U.S. patent application number 16/930376 was filed with the patent office on 2020-11-05 for automatically creating a terrain mapping database.
This patent application is currently assigned to TRAILZE LTD.. The applicant listed for this patent is TRAILZE LTD.. Invention is credited to Ronen BITAN, Tal Lavi.
Application Number | 20200348139 16/930376 |
Document ID | / |
Family ID | 1000004959783 |
Filed Date | 2020-11-05 |
United States Patent
Application |
20200348139 |
Kind Code |
A1 |
BITAN; Ronen ; et
al. |
November 5, 2020 |
AUTOMATICALLY CREATING A TERRAIN MAPPING DATABASE
Abstract
A database for mapping off-road terrain of various
characteristics in three-dimensional terms, comprising: a plurality
of road segment entries, each containing data pertaining to the
terrain characteristics of the segment; and a plurality of elbow
entries, each containing (x, y, z) coordinates of the elbow and a
record for each road segment having the elbow as one of its end
points, the record comprising navigation directives for vehicles
entering the segment from the elbow.
Inventors: |
BITAN; Ronen; (Modiin,
IL) ; Lavi; Tal; (Modiin, IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
TRAILZE LTD. |
Modiin |
|
IL |
|
|
Assignee: |
TRAILZE LTD.
Modiin
IL
|
Family ID: |
1000004959783 |
Appl. No.: |
16/930376 |
Filed: |
July 16, 2020 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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15698279 |
Sep 7, 2017 |
10718618 |
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16930376 |
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PCT/IB2016/051305 |
Mar 8, 2016 |
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15698279 |
|
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62131314 |
Mar 11, 2015 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01S 19/42 20130101;
G01C 21/20 20130101; A61B 5/0404 20130101; G01V 99/005 20130101;
G01C 21/3697 20130101; A61B 5/01 20130101; A61B 5/6893 20130101;
G01C 21/10 20130101; A61B 5/021 20130101; G06F 16/29 20190101; G09B
29/106 20130101; G01C 21/32 20130101 |
International
Class: |
G01C 21/20 20060101
G01C021/20; G06F 16/29 20060101 G06F016/29; G01C 21/36 20060101
G01C021/36; G01C 21/32 20060101 G01C021/32; G09B 29/10 20060101
G09B029/10; A61B 5/01 20060101 A61B005/01; A61B 5/021 20060101
A61B005/021; A61B 5/0404 20060101 A61B005/0404; A61B 5/00 20060101
A61B005/00; G01C 21/10 20060101 G01C021/10; G01S 19/42 20060101
G01S019/42; G01V 99/00 20060101 G01V099/00 |
Claims
1. A method of mapping a terrain, the method comprising: defining a
set of road segments within the terrain; receiving motion data from
motion sensors disposed on an object traveling through one or more
road segments of the set of road segments; and determining, based
on the motion data, terrain characteristics of the one or more road
segments.
2. The method of claim 1, comprising: identifying a road segment of
the one or more road segments that has different terrain
characteristics in different parts of the road segment; and
partitioning the identified road segment into two or more new road
segments based on the identification.
3. The method of claim 1, comprising defining navigation directives
for the one or more road segments based on the terrain
characteristics of the one or more road segments.
4. The method of claim 1, comprising defining navigation directives
for the one or more road segments based on the motion data the
motion sensors.
5. The method of claim 1, comprising defining navigation directives
for the one or more road segments based on data from environmental
sensors disposed on the object.
6. The method of claim 1, comprising defining navigation directives
for the one or more road segments based on data from position
sensors disposed on the object.
7. The method of claim 1, comprising defining navigation directives
for the one or more road segments based on data from physiological
monitoring sensors disposed on the object.
8. The method of claim 1, comprising defining navigation directives
for the one or more road segments based on data from cameras
disposed on the object.
9. The method of claim 1, comprising defining navigation directives
for the one or more road segments based on data from microphones
disposed on the object.
10. The method of claim 1, wherein defining each road segment of
the set of road segments comprises: defining two end points for the
respective road segment; defining terrain characteristics for the
respective road segment; and defining, for each end point of the
respective road segment, navigation directives for the object
entering the respective road segment from the respective end point
based on the defined terrain characteristics of the respective road
segment.
11. The method of claim 10, comprising defining the navigation
directives further based on a type of the object.
12. The method of claim 10, comprising defining the navigation
directives further based on terrain characteristics of a road
segment from which the object has entered the respective end point
of the respective road segment.
13. The method of claim 10, comprising defining the navigation
directives further based on skills of a user of the object.
14. The method of claim 10, comprising defining navigation
directives further based on the motion data from the motion
sensors.
15. The method of claim 10, comprising defining navigation
directives further based on data from environmental sensors
disposed on the object.
16. The method of claim 10, comprising defining navigation
directives further based on data from position sensors disposed on
the object.
17. The method of claim 10, comprising defining navigation
directives further based on data from physiological monitoring
sensors disposed on the object.
18. The method of claim 10, comprising defining navigation
directives further based on data from cameras disposed on the
object.
19. The method of claim 10, comprising defining navigation
directives further based on data from microphones disposed on the
object.
