Road exit modeling using aerial image

• US 20080015775A1
• Filed: 07/09/2007
• Published: 01/17/2008
• Est. Priority Date: 07/12/2006
• Status: Abandoned Application

• Current Assignee: Clarion Co., Ltd. (Faurecia SA), Hitachi, Ltd.
• Original Assignee: Clarion Co., Ltd. (Faurecia SA), Hitachi, Ltd.
• Inventors: Guo, Tao, Iwamura, Kazuaki
• Application Number:
  US11/822,629
• Publication Number:
  US 20080015775A1
• Time in Patent Office: Days
• US Class Current: 701/211
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G09B 29/106 using electronic means

Abstract

To improve map accuracy by a new method that represents a road exit, there is provided a map generating apparatus for drawing a road map from digital data of a road map and a photographic image of a region that includes a region depicted by the road map, in which: a provided photographic image and a provided road map are geographically aligned with each other; a start point and an end point of an exit line which separates a main road and a branch road are extracted from the aligned photographic image; an exit line connecting the extracted start point and the extracted end point is determined; and a position of an exit branch is identified based on the determined exit line.

Claims

1. A machine-readable medium, containing at least one sequence of instructions that, when executed, causes a machine to:

geographically align a road map and a photographic image of a region that includes a region depicted by the road map;

extract, from the aligned photographic image, a start point and an end point of an exit line which separates a main road and a branch road;

determine an exit line connecting the extracted start point and the extracted end point; and

identify a branching position between the main road and the branch road based on the determined exit line.

2. A machine-readable medium according to claim 1, wherein the extracting of the start point and the end point of the exit line which separates the main road and the branch road includes extracting, from the aligned photographic image, as the start point and the end point of the exit line, ends of an exit separation line displayed on a road surface to indicate a border between the main road and the branch road.

3. A machine-readable medium according to claim 1, further containing at least one sequence of instructions that, when executed, causes the machine to:

calculate a projection point of a feature point of the exit line onto the main road; and

link the main road with the branch road by linking, at least the projection point, the feature point of the exit line, and a center point of the exit line.

4. A machine-readable medium according to claim 3,

wherein the feature point of the exit line includes the start point of the exit line, and

wherein the linking of the main road with the branch road includes linking the main road with the branch road by linking a projection point of the start point onto the main road, the start point of the exit line, the end point of the exit line, and the center point of the exit line, in order.

5. A machine-readable medium according to claim 3,

wherein the feature point of the exit line includes the center point of the exit line, and

wherein the linking of the main road with the branch road includes linking the main road with the branch road by linking a projection point of the center point onto the main road and the center point of the exit line, in order.

6. A machine-readable medium according to claim 3,

wherein the feature point of the exit line includes the end point of the exit line, and

wherein the linking of the main road with the branch road includes linking the main road with the branch road by linking a projection point of the end point onto the main road, the end point of the exit line, and the center point of the exit line, in order.

7. A map generating apparatus for drawing a road map from digital data of a road map and a photographic image of a region that includes a region depicted by the road map, comprising:

a computing unit; and

a memory,

wherein the computing unit is configured to;

geographically align a provided photographic image and a provided road map with each other;

extract, from the aligned photographic image, a start point and an end point of an exit line which separates a main road and a branch road;

determine an exit line connecting the extracted start point and the extracted end point; and

identify a branching position between the main road and the branch road based on the determined exit line.

8. A map generating apparatus according to claim 7, wherein the computing unit is further configured to extract, from the aligned photographic image, as the start point and the end point of the exit line, ends of an exit separation line displayed on a road surface to indicate a border between the main road and the branch road.

9. A map generating apparatus according to claim 7, wherein the computing unit is further configured to:

calculate a projection point of a feature point of the exit line onto the main road; and

link the main road with the branch road by linking, at least the projection point, the feature point of the exit line, and a center point of the exit line.

10. A position display system for displaying a position on a map based on positional information obtained by a position measuring device, comprising:

a computing unit;

a display unit; and

a memory,

wherein the memory stores data of a map containing an exit line which separates a main road and a branch road,

wherein the position measuring device measures a position of a vehicle, and

wherein the computing unit is configured to;

identify, on the main road, a position measured by the position measuring device; and

move a displayed position of the vehicle, when the identified position is within a given area which is zoned by the exit line.

11. A position display system according to claim 10, wherein the given area is a substantially quadrangular area having a half of the exit line as one of longer sides of the quadrangle, the start point of the exit line as one apex, and one of shorter sides whose length equals to a predetermined proportion of a width of the main road.

12. A position display system according to claim 10, wherein the computing unit is further configured to move the displayed position of the vehicle to the branch road when the vehicle is traveling at a speed equal to or lower than a predetermined value and it is judged that a probability of the vehicle entering the branch road is high.

13. A position display system according to claim 10, wherein the computing unit is further configured to:

determine a first axis, which is substantially parallel to the main road, and a second axis, which is substantially orthogonal to the main road;

judge where the measured position of the vehicle is along the second axis;

calculate a first length in a direction of the second axis between the start point of the exit line and a position of the vehicle, and a second length in the direction of the second axis between a center line of the main road and the position of the vehicle;

calculate a probability of the vehicle entering the branch road with the use of a function with which a small value is obtained when the first length is larger than the second length and a large value is obtained when the second length is larger than the first length; and

judge, when the calculated probability exceeds a given threshold, that the vehicle running through the measured position is likely to enter the branch road and move the displayed position of the vehicle from the main road to the branch road.