehicle settings configured during a previous recording of the route segment. The display of the portals can vary, for example, depending on the selected driving program, an activated differential lock, etc.

[0017] Furthermore, another implementation of the method involves representing the elevation information of the waypoint segment using the variance of the transparency of the respective portal. A tolerance in the elevation information is processed in such a way that the lower portion of the corresponding portal does not rest on the ground of the route segment. The less precise the elevation information, the more the transparency of the ground increases towards the upper corner of this portal or portals.

[0018] Exemplary embodiments of the invention are explained in more detail below with reference to drawings.

[0019] This shows: Fig. 1 schematically shows a process for determining an uncertainty factor for the augmented representation of a waypoint section of a route segment using a number of portals, and Fig. 2 schematically shows a view from a vehicle onto a preceding route segment, which is partially superimposed using augmented portals.

[0020] Corresponding parts are marked with the same reference symbols in all figures.

[0021] Figure 1 shows a procedure for determining an uncertainty factor F for the augmented representation of a Figure 2 The depicted waypoint route W of a route segment is represented by a number of portals P.

[0022] Figure 2 shows a view from a vehicle while driving along a section of track in a terrain, where the track section is augmented using portals P that mark the waypoint route W.

[0023] In particular, the following describes the navigation of a vehicle during off-road driving using an augmented representation of the route segment.

[0024] Navigation in such terrain without roads places increased demands on the navigation system and the display of navigation elements. For example, due to the absence of roads and paths, orientation is crucial, requiring a continuous display of the direction the vehicle should travel. Comparably accurate waypoint navigation can sometimes only be achieved by a vehicle, particularly one belonging to a fleet and connected to a central computer unit, recording the route and making it available to other vehicles in the fleet via the central computer unit.

[0025] Furthermore, there is a need to display the route segment with a predefined margin of error, particularly due to the often inaccurate geo-position data, for example, regarding altitude information, where the geo-position data is received at regular intervals by each vehicle in the fleet. This ensures that the driver of a vehicle traveling on the route is not completely relieved of the need to provide directional guidance.

[0026] Therefore, the method involves using various metrics to account for the inaccuracy of a waypoint route and incorporating this information into a representation for vehicle navigation in a given terrain. This vehicle navigation representation is based on augmented reality technology, particularly via a head-up display or in the form of an augmented reality video.

[0027] Generally, a driver of a vehicle in a fleet has a smartphone which is connected to the vehicle wirelessly or via a wired connection for data exchange. This allows routes, videos, telemetry data, etc., to be sent and received.

[0028] It is also possible to plan a route and edit routes or sections of routes using a smartphone.

[0029] Routes or route sections, etc., can be shared with drivers of other vehicles in the fleet, and interest groups can also be created for this purpose. For example, it is possible to create so-called "stories" with pictures, videos, and descriptive text for a route or route section and share them on social networks.

[0030] In another version, a service offered via the central computing unit can be used to create, edit and share information relating to, for example, the vehicle.

[0031] Especially when driving off-road in a vehicle, augmented reality-based representation is an efficient way to orient oneself on a waypoint route without roads and paths.

[0032] If the vehicle is in terrain without roads or paths, for example in a desert or other inaccessible environment, the route segment is recorded exclusively using satellite-based geolocation data. Tolerances may occur due to the following factors: general tolerances of a satellite system, for example in relation to a number of satellites, a position and orientation to a receiving vehicle, etc.; a vehicle-related receiving unit for satellite signals, i.e., GEO position data, especially if the route segment is recorded by means of a vehicle; a frequency of generating data points, i.e., waypoints, during a recording; algorithmic correction procedures in case of relatively insufficient reception of the GEO position data and / or processing of additional vehicle data, for example, a wheel pulse.

[0033] The overall tolerance determined based on this, with respect to a waypoint distance determined using GEO position data, can be 1 meter to 2 meters, while altitude information can deviate significantly more.

[0034] When a vehicle records a section of a route, a waypoint route W is determined based on waypoints, i.e., on the GEO position data. This waypoint route can then be used by other vehicles in the fleet to drive the same section again. For this purpose, the waypoint route W is made available to other vehicles in the fleet via the central computer unit. These vehicles, for example, belong to a so-called off-road community.

[0035] In the case of a desert as terrain, a vehicle's track is no longer recognizable at the latest one day later, so that a following vehicle can only use the waypoints in the form of the waypoint route W, whereby the GEO position data, on the basis of which the waypoints and the waypoint route W are generated, are inaccurate as described above.

[0036] The accuracy of the waypoint route W can be increased by traversing the route segment multiple times and processing and averaging the GEO position data. The increased accuracy is to be specified by defining an uncertainty factor F and stored in a navigation system for use.

[0037] To determine the uncertainty factor F, as in Figure 1 As shown, it is planned that for all recordings An, An+1, An+... of the track section an age A is determined using GEO position data stored in the central computing unit, a data source D, for example a track portal of the central computing unit, is determined, an expected inaccuracy U, for example in relation to a measurement method, is determined and a comparison AD with global data, for example satellite images, is carried out.

[0038] Subsequently, a weighting G of this information is performed, followed by a mathematical calculation V of a weighted sum of the information, and an uncertainty factor F is generated for each data point, i.e., waypoint.