Description
CROSS-REFERENCE TO RELATED PATENT APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 15/698,279 filed on Sep. 7, 2017, issued on
Jul. 21, 2020 as U.S. Pat. No. 10,718,618. U.S. patent application
Ser. No. 15/698,279 is a continuation of International Application
No. PCT/IB2016/051305, filed Mar. 8, 2016, which in turn claims the
benefit of U.S. Provisional Application No. 62/131,314, filed Mar.
11, 2015. All such applications are incorporated by reference in
their entirety herein.
TECHNOLOGY FIELD
[0002] The present invention relates to navigation, specifically to
creating and maintaining an updated database for presenting
three-dimensional guidance information to a user traveling by
vehicle or pedestrian.
SUMMARY
[0003] According to an aspect of the present invention, there is
provided a database for mapping off-road terrain of various
characteristics in three-dimensional terms, comprising: a plurality
of road segment entries, each containing data pertaining to the
terrain characteristics of the segment; and a plurality of elbow
entries, each containing (x, y, z) coordinates of the elbow and a
record for each road segment having the elbow as one of its end
points, the record comprising navigation directives for vehicles
entering the segment from the elbow.
[0004] Each one of the road segment entries further comprises
pointers to elbow entries of its end points.
[0005] The navigation directives include consideration of the
vehicle type.
[0006] The navigation directives include consideration of the road
segment that led the vehicle to the elbow.
[0007] The navigation directives include 3D considerations.
[0008] The navigation directives include consideration of user
skills.
[0009] The terrain characteristics within each the segment are
substantially homogenous and configured to be traversed using a
single set of the directives.
[0010] The directives are configured to be defined according to
indications selected from the group consisting of: mounting slope,
descending slope, sharp turn, rocky terrain, bridge over river,
gravel, mud and hiking section.
[0011] The indications are configured to be translated into the
directives depending on the type of the vehicles.
[0012] The directives are stored in the database along with
references to the appropriate type of the vehicle.
[0013] The terrain characteristics further comprise at least one of
sand, gravel and rock.
[0014] The navigation directives for the road segments are
configured to be continuously derived from various sensors, cameras
and microphones carried or worn by a traveler.
[0015] The sensors are selected from the group consisting of:
motion sensors, environmental sensors, position sensors and
wearable physiological monitoring sensors.
[0016] The motion sensors are selected from the group consisting
of: accelerometers, gravity sensors, gyroscopes and rotational
vector sensors.
[0017] The environmental sensors are selected from the group
consisting of: barometers, photometers and thermometers.
[0018] The position sensors are selected from the group consisting
of: orientation sensors, magnetometers, Global Positioning System
(GPS), European Geostationary Navigation Overlay Service (EGNOS)
and Global Navigation Satellite System (GLONASS).
[0019] The wearable physiological monitoring sensors are configured
to measure physiological parameters selected from the group
consisting of: electrocardiogram (ECG), heart rate, blood pressure
and body temperature.
[0020] According to another aspect of the present invention, there
is provided a method of creating and continuously updating a
database for mapping off-road terrain of various characteristics in
three-dimensional terms, comprising: defining a plurality of road
segment, each road segment defining two bounding elbows, using at
least one of maps and recorded trails; for each road segment:
defining preliminary terrain characteristics; for each elbow
defined by the road segment: defining preliminary navigation
directives for vehicles entering the segment from the elbow; and
continuously updating the database using at least one of recorded
trails and data from sensors carried or worn by travelers.
[0021] The updating comprises updating segment definitions
according to recorded trails intersecting existing segments.
[0022] The updating comprises updating segment definitions
according to sensors data indicating change in terrain
characteristics within existing road segments.
[0023] The sensors are selected from the group consisting of:
motion sensors, environmental sensors, position sensors and
wearable physiological monitoring sensors.
BRIEF DESCRIPTION OF THE DRAWINGS
[0024] For better understanding of the invention and to show how
the same may be carried into effect, reference will be made, purely
by way of example, to the accompanying drawings.
[0025] With specific reference to the drawings in detail, it is
stressed that the particulars shown are by way of example and for
purposes of illustrative discussion of the preferred embodiments of
the present invention only, and are presented in the cause of
providing what is believed to be the most useful and readily
understood description of the principles and conceptual aspects of
the invention. In this regard, no attempt is made to show
structural details of the invention in more detail than is
necessary for a fundamental understanding of the invention, the
description taken with the drawings making apparent to those
skilled in the art how the several forms of the invention may be
embodied in practice. In the accompanying drawings:
[0026] FIG. 1 is a schematic block diagram of the database
according to the present invention;
[0027] FIG. 2 is a schematic representation of a partial trails
map;
[0028] FIGS. 3A and 3B show exemplary database entries describing
the partial trails of FIG. 2;
[0029] FIG. 4 is a schematic block diagram showing the various
sources contributing to the creation and the on-going updating of
the database;
[0030] FIG. 5 shows an example of a segment being divided into two
segments; and
[0031] FIGS. 6A and 6B show exemplary database entries describing
the segment division of FIG. 5.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0032] The present invention provides a novel database for mapping
terrain of various characteristics in three-dimensional terms. The
database is constructed automatically in the system by analyzing
previously recorded travelers' trails and current feedback from
sensors, as will be explained in detail below.
