Navigation apparatus

• US 20020169544A1
• Filed: 05/06/2002
• Published: 11/14/2002
• Est. Priority Date: 05/08/2001
• Status: Active Grant

• Current Assignee: Pioneer Corporation
• Original Assignee: Pioneer Corporation
• Inventors: Hashida, Masaya
• Granted Patent: US 6,856,895 B2
• Time in Patent Office: Days
• US Class Current: 701/207
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/50 whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks

Abstract

Map data stored in a memory includes normal road data and additional road data for predetermined regions along a highway. A current location of a moving body is detected by sensor(s). The normal road data or additional road data is selected on the basis of the detected current location of the moving body. A map matching process is performed with the selected road data. Accordingly, the current location of the moving body is determined in the map matching process with high accuracy.

Claims

1. A navigation apparatus comprising:

a current position detector for producing data of a current location of a mobile body on the basis of at least one of navigation parameters of the mobile body and measurement data supplied from a plurality of artificial satellites;

a storage device for storing map data which includes road data representing one route on a road, the map data also including additional road data for a predetermined region on the road, the additional road data representing another route on the road other than the one route; and

a map matching device for applying a map matching process to the data produced by the current position detector, using the road data, to determine the current location of the mobile body when the mobile body is not adjacent to the predetermined region, and for applying the map matching process to the data produced by the current position detector, using one of the additional road data and the road data depending upon a moving condition of the mobile body, to determine the current location of the mobile body when the mobile body is adjacent to or in the predetermined region.

2. The navigation apparatus according to claim 1, wherein the map matching device includes a moving condition detector for determining whether a turning movement of the mobile body occurs adjacent to the predetermined region, the turning movement being the moving condition of the mobile body, and the map matching device applies the map matching process using the additional road data to determine the current location of the mobile body when the turning movement of the mobile body is detected by the moving condition detector.

3. The navigation apparatus according to claim 1, wherein the mobile body is at least one of a car and a human.

4. The navigation apparatus according to claim 1 further including a speed sensor, an angular velocity sensor and an acceleration sensor to provide the navigation parameters of the mobile body.

5. The navigation apparatus according to claim 1, wherein the measurement data supplied from the plurality of artificial satellites is GPS data.

6. The navigation apparatus according to claim 1, wherein the current position detector compares the navigation parameters of the mobile body with the measurement data supplied from the plurality of artificial satellites to produce the data of the current location of the mobile body.

7. The navigation apparatus according to claim 1 further including a determination unit to determine whether the mobile body exists within confines of a predetermined structure.

8. The navigation apparatus according to claim 7, wherein the current position detector only uses the navigation parameters of the mobile body to produce the data of the current location of the mobile body when the determination unit determines that the mobile body exists in the confines of the predetermined structure.

9. The navigation apparatus according to claim 1, wherein the road is a multi-lane highway, the road data represents a center lane of the multi-lane highway and the additional road data represents a side lane of the multi-lane highway.

10. A navigation apparatus for determining a current location of a mobile body which moves i n a multi-story building, comprising:

a current position detector for producing data of the current location of the mobile body on the basis of at least one of navigation parameters of the mobile body and measurement data supplied from a plurality of artificial satellites;

a story detector for detecting a story of the multi-story building in which the mobile body is present;

a storage device for storing map data which includes a plurality of road data representing a plurality of stories of the multi-story building respectively; and

a map matching device for retrieving road data representing the story detected by the story detector from the storage device, and applying a map matching process to the data produced by the current position detector, using the retrieved road data, to determine the current location of the mobile body.

11. The navigation apparatus according to claim 10, wherein the story detector detects the story in which the mobile body is present, when the current location of the mobile body detected by the current position detector is within the multi-story building.

12. The navigation apparatus according to claim 10, wherein the mobile body is at least one of a car and a human.

13. The navigation apparatus according to claim 10 further including a speed sensor, an angular velocity sensor and an acceleration sensor to provide the navigation parameters of the mobile body.

14. The navigation apparatus according to claim 10, wherein the measurement data supplied from the plurality of artificial satellites is GPS data.

15. The navigation apparatus according to claim 10, wherein the story detector determines whether the mobile body is moving to another story from a story in which the mobile body is currently present.

16. The navigation apparatus according to claim 15 further including a display unit for showing a map of the story in which the mobile body is present.

17. The navigation apparatus according to claim 16, wherein the display unit shows a map of the another story when the story detector determines that the mobile body is moving to the another story.

18. The navigation apparatus according to claim 10, wherein the current position detector only uses the navigation parameters of the mobile body to produce the data of the current location of the mobile body when the current location of the mobile body detected by the current position detector is within the multi-story building.

19. A method of determining a current location of a mobile device, comprising the steps of:

A) providing map data which includes road data representing one route on a road, the map data also including additional road data for a predetermined region on the road, the additional road data representing another route on the road other than the one route;

B) producing data of a current location of the mobile body on the basis of at least one of information supplied from self-contained sensors and information supplied from a GPS device; and

C) applying a map matching process to the data produced in Step B, using the road data, to determine the current location of the mobile body when the mobile body is not adjacent to the predetermined region, and for applying the map matching process to the data produced in Step B, using either one of the additional road data and the road data depending upon a moving condition of the mobile body, to determine the current location of the mobile body when the mobile body is adjacent to the predetermined region.

20. A method of determining a current location of a mobile body which moves in a multi-story building, comprising the steps of:

A) providing map data which includes a plurality of road data representing a plurality of stories of the multi-story building respectively;

B) producing data of the current location of the mobile body on the basis of at least one of information supplied from self-contained sensors and information supplied from a GPS device;

C) detecting a story of the multi-story building in which the mobile body is present;

D) retrieving road data representing the story detected in Step C from the map data; and

E) applying a map matching process to the data produced in Step B, using the road data retrieved in Step C, to determine the current location of the mobile body.