[0039] Then the waypoint segment W is generated with x, y and z coordinates as well as the uncertainty factor F per waypoint and an uncertainty factor F for the waypoint segment W.

[0040] If only one trip exists for this route segment, the uncertainty factor F is at its maximum. Providing an uncertainty factor F per waypoint or waypoint segment W, for example via a server service of the central computing unit, can effectively modify the navigation display.

[0041] The following information about a section of the route is only available in an inaccurate manner, as it lacks reference to road or map data: a position in space, in particular height information due to tolerances occurring when recording the route segment as the original route, and a relation of a waypoint determined on the basis of the GEO position to a current position of the following vehicle, which may also be subject to tolerances.

[0042] The less accurate the vehicle's GEO position data is when driving along the route, the more robust the representation of route information must be for the navigation of another vehicle driving along the route.

[0043] The plan is to display the individual waypoints of the waypoint route W in augmented form using portals P, whereby the respective portal P is displayed wider the higher the determined uncertainty factor F is.

[0044] Regarding the display of height information, its tolerance is processed in such a way that the lower section of each portal P does not rest on the surface. The less accurate the height information, the more transparent the portal P becomes, augmented from the direction of the surface towards the upper corners.

[0045] According to Figure 2 A section of route in a desert was driven and recorded. On subsequent drives of this section, it is displayed in the vehicle as a waypoint route W using the portals P, augmented for navigation.

[0046] The more often the route section is driven, the more information, especially GEO position data, is available, and the more accurate the navigation of the respective vehicle traveling on the route section can be using the augmented portals P.

[0047] It is possible to display further information to the driver of the vehicle traveling on the section of track using the portals P, for example based on their color, width, thickness, structure, transparency, etc.

[0048] For example, changing the color of the portals P can indicate a change in the terrain of the track section. If the vehicle is driving through water, the portals P located in this area, which mark the respective waypoint, can be displayed in blue. If the vehicle is approaching an area with gravel and / or stones, these portals P associated with that area can be displayed in gray and / or brown.

[0049] The portals P, which mark the route W, can also display vehicle settings that were in place when another vehicle previously traveled the same section. For example, a color can indicate which driving program was selected and / or whether a differential lock was engaged, etc.

[0050] Furthermore, in one version, the portals P can display whether certain values, such as minimum or maximum values, were reached during the recording of the route segment from the vehicle's telemetry. For example, suspension travel measured by a level sensor can be displayed.

[0051] Alternatively or additionally, the portals P, which are displayed augmented for vehicle navigation, can show speed differences compared to a previous traversal of the route segment. For example, a portal P can be displayed in green if the vehicle is traveling over the route segment faster than on a previous traversal.

[0052] If the driver of the vehicle traveling on the section of track chooses the wrong direction of travel, the nearest portal P can be displayed in red to alert the driver of the vehicle to the incorrect direction of travel.

[0053] In another version, the portals P that mark the route W for navigation are displayed less prominently when they are far away from the vehicle. The distance of each portal P to the vehicle can therefore also be indicated by a corresponding display setting.

[0054] Alternatively or additionally, the portals P can be configured to change their appearance, for example color, depending on the vehicle's speed. This way, the driver can also be alerted if the vehicle's current speed is too high when traveling through a section of the track, thus posing a risk of an accident.

[0055] This method allows a vehicle driver, particularly in specific navigation scenarios, especially during off-road driving, to be informed in a targeted manner through an adapted display of portals P. The augmented display of portals P as navigation elements takes the determined uncertainty factor F into account, so that the driver of the vehicle traveling the route can be advised to increase their attention and, if necessary, reduce their speed to minimize the risk of an accident.

Claims

1. Method for navigating a vehicle during off-road driving using augmented display, a waypoint route (W) comprising a plurality of waypoints being generated with respect to a route segment traveled by a vehicle, at least on the basis of acquired satellite-based GEO position data of the vehicle when driving over terrain, characterized in that - the generated waypoint route (W) is transmitted to a central computer unit linked to the vehicle for data transmission purposes and made available to other vehicles via the central computer unit, and - during subsequent driving on the terrain by another vehicle with activated navigation, the determined waypoint route (W) is depicted by means of successive portals (P) to be driven through by the vehicle, so as to be at least partially overlaid on a detected real environment of the vehicle, and - the individual portals (P) marking the waypoint route (W) are depicted or the waypoint route (W) is depicted by means of the portals (P) on the basis of an uncertainty factor (F) determined using a determined frequency of acquiring at least the GEO position data, and - a width of the relevant portal (P) varies on the basis of the determined uncertainty factor (F), and - the relevant portal (P) is depicted as wider when a high uncertainty factor (F) is determined than when a low uncertainty factor (F) is determined, and - a level of the uncertainty factor (F) varies on the basis of the accuracy of at least the acquired GEO position data.

2. Method according to claim 1, characterized in that each determined waypoint of the waypoint route (W) is depicted by means of a portal (P).

3. Method according to either of the preceding claims, characterized in that the depiction of the successive portals (P) is varied on the basis of a change in the background.

4. Method according to any of the preceding claims, characterized in that the successive portals (P) are depicted on the basis of vehicle settings which are set during a previous recording of the route segment.

5. Method according to any of the preceding claims, characterized in that elevation information of the waypoint route (W) is depicted by means of variance of a transparency of the relevant portal (P).