[0033] FIG. 1 is a schematic block diagram of the database 100
according to the present invention, comprising road segments 110
and elbows 120.
[0034] Each road segment entry 110 contains data pertaining to the
terrain characteristics of the segment. In a preferred embodiment
of the invention the terrain characteristics within each segment
are substantially homogeneous and may be traversed using a single
set of directives. Each road segment entry may also optionally
point to its two bounding elbows (end points). Terrain
characteristics may be, for example, sand, gravel, rock, etc.
[0035] Each elbow entry 120 includes (x, y, z) coordinates of the
elbow and a record for each road segment having the elbow as one of
its end points, the record including navigation directives for
vehicles (or pedestrians) entering the segment from the elbow.
[0036] The directives may take into consideration:
[0037] Type of vehicle if any (e.g. 4WD, motorbike, mountain bike,
horse, pedestrian etc.)
[0038] The road segment that led the vehicle/user to the elbow and
specifically 3D considerations, namely altitude changes between the
segments.
[0039] Various skill levels of users in any of the vehicle
types.
[0040] FIG. 2 is a schematic representation of a partial 3D trails
map described by the exemplary database entries in FIGS. 3A and
3B.
[0041] The database 100 is continuously updated, as will be
explained below.
[0042] FIG. 4 is a schematic block diagram showing the various
sources contributing to the creation and the on-going updating of
the database 100.
[0043] Maps 410--The basic database may be constructed using
existing trails databases and/or user generated content or
previously selected trails.
[0044] Existing trails databases may comprise various available
Digital Elevation Models (DEM) such as the NASA DEM, or a database
collected by GPS from users which are digital representations of
elevations as measured at ground level. Such elevations are
calculated using a variety of methods, including stereoscopy,
digitized contour data, GPS data, radar signal interpretation or
other methods for extracting elevation from a given position. CDEM
(Canadian Digital Elevation Model) data sets for a region or a
predefined area may be obtained using specific data extraction
tools such as found on the web site geogratis. gc.ca.
[0045] Recorded trails 420--Segments and elbows definitions may be
continuously updated using recorded routes taken by travelers (e.g.
by replaying captured location information). For example, if a
recorded trail indicates traversing an existing segment, the
segment may be divided into two segments connected by a new elbow.
In the example of FIG. 5, using the partial map of FIG. 2 as a
base, a new recorded trail T510 intersecting segment S220 causes
the creation of a new elbow E540 which divides the previous segment
S220 into two new segments S520 and S530. FIG. 6 shows the
resulting updated database.
[0046] Sensors 430--Navigation directives for the various road
segments may be continuously derived from various sensors carried
or worn by the traveler. The sensors may comprise, for example:
[0047] Motion sensors--that measure acceleration forces and
rotational forces along three axes. This category includes
accelerometers, gravity sensors, gyroscopes, and rotational vector
sensors.
[0048] Environmental sensors--that measure various environmental
parameters, such as ambient air temperature and pressure,
illumination, and humidity.
[0049] This category includes barometers, photometers, and
thermometers.
[0050] Position sensors--that measure the physical position of a
device. This category includes orientation sensors and
magnetometers, Global Positioning System (GPS), European
Geostationary Navigation Overlay Service (EGNOS), Global Navigation
Satellite System (GLONASS), and others.
[0051] Wearable physiological monitoring sensors--that measure
various physiological parameters of the wearer (traveler) such as,
for example, electrocardiogram (ECG), heart rate, blood pressure,
body temperature and others.
[0052] Cameras. Microphones.
[0053] The data aggregated from the various sensors is analyzed to
determine terrain characteristics and levels of difficulty of
trails. This computed data is then translated into directives
stored in the elbows database in conjunction with the relevant
segments.
[0054] The sensors data may also serve to update segments and
elbows definition by identifying different characteristics in
various parts of a segment, which may lead to automatically
partitioning the segment into two or more segments according to the
different terrain characteristics which require different
directives.
[0055] Directives given to a traveler about to enter a route
segment may indicate, for example, mounting slope, descending
slope, sharp turn, rocky terrain, bridge over river, gravel, mud,
hiking section etc.
[0056] The various indications will be translated into different
directives depending on the type of traveling vehicle. For example,
"rocky terrain" may be translated into "shift to 1st gear" for a
4-wheel drive vehicle and into "walk" for a bicycle rider or
initiate an alarm message such as "careful: dangerous slope
ahead".
[0057] The various directive are stored in the database along with
references to the appropriate type of traveling vehicle.
[0058] It will be appreciated by persons skilled in the art that
the present invention is not limited to what has been particularly
shown and described hereinabove. Rather the scope of the present
invention is defined by the appended claims and includes both
combinations and sub-combinations of the various features described
hereinabove as well as variations and modifications thereof which
would occur to persons skilled in the art upon reading the
foregoing description. For example, the database of the present
invention may be constructed and used also in conjunction with
paved roads, typically in uncharted areas.
* * * * *