OPTIMUM ROUTE DETERMINATION EMPLOYING AN ESTIMATION FUNCTION

• US 20100228472A1
• Filed: 06/13/2007
• Published: 09/09/2010
• Est. Priority Date: 06/13/2006
• Status: Active Grant

• Current Assignee: Harman Becker Automotive Systems GmbH (Samsung Electronics Co. Ltd.)
• Original Assignee: Harman Becker Automotive Systems GmbH (Samsung Electronics Co. Ltd.)
• Inventors: Vorlaender, Peter, Nagel, Philipp Harald
• Granted Patent: US 8,014,941 B2
• Time in Patent Office: Days
• US Class Current: 701/201
• CPC Class Codes: G01C 21/34 Route searching; Route guidance

Abstract

A method and system for determining a route from a starting point to a destination on a road network are provided, where an estimation function for vertices of the road network is employed, and where a tiling covers an area in which at least a portion of the road network is contained. A resistance value of each tile of the tiling is provided, and the values of the estimation function for vertices of the road network are determined in accordance with the resistance values of the tiles of the tiling. In an example implementation, the resistance value of a given tile is a lower bound on or the minimum of the costs associated with an optimum route connecting any pair of vertices located on the boundary of the given tile divided by an air-line distance of the pair of vertices.

Claims

1. A method for determining a route from a starting point to a destination on a road network employing an estimation function for a plurality of vertices of the road network, the estimation function providing a lower bound for costs associated with any route connecting a vertex of the road network and the destination, the method comprising:

defining a tiling covering an area where at least a portion of the road network is contained;

providing a resistance value of each tile of the tiling, and

determining an estimation function value for a tile boundary vertex located on a tile boundary in dependence on the resistance values of tiles of the tiling, where the resistance value of a given tile represents costs associated with routes connecting vertices of the road network located on a boundary of the given tile, so that a lower bound for costs associated with the routes connecting vertices located on the boundary of the given tile is derivable using the resistance value of the given tile.

2. The method of claim 1 where the resistance value of the given tile includes costs associated with routes connecting vertices located on the boundary of the given tile in relation to a geometrical property of the road network in the given tile.

3. The method of claim 1 where the resistance value of the given tile is a lower bound for the costs associated with an optimum route connecting a pair of vertices located on the boundary of the given tile relative to an air-line distance of the pair of vertices, the route traversing the given tile.

4. The method of claim 3 where the resistance value of the given tile is the minimum of the costs associated with an optimum route connecting any pair of vertices located on the boundary of the given tile divided by the air-line distance of the pair of vertices, such that the product of the resistance value of the given tile and an air-line distance of any pair of test vertices located on the boundary of the given tile is a lower bound of costs associated with an optimum route connecting the pair of test vertices within the given tile.

5. The method of claim 1 where the step of determining the estimation function value for the tile boundary vertex comprises:

determining a destination tile containing the destination; and

determining a first lower bound for costs associated with an optimum route connecting at least one destination tile boundary vertex located on a boundary of the destination tile and the tile boundary vertex.

6. The method of claim 5 comprising:

determining the first lower bound in dependence on the resistance value of a tile or in dependence on the resistance values of a plurality of tiles of the tiling.

7. The method of claim 6 comprising:

determining the first lower bound using Dijkstra'"'"'s algorithm or an A*-algorithm for a sub-graph of the road network comprising vertices located on tile boundaries only.

8. The method of claim 7 comprising:

determining costs associated with a sub-graph edge connecting first and second vertices located on a boundary of an arbitrary tile from a resistance value of the arbitrary tile and an air-line distance of the first and second vertices.

9. The method of claim 8 comprising:

setting the costs associated with the sub-graph edge equal to the resistance value of the arbitrary tile multiplied by the air-line distance of the first and second vertices.

10. The method of claim 5 where the step of determining the estimation function value for the tile boundary vertex further comprises:

determining a second lower bound for costs associated with an optimum route connecting the destination and the at least one destination tile boundary vertex; and

adding the first lower bound and the second lower bound.

11. The method of claim 10 where the step of determining the estimation function value for the tile boundary vertex further comprises:

determining a minimum of a sum of the first lower bound and the second lower bound over all destination tile boundary vertices.

12. The method of claim 1 further comprising the step of:

determining an estimation function value for an interior vertex located inside of a tile from an estimation function value for a tile boundary vertex located on the boundary of the tile and a lower bound for costs associated with an optimum route connecting the interior vertex and the tile boundary vertex.

13. The method of claim 12 where the lower bound for costs associated with an optimum route connecting the interior vertex and the tile boundary vertex is determined from an air-line distance of the interior vertex and the tile boundary vertex.

14. The method of claim 12 where the lower bound for costs associated with an optimum route connecting the interior vertex and the tile boundary vertex is determined from a minimum air-line distance of the interior vertex from an edge of the tile on which the tile boundary vertex is located.

15. The method of claim 1 further comprising:

detecting an increase in a cost factor of a road segment of the road network; and

increasing a resistance value of a tile containing the road segment in accordance with the detected increase in cost factor.

16. The method of claim 15 where increasing the resistance value of the tile containing the road segment is multiplicative.

17. The method of claim 15 where the cost factor of the road segment is increased depending on a user input.

18. The method of claim 1 where, in the step of automatically receiving a traffic message signal, the cost factor of the road segment is increased depending on the received traffic message signal.

19. The method of claim 1 where a tile size of tiles of the tiling increases with increasing distance from the starting point and the destination.

20. The method of claim 19 where:

a first resistance value is provided for each tile of a first regular tiling;

a second resistance value is provided for each tile of a second regular tiling; and

the tiling covering the area comprises a first set of tiles of the first regular tiling and a second set of tiles of the second regular tiling, the resistance values of tiles of the tiling being equal to the corresponding first and second resistance values, respectively.

