Method and apparatus for determining a route between a starting point and a destination

• US 4,984,168 A
• Filed: 08/24/1989
• Issued: 01/08/1991
• Est. Priority Date: 06/06/1987
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Neukrichner, Ernst-Peter, Schlogl, Dietmar
• Primary Examiner(s): Black, Thomas G.
• Application Number:
  US07/307,088
• Time in Patent Office: 502 Days
• Field of Search: 364/449, 364/443, 340/990, 340/995
• US Class Current: 701/210
• CPC Class Codes: G01C 21/3446 Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
• CPC Class Codes: G06F 30/18 Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling circuit design at the physical level G06F30/39; network planning tools for wireless communication networks H04W16/18
• CPC Class Codes: G08G 1/096827 where the route is computed onboard
• CPC Class Codes: G08G 1/096838 where the user preferences are taken into account or the user selects one route out of a plurality
• CPC Class Codes: G08G 1/096844 where the complete route is dynamically recomputed based on new data
• CPC Class Codes: G08G 1/096872 where instructions are given per voice
• CPC Class Codes: G08G 1/0969 having a display in the form of a map

Abstract

In a method for determining a route between a starting point and a destination which are located on a digitally memorized road map, the problem is to perform the necessary calculations for determining the route within a short time, even for extensive road systems. Otherwise, the results could arrive too late and could no longer lend the driver any aid in making a decision. The object is attained by dividing the road map into at least two levels of different grid density and regional size and storing it in memory. A plurality of smaller subregions of fine grid density are assigned to the lower level, and one or more larger subregions of coarser grid density are assigned to the higher level. Beginning with the lower level of the road map, a possible route is then studied; if the results are negative, a transition is made to the next-higher level, until a positive result is attained. Then the route is plotted within whatever level a positive result was attained in, for instance in the same level or back and forth between the levels.

Claims

1. A method for determining a route between a starting point (S) and a destination or target (Z), which are located on a road map, and digitally stored in a read-only memory (14).

comprising the steps of

dividing the road map into at least two levels of different grid density and regional size;

storing the maps of said at least two levels in at least two levels (18,

     20) of said memory;

assigning a plurality of smaller subregions of fine grid density to a lower one of said levels and assigning one or more larger subregions of coarser grid density to a higher one of said levels;

first analyzing the road maps with the lowest level to find a possible route between the starting point (S) and the destination (Z), and

if the results of such analysis are positive, plotting the route based on the memory within said level;

or

if the results of said analysis are negative, so that no connecting route between the starting point (S) and the destination (Z) is found,

analyzing the road map stored in the memory of the next higher level;

determining when a positive result is obtained; and

then plotting the route based on the contents of the memories in said at least two levels.

2. The method of claim 1, wherein all roads open to traffic are included within the lower level, and only roads connecting the subregions of the lower or next-lower level are included within the higher level.

3. The method of claim 1, wherein the grids are formed from roads and hubs, the hubs in the lower level representing forks or intersections in the roads and the hubs in the higher levels representing subregions of the lower or next-lower level.

4. The method of claim 1, wherein the roads and hubs are assigned resistance values as a function of at least one of:

the trip segment;

means travel time;

traffic density, and

the step of analyzing the road maps includes the step of selecting the roads and hubs having the lowest total resistance values.

5. The method of claim 4, including the step of determining the subregion or subregions of the starting point and of the destination, and

if the starting point and the destination are located in the same subregion, determining if the destination can be reached from the starting point, and

if the starting point and the destination are located in different subregions,

determining the resistance form the destination to the transitions of the region including the destination and within the destination region to derive a destination resistance;

setting or initializing transitions between the different subregions and identifying or initializing the destination resistances;

forming, for the road map in the higher level, transition resistance matrices;

setting or initializing the transitions of the region which includes the starting point, and forming the starting region, with the resistances of the destination region; and

determining whether the resistances between the starting point and the destination are a finite value.

6. The method of claim 5, wherein said step of plotting the route includes

determining if the destination can be reached from the starting point within the same subregion and

if it can be reached within the same subregion, displaying the route on a display unit;

and

if it cannot be reached within the same subregion,

determining the transition having the lowest resistance from the destination to determine a destination resistance;

combining the subregion which boarders this transition and the original destination region;

determining whether the destination can then be reached from the starting point; and

if so, plotting the route and displaying the so-plotted route;

if not, continuing determination of resistances from the destination to the transitions of the destination region.

7. The method of claim 5, wherein said step of determination whether the resistance between the starting point and the destination region is finite includes

determining the transition of the starting region having the lowest total transition resistance between the destination region and the starting point;

combining the subregion which boarders said transition of lowest transition resistance, and forming a guide region, with the starting region;

plotting the route; and

if the resistance between the starting point and the destination region is not finite,

setting or initializing the transitions of the starting region with zero;

determining the transition which offers the lowest resistance from the starting point; and

combining the subregion which boarders said transition with the starting region.

8. The method of claim 1, wherein the route is determined from the destination point backward to the starting point.

9. The method of claim 8, wherein the route is determined by the inverse Ford-Moore algorithm.

10. The method of claim 1, including the step of displaying the route as plotted.

11. The method of claim 1, including the step of comparing the route with data representing vehicle distance traveled and direction;

determining if forks or intersections are present in the road of the route as plotted;

and indicating recommended travel direction in visual or auditory form.

12. The method of claim 1, including the step of determining if the vehicle follows the recommended route;

and, if not, activating at least one of;

an alarm to indicate whether a "driving error" is present;

an inquiry if an "intentional change in route" is desired by the user.

13. The method of claim 12, including the step of calculating the route using the map as originally plotted if the user acknowledge a "driving error";

and

recalculating the route by assigning an infinite resistance to the road on the map along the route which comes next after the last road taken along the calculated route if the user signals that an "intentional change in route" was made.

14. A navigation system to determine a route between a starting point (S) and a destination or target point (Z), which are located on a road map, comprising

a computer (10);

a working memory (12) for said computer;

a display and input/output unit (16) coupled to said computer;

a read-only memory (14) digitally storing a road map on which said starting points (S) and said destination or target (Z) are stored,

wherein said read-only memory (14) comprises at least two read-only memory levels (18,

     20), in which one of said memory levels or regions includes the road maps of a plurality of small subregions with fine grid density, and another one of said levels includes the road maps of large subregions of coarser grid density;

and wherein said computer reads from said lower level read-only memory into the working memory (12) only those portions of the memory contents representing the respective smaller subregions of finer grid density including the starting point (S) and the destination or target (Z) and, if the starting point and destination and target are not on the same subregions, also those data from the higher level memory including the road maps of larger subregions of coarser grid density and having transitions to the subregions of the lower level and of the finer grid density.

15. The system of claim 14, further including a trip data transducer (22) coupled to the computer (10) to introduce into the computer data representative of the trip between the starting point (S) and the destination (Z) representative of distance and direction.