21. The method of claim 1 where, for each tile of the tiling, a first basis resistance value and a second basis resistance value are provided which, respectively, represent first and second basis cost models, where, for a cost model formed as a linear combination of the first and second basis cost models, a lower bound on the resistance value is determined by linear combination of the first and second basis resistance values.

22. The method of claim 1 where an optimum route from the starting point to the destination is determined employing an A*-algorithm which uses the estimation function determined in dependence on the resistance values of tiles of the tiling.

23. A method for determining a route to a destination on a graph employing an estimation function for a plurality of vertices of the graph, the estimation function providing a lower bound for costs associated with any route connecting a vertex of the graph and the destination, the method comprising:

defining a tiling covering an area where at least a portion of the graph is contained;

providing a resistance value for each tile of the tiling; and

determining an estimation function value for a tile boundary vertex located on a tile boundary in accordance with the resistance values of tiles of the tiling, where the resistance value of a given tile represents costs associated with routes connecting vertices of the graph located on a boundary of the given tile, so that a lower bound for costs associated with the routes connecting vertices located on the boundary of the given tile is derivable based on the resistance value of the given tile.

24. A method for pre-processing road network data comprising:

defining a tiling covering an area where at least a portion of the road network is contained; and

for a tile of the tiling;

determining vertices located on a boundary of the tile;

determining a lower bound for costs associated with an optimum route connecting any pair of the vertices located on the boundary of the tile divided by an air-line distance of the pair of vertices; and

outputting the determined lower bound.

25. The method of claim 24 where the lower bound is determined from a minimum of the costs associated with a route connecting an arbitrary pair of vertices located on the boundary of the tile divided by the air-line distance of the pair of vertices.

26. The method of claim 24 where the determined lower bound is discretized prior to outputting.

27. A system for determining a route from a starting point to a destination on a road network employing an estimation function for a plurality of vertices of the road network, the estimation function providing a lower bound for costs associated with routes connecting a vertex of the road network and the destination, the system comprising:

a first storage unit containing road network data;

a second storage unit containing tiling definition data defining a tiling and a resistance value for each tile; and

a processing unit determining an estimation function value for a tile boundary vertex located on a tile boundary in accordance with the resistance values of the tiles of the tiling, where the resistance value of a given tile, contained in the second storage unit, represents costs associated with routes connecting vertices of the road network located on a boundary of the given tile, so that a lower bound for costs associated with the routes connecting vertices located on the boundary of the given tile is derivable using the resistance value of the given tile.

28. The system of claim 27 where the resistance value of the given tile, contained in the second storage unit, is a lower bound for costs associated with an optimum route connecting a pair of vertices located on the boundary of the given tile relative to an air-line distance of the pair of vertices, the route traversing the given tile.

29. The system of claim 27 where the resistance value of the given tile contained in the second storage unit is the minimum of the costs associated with an optimum route connecting any pair of vertices located on the boundary of the given tile divided by the air-line distance of the pair of vertices, such that the product of the resistance value of the given tile and an air-line distance of any pair of test vertices located on the boundary of the given tile is a lower bound of costs associated with an optimum route connecting the pair of vertices within the tile.

30. The system of claim 27 where the processing unit determines at least one destination tile boundary vertex located on a boundary of a destination tile containing the destination and computes a lower bound for costs associated with an optimum route connecting the tile boundary vertex and the at least one destination tile boundary vertex the lower bound being determined in accordance with the resistance values of the tiles of the tiling.

31. The system of claim 30 where the lower bound is computed employing Dijkstra'"'"'s algorithm or an A*-algorithm with the destination tile boundary vertex as an origin.

32. The system of claim 27 where a memory unit storing coordinates of the tile boundary vertex and the estimation function value for the tile boundary vertex determined by the processing unit.

33. The system of claim 32 where the memory unit stores the coordinates of the tile boundary vertex in the form of a one-dimensional coordinate specifying a position of the tile boundary vertex along a line defined by the boundary of the tile.

34. The system of claim 27 where the processing unit receives a traffic message signal for a road segment of the road network and changes the resistance value of a tile containing the road segment in dependence on the received traffic message signal.

35. The system of claim 27 where the processing unit determines an optimum route from the starting point to the destination employing an A*-algorithm which uses estimation function values determined in dependence on the resistance values of tiles of the tiling and stored in the memory unit.

36. A navigation system, comprising:

an input function for inputting a destination;

an output function for outputting a determined route;

a system for determining a route from a starting point to a destination on a road network employing an estimation function for a plurality of vertices of the road network, the estimation function providing a lower bound for costs associated with routes connecting a vertex of the road network and the destination, the system comprising;

a first storage unit containing road network data;

a second storage unit containing tiling definition data defining a tiling and a resistance value for each tile; and

a processing unit determining an estimation function value for a tile boundary vertex located on a tile boundary in accordance with the resistance values of the tiles of the tiling, where the resistance value of a given tile, contained in the second storage unit, represents costs associated with routes connecting vertices of the road network located on a boundary of the given tile, so that a lower bound for costs associated with the routes connecting vertices located on the boundary of the given tile is derivable using the resistance value of the given tile; and

the system coupled to the input function for receiving the destination and to the output function for outputting a determined route.

37. The navigation system of claim 36 comprising:

means for determining a current vehicle position coupled to the system for determining a route, for providing the current vehicle position as the starting point.

38. The navigation system of claim 37 where the means for determining a current vehicle position includes a GPS-receiver.

40. The navigation system of claim 37 where a TMC receiver is coupled to the processing unit for providing a traffic message signal.